Demolition vehicle, method of controlling demolition vehicle and data carrier

Abstract

FIELD: building demolition vehicle.SUBSTANCE: building demolition vehicle includes a chassis (1), a rotating platform (2), a plurality of attachments (3), a boom unit (4), an attachment connector (5), a plurality of hinge angle detection devices (61), a platform angle detection device (7), and a processor (8). The processor (8) is connected for exchanging signals with the rotating platform (2), the boom unit (4), the attachment connector (5), the hinge angle detection device (61) and the platform angle detection device (7) and is configured to adjust the angles of the rotating platform (2), the boom unit (4) and the attachment connector (5) to a predetermined angle of the rotating platform, a predetermined angle of the boom unit and a predetermined angle of the attachment connector, corresponding to the target device (3) of the attachment.EFFECT: selecting various attachments for demolition to perform the corresponding building demolition operation.22 cl, 7 dwg

Description

Links to related applications

[0001] This application claims priority from Chinese Patent Application No. 202311807373.5, filed on December 26, 2023, which is incorporated herein by reference in its entirety. Technical Field to which this disclosure pertains

[0002] The present disclosure relates to the field of construction machinery, in particular, to a demolition vehicle, to a method for controlling a demolition vehicle, and to a storage medium. Prior art of the present disclosure

[0003] With the rapid development of the economy and society, the likelihood of emergency situations increases, and the difficulty of extinguishing fires and rescuing people in enclosed buildings, particularly shopping centers, warehouses, and factories, increases. In the event of a fire, it is difficult for firefighters to enter a burning building to rescue people. Various manufacturers of firefighting equipment have begun producing a powerful fire truck with a reinforced boom, designed for demolition of buildings and fire extinguishing using water spray. This type of fire truck is typically equipped with various demolition attachments, including a rotary cutter, demolition hammer, hydraulic shears, and a grapple. Depending on the building structure, the user can select from a variety of demolition attachments to perform the appropriate demolition operation.

[0004] In the prior art, the operations of picking up and installing or removing and returning to place or replacing most of the demolition attachment devices on a demolition vehicle are performed manually, and the fixing of the demolition attachment devices requires high articulation precision, which makes the operation of picking up and installing the demolition attachment device a very complex task, and makes it difficult to manually perform a quick and accurate replacement of the attachment device, which greatly reduces the efficiency of rescuing people and fire extinguishing. Summary of the present disclosure

[0005] Taking all this into account, according to embodiments of the present disclosure, a building demolition vehicle, a method for controlling the building demolition vehicle, and a storage medium are provided that are convenient for picking up and installing or removing and returning attachment devices.

[0006] According to one aspect of the present disclosure, a building demolition vehicle is provided. The building demolition vehicle includes: a chassis provided with a plurality of brackets for attachments; a turntable mounted on the chassis that can rotate; a plurality of attachment devices respectively located in the plurality of brackets for attachments; a boom assembly pivotally connected to the turntable and including a plurality of boom sections that are connected to each other in series by hinges; an attachment connector pivotally connected to the distal end of the boom in the last boom section of the plurality of boom sections and configured to perform gripping and securing or removing and returning to place any of the plurality of attachment devices;a plurality of hinge angle detection devices connected respectively to each boom section of the plurality of boom sections and to the attachment connector, and configured to detect angles of each boom section and the attachment connector; a platform angle detection device connected to the turntable and configured to detect an angle of rotation of the turntable relative to the chassis;and a processor connected to exchange signals with the turntable, the boom unit, the attachment connector, the hinge angle detecting device and the platform angle detecting device, and configured to adjust the angles of the turntable, the boom unit and the attachment connector to achieve a predetermined angle of the boom unit, a predetermined angle of the attachment connector and a predetermined angle of the turntable corresponding to the target attachment device, respectively, so that the attachment connector captures and secures or removes and returns to its place the target attachment device.

[0007] According to some embodiments, the building demolition vehicle further includes: a plurality of attachment presence detection devices located in each attachment bracket, respectively, configured to detect whether each attachment device is in the corresponding attachment bracket; wherein the processor is connected to exchange signals with each attachment presence detection device and is configured to adjust the angles of the boom assembly, the attachment connector, and the turntable so that the attachment connector captures and secures the target attachment after the target attachment is positioned in the corresponding attachment bracket.

[0008] According to some embodiments, the building demolition vehicle further includes: a plurality of gravity-based angle detection devices connected to each boom section and to the attachment connector, respectively, and configured to determine the angles of each boom section and the attachment connector; wherein the processor is connected to exchange signals with each gravity-based angle detection device and is configured to determine the angles of the boom assembly and the attachment connector in accordance with the angle information received by each hinge angle detection device and each gravity-based angle detection device.

[0009] According to another aspect of an embodiment of the present disclosure, a method for controlling a building demolition vehicle based on a building demolition vehicle is provided. The method comprises the following steps: obtaining information on angles of each boom section in a boom assembly, an attachment coupler, and a turntable using a hinge angle detecting device and a platform angle detecting device, respectively; adjusting the turntable to a predetermined angle of the turntable corresponding to a target attachment; adjusting each section of the boom assembly to a predetermined angle of each boom section corresponding to the target attachment, respectively; and adjusting the attachment coupler to a predetermined angle of the attachment coupler corresponding to the target attachment;and causing the attachment coupler to engage and secure or release and return to position the target attachment after the turntable, each boom section in the boom assembly and the attachment coupler have all reached predetermined positions corresponding to the target attachment.

[0010] According to some embodiments, the operation of adjusting the turntable to a predetermined angle of the turntable corresponding to the target attachment device, adjusting each section of the boom assembly to a predetermined angle of each boom section corresponding to the target attachment device, respectively, and adjusting the attachment connector to a predetermined angle of the attachment connector corresponding to the target attachment device, includes, in particular, the following step: sequentially adjusting the angle of the turntable to an allowable range of the predetermined angle of the turntable corresponding to the target attachment device, adjusting the angle of each boom section in the boom assembly to an allowable range of the predetermined angle of each boom section corresponding to the target attachment device,and adjusting the angle of the attachment connector to the allowable range of the preset angle of the attachment connector corresponding to the target device of the attachment.

[0011] According to some embodiments, the method of controlling a demolition vehicle further comprises the following steps: establishing a coordinate system with the center of the rotation axis of the turntable as the origin; determining the coordinates of the position of the attachment end point of the target attachment according to the distance between the target attachment and the chassis, the distance between the target attachment and the origin, and the deviation angle between the target attachment and the origin; and determining the coordinates of the position of the working end point of the attachment connector according to the distance between the first section in the boom assembly and the origin, the length of each section in the boom assembly, the length of the attachment connector, the angle of each section in the boom assembly, the angle of the attachment connector, and the angle of the turntable;and adjusting the boom assembly and / or the attachment coupler to correct the position difference between the operating end point of the attachment coupler and the attachment end point of the target attachment so that it is within the allowable position difference range after the position difference between the operating end point of the attachment coupler and the attachment end point of the target attachment exceeds the allowable position difference range.

[0012] According to some embodiments, the operation of adjusting the boom assembly and / or the attachment connector to correct the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment so that it is within an allowable position difference range after the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment exceeds the allowable position difference range, specifically includes the following steps: comparing the difference between the actual angle of each boom section in the boom assembly and the predetermined angle of each boom section corresponding to the target attachment, respectively, and the difference between the actual angle of the attachment connector and the predetermined angle of the attachment connector,corresponding to the target device of the attachment, after the difference in distances between the spherical coordinates of the working end point of the attachment connector and the spherical coordinates of the end attachment point of the target device of the attachment exceeds the maximum value of the allowable range of the distance difference; and adjusting the boom or the attachment connector with the largest angle difference in the boom assembly or in the attachment connector in order to decrease the angle difference of the boom or the attachment connector with the largest angle difference until the difference in distances between the spherical coordinates of the working end point of the attachment connector and the spherical coordinates of the end attachment point of the target device of the attachment becomes less than the maximum value of the allowable range of the distance difference.

[0013] According to some embodiments, the operation of adjusting the boom assembly and / or the attachment connector to correct the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment so that it is within an allowable position difference range after the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment exceeds the allowable position difference range, further comprises the following steps: comparing the difference between the actual angle of each boom section in the boom assembly and the predetermined angle of each boom section corresponding to the target attachment, respectively, and the difference between the actual angle of the attachment connector and the predetermined angle of the attachment connector,corresponding to the target device of the attachment, after decreasing the distance difference between the spherical coordinates of the working end point of the attachment connector and the spherical coordinates of the end attachment point of the target device of the attachment to a value less than the minimum value of the allowable range of the distance difference; and adjusting the boom or the attachment connector with the smallest angle difference in the boom assembly or in the attachment connector in order to increase the angle difference of the boom or the attachment connector with the smallest angle difference until the distance difference between the spherical coordinates of the working end point of the attachment connector and the spherical coordinates of the end attachment point of the target device of the attachment becomes greater than the minimum value of the allowable range of the distance difference.

[0014] According to some embodiments, the operation of adjusting the boom assembly and / or the attachment connector to correct the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment so that it is within an allowable position difference range after the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment exceeds the allowable position difference range, further comprises the following steps: comparing the difference between the actual angle of each boom section in the boom assembly and the predetermined angle of each boom section corresponding to the target attachment, respectively, and the difference between the actual angle of the attachment connector and the predetermined angle of the attachment connector,corresponding to the target attachment device, after adjusting the angle difference of the boom with the largest angle difference in the boom assembly to be equal to the minimum value of the allowable range of the predetermined boom angle, or the distance difference between the spherical coordinates of the working end point of the attachment connector and the spherical coordinates of the attachment end point of the target attachment device, which still exceeds the maximum value of the allowable range of the distance difference, when the angle of the attachment connector is adjusted to be equal to the minimum value of the allowable range of the predetermined angle of the attachment connector; and adjusting the boom or the attachment connector with the largest angle difference in the boom assembly and the attachment connector to decrease the angle difference of the boom or the attachment connector with the largest angle difference until,until the difference in distances between the spherical coordinates of the working end point of the attachment connector and the spherical coordinates of the attachment end point of the target device of the attachment becomes less than the maximum value of the permissible range of distance difference.

[0015] According to some embodiments, the operation of adjusting the boom assembly and / or the attachment connector to correct the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment so that it is within an allowable position difference range after the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment exceeds the allowable position difference range, further comprises the following steps: comparing the difference between the actual angle of each boom section in the boom assembly and the predetermined angle of each boom section corresponding to the target attachment, respectively, and the difference between the actual angle of the attachment connector and the predetermined angle of the attachment connector,corresponding to the target device of the attachment, after adjusting the angle difference of the boom with the smallest angle difference in the boom assembly to be equal to the maximum value of the allowable range of the predetermined angle of the boom, or the distance difference between the spherical coordinates of the working end point of the attachment connector and the spherical coordinates of the attachment end point of the target device of the attachment, which is still less than the minimum value of the allowable range of the distance difference, when the angle of the attachment connector is adjusted to be equal to the maximum value of the allowable range of the predetermined angle of the attachment connector; and adjusting the boom or the attachment connector with the smallest angle difference in the boom assembly or the attachment connector to increase the angle difference of the boom or the attachment connector with the smallest angle difference until,until the difference in distances between the spherical coordinates of the working end point of the attachment connector and the spherical coordinates of the attachment end point of the target device of the attachment becomes greater than the difference in distances.,

[0016] According to some embodiments, the operation of adjusting the boom assembly and / or the attachment connector to correct the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment so that it is within an allowable position difference range after the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment exceeds the allowable position difference range further comprises the following steps: comparing the difference between the actual angle of each boom section in the boom assembly and the predetermined angle of each boom section corresponding to the target attachment, respectively, and the difference between the actual angle of the attachment connector and the predetermined angle of the attachment connector,corresponding to the target device of the attachment, after the difference in the included angles of elevation between the spherical coordinates of the operating end point of the attachment connector and the spherical coordinates of the end attachment point of the target device of the attachment exceeds the maximum value of the permissible range of the included angle difference; and adjusting the boom or the attachment connector with the largest angle difference in the boom assembly or in the attachment connector in order to decrease the angle difference of the boom or the attachment connector with the largest angle difference until the difference in the included angles of elevation between the spherical coordinates of the operating end point of the attachment connector and the spherical coordinates of the end attachment point of the target device of the attachment becomes less than the maximum value of the permissible range of the included angle difference.

[0017] According to some embodiments, the operation of adjusting the boom assembly and / or the attachment connector to correct the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment so that it is within an allowable position difference range after the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment exceeds the allowable position difference range, further comprises the following steps: comparing the difference between the actual angle of each boom section in the boom assembly and the predetermined angle of each boom section corresponding to the target attachment, respectively, and the difference between the actual angle of the attachment connector and the predetermined angle of the attachment connector,corresponding to the target device of the attachment, after decreasing the difference in the included angles of elevation between the spherical coordinates of the operating end point of the attachment connector and the spherical coordinates of the end attachment point of the target device of the attachment to a value less than the minimum value of the allowable range of the included angle difference; and adjusting the boom or the attachment connector with the smallest angle difference in the boom assembly or in the attachment connector in such a way as to increase the difference in the angles of the boom or the attachment connector with the smallest angle difference until the difference in the included angles of elevation between the spherical coordinates of the operating end point of the attachment connector and the spherical coordinates of the end attachment point of the target device of the attachment becomes greater than the minimum value of the allowable range of the included angle difference.

[0018] According to some embodiments, the operation of adjusting the boom assembly and / or the attachment connector to correct the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment so that it is within an allowable position difference range after the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment exceeds the allowable position difference range, further comprises the following steps: comparing the difference between the actual angle of each boom section in the boom assembly and the predetermined angle of each boom section corresponding to the target attachment, respectively, and the difference between the actual angle of the attachment connector and the predetermined angle of the attachment connector,corresponding to the target device of the attachment, after adjusting the difference in the boom angle with the largest difference in the boom joint to be equal to the minimum value of the allowable range of the predetermined boom angle, or the difference in the included elevation angles between the spherical coordinates of the working end point of the attachment connector and the spherical coordinates of the attachment end point of the target device of the attachment, which still exceeds the maximum value of the allowable range of the included elevation angle difference, when the angle of the attachment connector is adjusted to a value equal to the minimum value of the allowable range of the predetermined angle of the attachment connector; and adjusting the boom or the attachment connector with the largest difference in the boom joint or the attachment connector in such a way thatto reduce the angle difference of the boom or attachment connector with the largest angle difference until the included elevation angle difference between the spherical coordinates of the working end point of the attachment connector and the spherical coordinates of the attachment end point of the target attachment is less than the maximum value of the allowable included elevation angle difference range.

[0019] According to some embodiments, the operation of adjusting the boom assembly and / or the attachment connector to correct the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment so that it is within an allowable position difference range after the position difference between the operating end point of the attachment connector and the attachment end point of the target attachment exceeds the allowable position difference range, further comprises the following steps: comparing the difference between the actual angle of each boom section in the boom assembly and the predetermined angle of each boom section corresponding to the target attachment, respectively, and the difference between the actual angle of the attachment connector and the predetermined angle of the attachment connector,corresponding to the target attachment device, after adjusting the angle difference of the boom with the smallest angle difference in the boom assembly to achieve the maximum value of the allowable range of the predetermined boom angle, or the included angle height difference between the spherical coordinates of the working end point of the attachment connector and the spherical coordinates of the attachment end point of the target attachment device, which is still less than the allowable range of the included angle height difference, when the angle of the attachment connector is adjusted to the maximum value of the allowable range of the predetermined angle of the attachment connector; and adjusting the boom or the attachment connector with the smallest angle difference in the boom assembly or the attachment connector so as to increase the angle difference of the boom or the attachment connector with the smallest angle difference until,until the difference in the adjacent elevation angles between the spherical coordinates of the working end point of the attachment connector and the spherical coordinates of the attachment end point of the target device of the attachment becomes greater than the minimum value of the permissible range of the difference in adjacent elevation angles.,

[0020] According to some embodiments, the operation of causing the attachment connector to perform the pick-up and installation or removal and return to the place of the target attachment after the turntable, each boom section of the boom assembly and the attachment connector all have reached predetermined positions corresponding to the target attachment, in particular, includes the following steps: moving the working end point of the attachment connector to a first predetermined position; and rotating the attachment connector so that the working end point of the attachment connector moves to a second predetermined position to coincide with the fastening end point of the target attachment so that the attachment connector fastens and locks the target attachment.

[0021] According to some embodiments, the operation of causing the attachment connector to perform the pick-up and installation or removal and return to the position of the target attachment after the turntable, each boom section of the boom assembly and the attachment connector have all reached predetermined positions corresponding to the target attachment further comprises the following step: picking up and vertically raising the target attachment by raising the last boom section of the boom assembly and / or lowering the second to last boom section of the boom assembly untiluntil the height of the end point of the attachment target device exceeds the first predetermined height after the working end point of the attachment connector reaches the second predetermined position to coincide with the end point of the attachment target device.

[0022] According to some embodiments, the operation of causing the attachment connector to perform the pickup and installation or removal and return to the place of the target attachment after the turntable, each boom section of the boom assembly and the attachment connector all have reached predetermined positions corresponding to the target attachment, in particular, includes the following step: moving the working end point of the attachment connector to a second predetermined position to coincide with the end point of fastening of the target attachment so that the attachment connector unlocks the target attachment; and rotating the attachment connector so as to move the working end point of the attachment connector to the first predetermined position.

[0023] According to some embodiments, the operation of causing the attachment connector to perform the pick-up and installation or removal and return to the place of the target attachment after the turntable, each boom section of the boom assembly and the attachment connector all have reached predetermined positions corresponding to the target attachment, further comprises the following step: vertically removing to the place of the target attachment by raising the last boom section in the boom assembly and / or lowering the penultimate boom section in the boom assembly so that the working end point of the attachment connector reaches the second predetermined position to coincide with the target attachment after the height of the end attachment point of the target attachment becomes greater than the first predetermined height.

[0024] According to some embodiments, the building demolition vehicle further includes: a plurality of attachment presence detection devices located in a plurality of attachment brackets, respectively, and configured to detect whether each attachment device is in a corresponding attachment bracket; wherein the method for controlling the building demolition vehicle further comprises the following step: adjusting the angles of the boom assembly, the attachment connector and / or the turntable so that the attachment connector captures the target attachment after the attachment presence detection device detects that the target attachment device is in the corresponding attachment bracket.

[0025] According to some embodiments, the method of controlling a demolition vehicle further comprises the following steps: before adjusting the turntable to a predetermined angle of the turntable corresponding to the target device of the attachment, adjusting each boom section in the boom assembly to a predetermined angle of each boom section corresponding to the target device of the attachment, respectively, and adjusting the attachment connector to a predetermined angle of the attachment connector corresponding to the target device of the attachment;raising the attachment coupler so that the height of the attachment coupler exceeds a second predetermined height so that the attachment coupler grips and installs the target attachment after the target attachment is positioned in the attachment bracket.

[0026] According to some embodiments, the method of controlling a demolition vehicle further comprises the following step: adjusting the angles of the boom assembly, the attachment connector and / or the turntable so that the attachment connector returns the target attachment back to its location after determining, by the attachment presence detection device, that the attachment bracket corresponding to the target attachment device is in a free state and the height of the attachment connector exceeds a first predetermined height.

[0027] According to a further aspect of the embodiments of the present disclosure, a machine-readable storage medium is provided. The machine-readable storage medium comprises a computer program stored thereon, wherein the program, when executed by a processor, implements a method for controlling a demolition vehicle according to any of the embodiments described above.

[0028] Thus, according to the embodiment of the present disclosure, by determining and positioning the angles of the boom assembly, the turntable and the attachment connector, and providing predetermined positions in which the boom assembly, the turntable and the attachment connector should be located before the operations of picking up and installing or removing and returning to the place of each attachment device, the working end point of the attachment connector can be moved to a position convenient for picking up and installing or removing and returning to the place of the target attachment device according to the positions of the boom assembly, the turntable and the attachment connector, which can satisfy the requirements for high precision of articulation and locking and removing the attachment connector and the attachment device, and significantly save time,The time spent on gripping and positioning during manual gripping and installation or removal and return of attachments. This allows for rapid gripping and installation, removal and return, or replacement of various attachments. Compared to manual operations, more precise positioning and gripping and installation or removal and return can be achieved, helping to improve the efficiency of emergency rescue operations and ensure effective and reliable rescue of people. Brief description of the figures

[0029] The accompanying figures, which are incorporated in and constitute a part of this specification, show embodiments of the present disclosure and, together with this description, are intended to explain the principles of the present disclosure.

[0030] The present disclosure may be more clearly understood from the following detailed description with reference to the attached figures, in which:

[0031] Fig. 1 shows a block diagram of connections according to some embodiments of a building demolition vehicle described in the present disclosure;

[0032] Fig. 2 shows a simplified external view of a vehicle according to some embodiments of a building demolition vehicle described in the present disclosure;

[0033] Fig. 3 shows a simplified external view of a vehicle with a rectangular coordinate system according to some embodiments of the building demolition vehicle described in the present disclosure;

[0034] Fig. 4 shows a simplified external view of a rectangular coordinate system attachment device according to some embodiments of the building demolition vehicle described in the present disclosure;

[0035] Fig. 5 shows a simplified external view of a vehicle with a spherical coordinate system according to some embodiments of a building demolition vehicle described in the present disclosure;

[0036] Fig. 6 is a simplified top view of a vehicle with a spherical coordinate system according to some embodiments of a building demolition vehicle described in the present disclosure;

[0037] Fig. 7 shows a flow chart of the method for controlling a vehicle for demolishing buildings described in the present disclosure;

[0038] The following reference numbers are used in the figures: 1. Chassis; 11. Attachment Bracket; 111. First Attachment Bracket; 112. Second Attachment Bracket; 113. Third Attachment Bracket; 114. Fourth Attachment Bracket; 115. Fifth Attachment Bracket; 116. Sixth Attachment Bracket; 2. Turntable; 3. Attachment Unit; 31. First Attachment Unit; 32. Second Attachment Unit; 33. Third Attachment Unit; 34. Fourth Attachment Unit; 35. Fifth Attachment Unit; 36. Sixth Attachment Unit; 4. Boom Unit; 41. First Boom Section; 42. Second Boom Section; 43. Third Boom Section; 44. fourth boom section; 5. attachment connector; 61. hinge angle determination device; 611.first hinge angle detecting device; 612. second hinge angle detecting device; 613. third hinge angle detecting device; 614. fourth hinge angle detecting device; 615. fifth hinge angle detecting device; 62. gravity-using angle detecting device; 621. first gravity-using angle detecting device; 622. second gravity-using angle detecting device; 623. third gravity-using angle detecting device; 624. fourth gravity-using angle detecting device; 625. fifth gravity-using angle detecting device; 7. platform angle detecting device; 8. processor; 9. attachment presence detecting device; 91. first attachment presence detecting device; 92. second attachment presence detecting device; 93. third attachment presence detecting device; 94.a fourth device for detecting the presence of an attachment; 95. a fifth device for detecting the presence of an attachment; 96. a sixth device for detecting the presence of an attachment.

[0039] It should be understood that the images of various parts shown in the attached figures are not drawn in sizes corresponding to actual proportional relationships. In addition, the same or similar components are designated in the figures by the same or similar reference numbers. Detailed description of the present disclosure

[0040] Hereinafter, illustrative embodiments of the present disclosure will be described in detail with reference to the accompanying figures. The description of the illustrative embodiments is for illustrative purposes only and is in no way intended to limit the present disclosure and its application or use. The present disclosure can be embodied in many different forms, which are in no way limited to the embodiments described herein. These embodiments are provided to make the description of the present disclosure thorough and complete, and to fully convey its scope to those skilled in the art.It should be noted that: the relative arrangement of components and steps, the composition of materials, numerical expressions and numerical values ​​developed in these embodiments should be considered as illustrative only and not restrictive, unless otherwise specifically indicated.

[0041] The use of the words "first," "second," and the like in this disclosure does not denote any sequence, quantity, or significance, but is intended merely to distinguish different parts. Similar words, such as "comprises" and "includes," mean that the element before the word encompasses the element specified after the word, without excluding the possibility of also encompassing other elements. The words "above," "below," "left," and "right" are used only to indicate mutual relative position, and this mutual relative position may accordingly change with a change in the absolute position of the described object.

[0042] In this disclosure, when a specific device is described as being located between a first and a second device, an intermediate device may or may not be present between this device and the first or second device. When a specific device is described as being connected to other devices, this device may be directly connected to said other devices without an intermediate device, and may also be connected indirectly to said other devices via an intermediate device.

[0043] Unless otherwise specified, all terms used herein (including technical terms and scientific terms) have the meanings commonly understood by those of ordinary skill in the technical field to which this disclosure pertains. It should also be understood that terms defined, for example, in general dictionaries, should be interpreted so that their meanings correspond to their meanings in the context of the relevant technical field, but not in an idealized or overly formalized sense, unless specifically stated herein.

[0044] Technologies, methods, and devices known to those skilled in the art may not be discussed in detail herein. However, such technologies, methods, and devices should be considered as part of the description where appropriate.

[0045] With the rapid development of the economy and society, the likelihood of emergency situations increases, and the difficulty of extinguishing fires and rescuing people in enclosed buildings, particularly shopping centers, warehouses, and factories, increases. In the event of a fire, it is difficult for firefighters to enter a burning building to rescue people. To address this issue, manufacturers of firefighting equipment have begun producing powerful fire trucks with reinforced booms designed for demolition and featuring reliable demolition and fire suppression capabilities using water jet equipment. This type of fire truck is typically equipped with various demolition attachments, including a rotary cutter, demolition hammer, hydraulic shears, and a grapple.Depending on the building structure, the user can choose different demolition attachments to perform the corresponding building demolition operation.

[0046] In the prior art, the operations of picking up and installing or removing and returning to place or replacing most of the attachment devices for demolition on a building demolition vehicle are performed manually, and the fastening of the attachment devices for demolition requires high articulation accuracy, which makes the operation of picking up and installing the attachment device for demolition a very complex task and makes it difficult to manually quickly and accurately replace the attachment device, which significantly reduces the efficiency of saving people and firefighting. Taking all this into account, according to one aspect of the present disclosure, a building demolition vehicle is provided, in which the accuracy of picking up and installing or removing and returning to place the attachment can be improved. The building demolition vehicle may include, among other things, a fire truck for demolition.A fire truck for demolition is primarily used to demolish large enclosed complexes engulfed in flames. Equipped with various integrated demolition equipment, a fire truck for demolition can quickly open firefighting passages and conduct rescue operations, enabling a fast, reliable, and effective rescue operation.

[0047] Fig. 1 shows a block diagram of connections according to some embodiments of a building demolition vehicle described in the present disclosure; Fig. 2 shows a simplified external view of a vehicle according to some embodiments of a building demolition vehicle described in the present disclosure; and Fig. 3 shows a simplified external view of a vehicle with a rectangular coordinate system according to some embodiments of a building demolition vehicle described in the present disclosure; Figs. 1-3 show that the building demolition vehicle includes: a chassis 1, a turntable 2, a plurality of attachment devices 3, a boom assembly 4, an attachment connector 5, a plurality of articulation angle detecting devices 61, a platform angle detecting device 7 and a processor 8.

[0048] A plurality of attachment brackets 11 are installed on the chassis 1, and each bracket 11 is designed to accommodate a corresponding attachment device 3. A plurality of attachment devices 3 are located in the attachment brackets 11, and this number of attachment devices 3 includes, among other things, six attachment devices, namely, a first attachment device 31, a second attachment device 32, a third attachment device 33, a fourth attachment device 34, a fifth attachment device 35, and a sixth attachment device 36. Each attachment device 3 is designed to perform, among other things, various functions, including the functions of a hydraulic shear, a hydraulic hammer, a hydraulic hose reel, a rotary cutter, and a grapple for various building demolition conditions.The number of attachments 3 and the arrangement order of the brackets 11 for attachments on the chassis 1 can be adjusted in accordance with the requirements of the actual building demolition work.

[0049] The turntable 2, which is mounted on the chassis 1, can rotate relative to the chassis 1 to move the boom unit 4, and can move the boom unit 4 by rotating left or right by 360 degrees. The boom unit 4 is fixed to the turntable 2 via a hinge joint, this unit includes a plurality of boom sections that are sequentially connected to each other via hinges. The boom unit 4 includes, among other things, four boom sections, namely, a first boom section 41, a second boom section 42, a third boom section 43, a fourth boom section 44, or a greater or lesser number of boom sections, and each boom section can rotate in a corresponding hinge joint.

[0050] The attachment connector 5 is connected by a hinge to the distal end of the last boom section of a plurality of boom sections, for example, to the distal end of the fourth boom section 44. The attachment connector 5 can rotate in the hinged connection with the fourth boom section 44, it is configured to grip and install or remove and return to place any attachment device 3 of the plurality of attachment devices 3. The attachment connector 5 includes, among other things, a quick-release coupling device, in particular a quick-release coupling.

[0051] A plurality of hinge angle detection devices 61 are connected to each boom section of the plurality of boom sections and to the attachment connector 5, respectively, and they are configured to detect angles of the plurality of boom sections and the attachment connector 5. The number of hinge angle detection devices 61 is equal to the number of boom sections, and this number includes, among other things, a first hinge angle detection device 611, a second hinge angle detection device 612, a third hinge angle detection device 613, a fourth hinge angle detection device 614, and a fifth hinge angle detection device 615.

[0052] Each hinge angle detecting device 61, which includes, among other things, a hinge joint directly attached to each boom section, can also perform angle determinations using components such as a gear transmission, a drive belt, or a hinge quadrilateral.Based on the linear relationship between the readings of the first hinge angle determining device 611, the second hinge angle determining device 612, the third hinge angle determining device 613, the fourth hinge angle determining device 614 and the fifth hinge angle determining device 615 and the actual angles, it is possible to calculate, respectively, the included angle α1 between the first boom section 41 and the horizontal plane, the included angle α2 between the second boom section 42 and the first boom section 41, the included angle α3 between the third boom section 43 and the second boom section 42, the included angle α4 between the fourth boom section 44 and the third boom section 43, and the included angle α5 between the attachment connector 5 and the fourth boom section 44.

[0053] The platform angle detection device 7 is connected to the turntable and is configured to detect the rotation angle β of the turntable 2 relative to the chassis 1. The processor 8 is connected to exchange signals with the turntable 2, the boom unit 4, the attachment connector 5, the hinge angle detection device 61 and the platform angle detection device 7, and is configured to adjust the angles of the boom unit 4, the attachment connector 5 and the turntable 2 to a predetermined angle of the boom unit, a predetermined angle of the attachment connector 5 and a predetermined angle of the turntable 2, respectively, so that the attachment connector 5 could grip and install or remove and return to place the target attachment device 3.

[0054] Table 1 below is a boom position planning table for the process of picking up and installing attachments. Depending on the position of each attachment, a preset angle β is provided for picking up and installing various target attachments. n rotary platform, corresponding to rotary platform 2, preset angle α 1n first section of the boom, corresponding to the first section 41 of the boom, a predetermined angle α 2n the second section of the boom, corresponding to the second section 42 of the boom, a predetermined angle α 3n third section of the boom, corresponding to the third section 43 of the boom, a predetermined angle α 4n fourth section of the boom, corresponding to the fourth section 44 of the boom, and a predetermined angle α 5nattachment connector corresponding to attachment connector 5. During the process of picking up and installing attachment device 3, processor 8 sequentially adjusts the positions of rotating platform 2, first boom section 41, second boom section 42, third boom section 43, fourth boom section 44 and attachment connector 5 to angular positions corresponding to the target attachment device 3, which must be picked up and installed according to the data in Table 1 so that attachment connector 5 is secured with attachment device 3 for the operation of picking up and installing it.

[0055] Table 1 for planning the positions of boom parts when grabbing and installing attachments

[0056] Table 2 below is a boom position planning table for the removal and return of attachments. Depending on the position of each attachment 3, a preset angle β is provided for the removal and return of various target attachments 3. n rotary platform, corresponding to rotary platform 2, preset angle δ 1n first section of the boom, corresponding to the first section 41 of the boom, a predetermined angle δ 2n the second section of the boom, corresponding to the second section 42 of the boom, a predetermined angle δ 3n third section of the boom, corresponding to the third section 43 of the boom, a predetermined angle δ 4n fourth section of the boom, corresponding to the fourth section 44 of the boom, and a predetermined angle δ 5nattachment connector corresponding to attachment connector 5. During the process of removing and returning attachment device 3, processor 8 sequentially adjusts the positions of turntable 2, first boom section 41, second boom section 42, third boom section 43, fourth boom section 44 and attachment connector 5 to angular positions corresponding to target attachment device 3, which must be removed and returned according to data in Table 2, respectively, so that attachment connector 5 approaches attachment bracket 11 corresponding to attachment device 3, in order to remove and return attachment device 3.

[0057] Table 2 for planning the positions of boom parts when removing and returning the attachment

[0058] According to this embodiment, by determining and positioning the angles of the boom unit 4, the turntable 2 and the attachment connector 5, and providing predetermined positions at which the boom unit 4, the turntable 2 and the attachment connector 5 should be located before the operations of picking up and installing or removing and returning to the position of each attachment device 3, the working end point of the attachment connector 5 can be moved to a position convenient for picking up and installing or removing and returning to the position of the target attachment device 3 according to the positions of the boom unit 4, the turntable 2 and the attachment connector 5, which can satisfy the requirements for high precision of articulation and locking or removing the attachment connector 5 and the attachment device 3, and greatly save time,The time spent on gripping and positioning during manual gripping and installation or removal and return of attachments can be achieved. Rapid gripping and installation, removal and return, or replacement of various attachments can be achieved. Compared to manual operations, more precise positioning and gripping and installation or removal and return operations can be achieved, which helps improve the efficiency of emergency rescue operations and ensure effective and reliable rescue of people.

[0059] As shown in Fig. 2, according to some embodiments, the building demolition vehicle further includes: a plurality of devices 9 for detecting the presence of attachment devices, arranged in a plurality of brackets 11 for attachments, respectively, in one-to-one correspondence with each attachment device 3, and configured to detect whether each attachment device 3 is in the corresponding bracket 11 for attachments.The attachment presence detection device 9 includes, among other things, a first attachment presence detection device 91 located in a first attachment bracket 111, a second attachment presence detection device 92 located in a second attachment bracket 112, a third attachment presence detection device 93 located in a third attachment bracket 113, a fourth attachment presence detection device 94 located in a fourth attachment bracket 114, a fifth attachment presence detection device 95 located in a fifth attachment bracket 115, and a sixth attachment presence detection device 96 located in a sixth attachment bracket 116.

[0060] The processor 8 is connected to exchange signals with each attachment presence detection device 9, and is configured to adjust the angles of the boom assembly 4, the attachment connector 5, and the turntable 2 after the target attachment 3 is positioned in the attachment container 11 so that the attachment connector 5 captures and installs the target attachment 3. The attachment presence detection device 9 performs the function, among other things, of detecting the attachment 3 above the container, but is not limited to this and can also detect other positions of the equipment to assess its presence in the desired location. The detection sensor component is not limited to a contactless sensor; other sensors may also be used to detect the presence.

[0061] According to this embodiment, during the pick-up and installation operation of the attachment device 3, the adjustment of the positions of the boom unit 4, the attachment connector 5, and the turntable 2 is permitted only after the attachment device 3 is installed in its position, which helps reduce the risk of incorrect positioning of the attachment device 3. If the attachment presence detection device 9 detects that the target attachment 3 is not located in the attachment bracket 11, an alarm is generated. After the removal and return operation of the attachment device 3 is completed, the attachment presence detection device 9 can also judge whether the attachment 3 is installed in its position, so as to reduce the risk of an accident during vehicle movement due to the absence of the attachment device 3 in its position.

[0062] As shown in Fig. 2, according to some embodiments, the building demolition machine further includes a plurality of gravity-based angle detection devices 62, which include, among other things, a first gravity-based angle detection device 621, a second gravity-based angle detection device 622, a third gravity-based angle detection device 623, a fourth gravity-based angle detection device 624, and a fifth gravity-based angle detection device 625. The plurality of gravity-based angle detection devices 62, which are connected to each boom section and to the attachment connector 5, respectively, and are located on the surfaces of the boom sections and the attachment connector 5, are configured to detect angles of a plurality of boom sections and the attachment connector 5.

[0063] The processor 8, which is connected to each gravity-based angle detection device 62 for exchanging signals, is configured to determine the angles of each section of the boom assembly 4 and the attachment connector 5 according to the rotation angle information obtained by the plurality of hinge angle detection devices 61 and the plurality of gravity-based angle detection devices 62. The gravity-based angle detection device 62 may include, among other things, an accelerometer.

[0064] In some previous technologies, due to the large drift range of the boom angle of the demolition truck, only the inductive non-contact sensor method of detecting the boom angle is used, which cannot accurately detect the actual position of the boom and achieve accurate positioning and movement control of the 3 attachments of the demolition truck due to the influence of the swing and deviation conditions of the boom.

[0065] According to this embodiment, the gravity-based angle detection device 62 and the hinge angle detection device 61 are configured to detect the angles of the boom assembly 4 and the attachment connector 5, respectively, so that the angle detection results obtained by these two angle detection methods can be compared with each other. In the event of a malfunction of the hinge angle detection device 61, the two sets of data measured by the gravity-based angle detection device 62 and the hinge angle detection device 61 can be compared to ensure that an angle invalidity alarm is issued.The commands of the processor 8 are limited when performing the positioning operation of the boom unit 4 and the attachment connector 5 according to incorrect angle data, in order to reduce the risk of incorrectly picking up and installing the attachment device 3 due to incorrect angle information generated by a faulty angle detection device.

[0066] Fig. 4 is a simplified external view of an attachment device with a rectangular coordinate system according to some embodiments of a building demolition vehicle described in the present disclosure, Fig. 5 is a simplified external view of a vehicle with a spherical coordinate system according to some embodiments of a building demolition vehicle described in the present disclosure, Fig. 6 is a simplified top view of a vehicle with a spherical coordinate system according to some embodiments of a building demolition vehicle described in the present disclosure, and Fig. 7 is a flowchart of an algorithm of a method for controlling a building demolition vehicle described in the present disclosure. As shown in Fig. 2-7, according to another aspect of an embodiment of the present disclosure, a method for controlling a building demolition vehicle is provided, based on any of the building demolition vehicles described above.The method includes steps from step S1 to step S3.

[0067] In step S1, the angle information of each section of the boom assembly 4, the attachment connector 5, and the turntable 2 is obtained by the hinge angle detection devices 61 and the platform angle detection device 7. The angle α1 between the first boom section 41 and the horizontal plane, the angle α2 between the second boom section 42 and the first boom section 41, the angle α3 between the third boom section 43 and the second boom section 42, the angle α4 between the fourth boom section 44 and the third boom section 43, and the angle α5 between the attachment connector 5 and the fourth boom section 44 can be calculated respectively based on the readings of the hinge angle detection devices 61, and the rotation angle β of the turntable 2 relative to the chassis 1 can be obtained by the platform angle detection device 7.

[0068] In step S2, the positions of the turntable 2, the boom unit 4 and the attachment connector 5 are adjusted sequentially to set the turntable 2 to a predetermined angle of the turntable specified in Table 1 or Table 2 corresponding to the target attachment 3, set each boom section in the boom unit 4 to a predetermined angle of each boom section specified in Table 1 or Table 2, respectively, corresponding to the target attachment 3, and set the attachment connector 5 to a predetermined angle of the attachment connector specified in Table 1 or Table 2 corresponding to the target attachment 3.

[0069] At step S3, after the turntable 2, the boom unit 4, and the attachment connector 5 have all reached the preset positions corresponding to the target attachment 3, at this time, the attachment connector 5 is positioned at the attachment bracket 11 so that the attachment connector 5 can grip and install or remove and return to its position the target attachment 3.Step S3 includes, among other things, allowing the attachment connector 5 to pick up and install or remove and return to its place the target attachment 3 after the turntable 2, the boom unit 4 and the attachment connector 5 have all reached predetermined positions corresponding to the target attachment 3, or allowing the attachment connector 5 to pick up and install or remove and return to its place the target attachment 3 after the turntable 2, the boom unit 4 and the attachment connector 5 have all reached predetermined positions corresponding to the target attachment 3 within a predetermined time interval.

[0070] According to this embodiment, by determining and positioning the angles of the boom unit 4, the turntable 2 and / or the attachment connector 5, and providing predetermined positions at which the boom unit 4, the turntable 2 and the attachment connector 5 should be located before the pick-up and installation or removal and return operations of each attachment device 3, the attachment connector 5 can be set to a mode of reaching the position of the target attachment device 3 corresponding to the attachment bracket 11 according to the positions of the boom unit 4, the turntable 2 and the attachment connector 5, which satisfies the requirements for high precision articulation and locking and removal of the attachment connector 5 and the attachment device 3, and greatly saves time,The time spent on gripping and positioning during manual gripping and installation or removal and return of attachments can be achieved. Rapid gripping and installation, removal and return, or replacement of various attachments can be realized. Compared with manual operations, more accurate positioning and gripping and installation or removal and return can be realized, effectively eliminating the problem of low efficiency in manual positioning and replacement of attachments, which helps improve the efficiency of emergency rescue operations and ensure effective and reliable rescue of people.

[0071] As shown in Fig. 2-6, according to some embodiments of the operation of adjusting the turntable 2 to a predetermined angle of the turntable corresponding to the target attachment device 3, adjusting each boom section in the boom assembly 4 to a predetermined angle of each boom section corresponding to the target attachment device 3, respectively, and adjusting the attachment connector 5 to a predetermined angle of the attachment connector corresponding to the target attachment device 3, specifically include the following step:

[0072] Sequentially, the angle of the turntable 2 is adjusted to the allowable range of the preset angle of the turntable corresponding to the target attachment 3, the angle of each boom section in the boom unit 4 is adjusted to the allowable range of the preset angle of each boom section corresponding to the target attachment 3, and the angle of the attachment connector 5 is adjusted to the allowable range of the preset angle of the attachment connector corresponding to the target attachment 3.

[0073] For example, the angle β of turntable 2 reaches the range β n ±Δβ, where Δβ denotes the permissible angle error of the rotating platform 2; the angle of the first section 41 of the boom reaches the range α 1n ±Δα1, where Δα1 denotes the permissible error of the angle of the first section 41 of the boom; the angle of the second section 42 of the boom reaches the range α 2n±Δα2, where Δα2 denotes the permissible error in the angle of the second section 42 of the boom; the angle of the third section 43 of the boom reaches the range α 3n ±Δα3, where Δα3 denotes the permissible error of the angle of the third section 43 of the boom; the angle of the fourth section 44 of the boom reaches the range α 4n ±Δα4, where Δα4 denotes the permissible angle error of the fourth section 44 of the boom; the angle of the connector 5 of the attachment reaches the range α 5n ±Δα5, where Δα5 denotes the permissible error of the angle of the connector 5 of the attachment.

[0074] According to this embodiment, the angles of the turntable 2, the first boom section 41, the second boom section 42, the third boom section 43, the fourth boom section 44 and / or the attachment connector 5 are adjusted sequentially according to the predetermined angle values ​​specified in Table 1 and Table 2, and wherein the angle of the first boom section 41 is adjusted when the angle of the turntable 2 is within the allowable range of the predetermined angle β n ±Δβ. After the angle of the first section 41 of the boom is within the permissible range of the preset angle of the boom sections α 1n±Δα1, the angles of the second section 42 of the boom, the third section 43 of the boom, the fourth section 44 of the boom and the connector 5 of the attachment are also adjusted sequentially so that the connector 5 of the attachment can quickly reach a predetermined position after receiving a command to perform the capture and installation or removal and return to place in order to perform the operation of capturing and installing or removing and returning to place the device 3 of the attachment.

[0075] As shown in Fig. 2-6, according to some embodiments, the method for controlling a demolition vehicle further includes the following step: establishing a coordinate system with the center of the rotation axis of the turntable 2 as the origin O. Then, the coordinates of the position of the working end point of the attachment connector 5 are determined in accordance with the distance between the first boom section in the boom assembly 4 and the origin, the length of each boom section in the boom assembly 4, the length of the attachment connector 5, the angle of each boom section in the boom assembly 4, the angle of the attachment connector 5 and the angle of the turntable 2.The coordinates of the position of the end point of attachment of the target device 3 of the attachment are determined in accordance with the distance between the target device 3 of the attachment and the chassis 1, the distance between the target device 3 of the attachment and the origin of coordinates, and the angle of deviation of the projection of the connecting line between the device 3 of the attachment and the origin of coordinates in the xOy plane relative to the y axis.

[0076] The process of determining the position coordinates includes, among other things, the following step: obtaining the position coordinates of the working end point of the attachment connector 5 in the coordinate system according to the distance BL0 between the lifting and lowering pivot point of the first boom section 41 and the center O of the rotation axis, the length BL1 of the first boom section 41, the length BL2 of the second boom section 42, the length BL3 of the third boom section 43, the length BL4 of the fourth boom section 44, the length BL5 of the attachment connector 5, the angle α0 between the connecting line from the lifting and lowering pivot point of the first boom section 41 to the center O of the platform rotation axis and the horizontal plane, the angle α1 between the first boom section 41 and the horizontal plane, the angle α2 between the second boom section 42 and the first boom section 41, the angle α3 between the third section 43 of the boom and the second section 42 of the boom, angle α4 between the fourth section 44 of the boom and the third section 43 of the boom,angle α5 between the connector 5 of the attachment and the fourth section 44 of the boom, and the angle β of rotation of the rotating platform 2 relative to the chassis 1.,

[0077] The process of determining the coordinates of the 5-piece attachment connector in the rectangular coordinate system will be described below:

[0078] The distance between the hinge point of the first section 41 of the boom and the origin O is equal to S1,

[0079] The included angle between the connecting line from the hinge point of the first section 41 of the boom to the origin O and the coordinate plane xOy is equal to σ1,

[0080] It can be obtained that the coordinates of the hinge point of the first section 41 of the boom in the rectangular coordinate system are (S1*cos(σ1)*sin(β), -S1*cos(σ1)*cos(β), S1*sin(σ1));

[0081] The angle between the connecting line from the hinge point of the first section 41 of the boom to the origin O and the first section 41 of the boom is equal to ε'2,

[0082] The angle between the connecting line from the hinge point of the first section 41 of the boom to the origin O and the second section 42 of the boom is ε2,ε2=α2-ε'2

[0083] The distance between the hinge point of the second section 42 of the boom and the origin O is equal to S2,

[0084] The included angle between the connecting line from the hinge point of the second section 42 of the boom to the hinge point of the first section 41 of the boom and the coordinate plane xOy is equal to σ2,

[0085] It can be obtained that the coordinates of the hinge point of the second section 42 of the boom in the rectangular coordinate system are (S2*cos(σ2)*cos(β), -S2*cos(σ2)*sin(β), S2*sin(σ2));

[0086] The angle between the connecting line from the hinge point of the second section 42 of the boom to the origin O and the second section 42 of the boom is equal to ε'3,

[0087] The angle between the connecting line from the hinge point of the second section 42 of the boom to the origin O and the third section 43 of the boom is ε3,ε3=α3-ε'3

[0088] The distance between the hinge point of the third section 43 of the boom and the origin O is equal to S3,

[0089] The included angle between the connecting line from the hinge point of the third section 43 of the boom to the origin O and the coordinate plane xOy is equal to σ3,

[0090] It can be obtained that the coordinates of the hinge point of the second section 43 of the boom in the rectangular coordinate system are (S2*cos(σ2)*cos(β), -S2*cos(σ2)*sin(β), S2*sin(σ2));

[0091] The angle between the connecting line from the hinge point of the third section 43 of the boom to the origin O and the third section 43 of the boom is equal to ε'4,

[0092] The angle between the connecting line from the hinge point of the third section 43 of the boom to the origin O and the fourth section 44 of the boom is ε4,ε'4=α4-ε'4

[0093] The distance between the hinge point of the fourth section 44 of the boom and the origin O is equal to S4,

[0094] The included angle between the connecting line from the hinge point of the fourth section 44 of the boom to the origin O and the coordinate plane xOy is equal to σ4,

[0095] It can be obtained that the coordinates of the hinge point of the fourth section 44 of the boom in the rectangular coordinate system are (S4*cos(σ4)*cos(β), -S4*cos(σ4)*sin(β), S4*sin(σ4));

[0096] The angle between the connecting line from the hinge point of the fourth section 44 of the boom to the origin O and the fourth section 44 of the boom is equal to ε''5,

[0097] The distance between the working end point of the attachment connector 5 and the origin O is S5, and the working end point of the attachment connector 5 includes, among other things, the articulated point of the attachment connector for connecting with the attachment device 3.

[0098] The angle between the connecting line from the hinge point of the fourth section 44 of the boom to the origin O and the fifth section 45 of the boom is ε5,ε5=α5-ε'5

[0099] The included angle between the connecting line from the working end point of the connector 5 of the attachment to the origin O and the coordinate plane xOy is equal to σ5,

[0100] It can be obtained that the coordinates of the working end point of the attachment connector 5 in the rectangular coordinate system are (S5*cos(σ5)*cos(β), -S5*cos(σ5)*sin(β), S5*sin(σ5)).

[0101] The process of determining the position coordinates includes, among other things, the following step: the position coordinates of the end attachment point of each attachment device 3 in the coordinate system are determined according to the length of the height h1 of the first attachment device 31 to the coordinate plane xOy, the length of the height h2 of the second attachment device 32 to the coordinate plane xOy, the length of the height h3 of the third attachment device 33 to the coordinate plane xOy, the length of the height h4 of the fourth attachment device 34 to the coordinate plane xOy, the length of the height h5 of the fifth attachment device 35 to the coordinate plane xOy, the length of the height h6 of the sixth attachment device 36 to the coordinate plane xOy, the distance L1 of the first attachment device 31 from the origin O in the plane xOy, the distance L2 of the second attachment device 32 from the origin O in the plane xOy,the distance L3of the third device 33 of the attachment from the origin O in the xOy plane, the distance L4of the fourth device 34 of the attachment from the origin O in the xOy plane, the distance L5of the fifth device 35 of the attachment from the origin O in the xOy plane, the distance L6of the sixth device 36 of the attachment from the origin O in the xOy plane, the angle ω1between the direction to the first device 31 of the attachment from the origin O and the y-axis, the angle ω2between the direction to the second device 32 of the attachment from the origin O and the y-axis, the angle ω3between the direction to the third device 33 of the attachment from the origin O and the y-axis, the angle ω4between the direction to the fourth device 34 of the attachment from the origin O and the y-axis,angle ω5 between the direction to the fifth device 35 of the attachment from the origin O and the y-axis and angle ω6 between the direction to the sixth device 36 of the attachment from the origin O and the y-axis.

[0102] The coordinate values ​​of the position of each device of 3 attachments in the rectangular coordinate system will be shown below:

[0103] The first attachment device 31: (L1*sin(ω1), -L1*cos(ω1), h1), the second attachment device 32: (-L2*sin(ω2), -L2*cos(ω2), h2), the third attachment device 33: (-L3*sin(ω3), -L3*cos(ω3), h3), the fourth attachment device 34: (L4*sin(ω4), -L4*cos(ω4), h4), the fifth attachment device 35: (L5*sin(ω5), -L5*cos(ω5), h5) and the sixth attachment device 36: (0, -L6, h6).

[0104] Then, after the position difference between the working end point of the attachment connector 5 and the attachment end point of the target device 3 of the attachment exceeds the allowable position difference range, the boom unit 4 and / or the attachment connector 5 are adjusted to correct the position difference between the working end point of the attachment connector 5 and the attachment end point of the target device 3 of the attachment so that it falls within the allowable position difference range.

[0105] In order to simplify the control of the adjustment operation of the boom unit 4 and the attachment connector 5, the spatial rectangular coordinate system O-xyz is transformed into a spherical coordinate system, in which r denotes the distance between the working end of the attachment connector 5 and the center of the rotation axis of the rotary platform 2, ψ denotes the included angle between the projection of the connecting line from the working end point of the attachment connector 5 to the center of the rotation axis of the rotary platform 2 on the xOy plane and the x axis, and θ denotes the included angle between the projection of the connecting line from the working end point of the attachment connector 5 to the center of the rotation axis of the rotary platform 2 and the z axis. The spherical coordinates of the working end point of the attachment connector 5 are designated as M (r, θ, ψ), and the spherical coordinates of the working end point of the attachment connector 5 can also be designated as M (S5, (π / 2-σ5), ψ).In combination with the boom angle and boom length, the spherical coordinate transformation formula r can be obtained as follows:.

[0106] Accordingly, the spherical coordinates of the end mounting point of the first target device 31 of the attachment are denoted as M1(R1, ψ1, π / 2-ω1), they can also be represented as M1(R1, arccos(h1 / R1), π / 2-ω1); the spherical coordinates of the end mounting point of the second target device 32 of the attachment are denoted as M2(R2, ψ2, π / 2+ω2), they can also be represented as M2(R2, arccos(h2 / R2), π / 2+ω2); the spherical coordinates of the final attachment point of the third target device 33 of the attachment are designated as M3(R3, ψ3, π / 2+ω3), they can also be represented as M3(R3, arccos(h3 / R3), π / 2+ω3); the spherical coordinates of the final attachment point of the fourth target device 34 of the attachment are designated as M4(R4, ψ4, π / 2-ω4), they can also be represented as M4(R4, arccos(h4 / R4), π / 2-ω4);the spherical coordinates of the end point of attachment of the fifth target device 35 of the attachment equipment are designated as M5(R5, ψ5, π / 2-ω5), they can also be represented as M5(R5, arccos(h5 / R5), π / 2-ω5); and the spherical coordinates of the end point of attachment of the sixth target device 36 of the attachment equipment are designated as M6(R6, ψ6, π / 2), they can also be represented as M6(R6, arccos(h6 / R6), π / 2).;

[0107] According to this embodiment, in the process of adjusting the position of the boom to perform the operation of picking up and installing the attachment device 3, a coordinate system is set with the center of the rotation axis of the turntable 2 as the origin, and coordinates of the positions of the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 are determined to simplify the operation, which allows the attachment connector 5 to quickly approach the target attachment device 3.In a spherical coordinate system, the included angle ψ between the projection of the connecting line from the working end point of the connector 5 of the attachment to the center of the rotation axis of the turntable 2 on the xOy plane and the x axis can allow the connector 5 of the attachment to achieve this angle by rotating the turntable 2, and the distance r between the working end point of the connector 5 of the attachment and the center of the rotation axis of the turntable 2 and the included angle θ between the connecting line from the working end point of the connector 5 of the attachment to the center of the rotation axis of the turntable 2 and the z axis can ensure that the radius and angle are matched by controlling the lifting of each boom section in the boom assembly 4.After adjusting the position, it is checked whether the position difference between the working end point of the attachment connector 5 and the end point of fastening of the target device 3 of the attachment is within the permissible range, wherein the position difference includes, among other things, the difference in distances r and / or included angles θ of the height between the working end point of the attachment connector 5 and the end point of fastening of the target device 3 of the attachment in the spherical coordinate system. If the difference is outside the permissible range, the boom unit 4 and / or the attachment connector 5 are adjusted to allow the position difference between the working end point of the attachment connector 5 and the end point of fastening of the target device 3 of the attachment to fall within the permissible range of the position difference in order to more accurately perform the positioning of the attachment connector 5.

[0108] As shown in Fig. 2-6, according to some embodiments, after the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 exceeds the allowable range of position difference, an adjustment operation is performed on the boom assembly 4 and / or the attachment connector 5 to correct the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 so that it falls within the allowable range of position difference, wherein, in particular, the following step is provided:

[0109] After the distance difference between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the attachment target device 3 exceeds the maximum value of the allowable distance difference range, the difference between the actual angle of each boom section in the boom node 4 and the preset angle of each boom section corresponding to the attachment target device 3, and the difference between the preset angles of the attachment connector corresponding to the attachment connector 5 and the attachment target device 3 are compared respectively. Thus, if rR n >ΔR, compare the difference between the actual angle of each boom section and the attachment connector 5 and the preset angle in Table 1 or Table 2, where n denotes any of the plurality of attachment devices 3.

[0110] The boom or the attachment connector 5 with the largest angle difference in the boom joint 4 and the attachment connector 5 is adjusted so as to reduce the angle difference of the boom or the attachment connector 5 with the largest angle difference until the distance difference between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target device 3 of the attachment becomes less than the maximum value of the permissible distance difference range. Thus, the position of the boom or the attachment connector 5 with the largest angle difference in the boom joint 4 and the attachment connector 5 is adjusted to reduce the angle difference in order to achieve the condition of -ΔR≤rR n ≤ΔR.

[0111] According to this embodiment, the angles of the turntable 2, the boom unit 4, and the attachment connector 5 are first roughly adjusted to sequentially move them within the allowable error range, and then the actual position of the working end point of the attachment connector 5 is compared with the position of the attachment end point of the target device 3. If the position of the working end point of the attachment connector 5 does not satisfy the requirements of the predetermined position, then the boom or the attachment connector 5 with the largest angle difference is selected for appropriate fine adjustment.Thus, the difference in distances between the spherical coordinates of the working end point of the connector 5 of the attachment and the spherical coordinates of the end point of fastening of the target device 3 of the attachment falls within the permissible range of the difference in distances, which makes it possible to more accurately perform the operation of capturing and installing the target device 3 of the attachment.

[0112] As shown in Fig. 2-6, according to some embodiments, after the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 exceeds the allowable position difference range, an adjustment operation is performed on the boom assembly 4 and / or the attachment connector 5 to correct the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 so that it falls within the allowable position difference range, and the following step is further provided:

[0113] After the distance difference between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target attachment 3 is reduced to a value smaller than the minimum value of the allowable distance difference range, the difference between the actual angle of each boom section in the boom unit 4 and the preset angle of each boom section corresponding to the target attachment 3, and the difference between the preset angles of the attachment connector 5 corresponding to the attachment connector 5 and the target attachment 3 are compared respectively. Thus, if rR n <-ΔR, compare the difference between the actual angle of each boom section and the attachment connector 5 and the preset angle in Table 1 or Table 2, where n denotes any of the plurality of attachment devices 3.

[0114] The boom or the attachment connector 5 with the smallest angle difference in the boom joint 4 is adjusted so as to increase the angle difference of the boom or the attachment connector 5 with the smallest angle difference until the distance difference between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target device 3 of the attachment becomes greater than the minimum value of the permissible distance difference range. Thus, the position of the boom or the attachment connector 5 with the smallest angle difference in the boom joint 4 and in the attachment connector 5 is adjusted to increase the angle difference in order to achieve the condition of -ΔR≤rR n ≤ΔR.

[0115] According to this embodiment, the angles of the turntable 2, the boom unit 4, and the attachment connector 5 are first roughly adjusted to sequentially move them within the allowable error range, and then the actual position of the working end point of the attachment connector 5 is compared with the position of the attachment end point of the target device 3. If the position of the working end point of the attachment connector 5 does not satisfy the requirements of the predetermined position, then the boom or the attachment connector 5 with the smallest angle difference is selected for appropriate fine adjustment.The difference in distances between the spherical coordinates of the working end point of the connector 5 of the attachment and the spherical coordinates of the end point of fastening of the target device 3 of the attachment falls within the permissible range of the difference in distances, which makes it possible to more accurately perform the operation of capturing and installing the target device 3 of the attachment.

[0116] As shown in Fig. 2-6, according to some embodiments, after the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 exceeds the allowable range of position difference, an adjustment operation is performed on the boom assembly 4 and / or the attachment connector 5 to correct the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 so that it falls within the allowable range of position difference, and the following step is further provided:

[0117] After adjusting the boom angle difference of the boom unit 4 with the largest angle difference to equal the minimum value of the allowable range of the preset angle of the boom, or adjusting the angle difference of the attachment connector 5 to the minimum value of the allowable range of the preset angle of the attachment connector, the distance difference between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target device 3 of the attachment still exceeds the maximum value of the allowable range of the distance difference, and the difference between the actual angle of each boom section in the boom unit 4 and the preset angle of each boom section corresponding to the target device 3 of the attachment, and the difference between the preset angles of the attachment connector,corresponding to the connector 5 of the attachment and the target device 3 of the attachment are compared accordingly. If the difference in the angles of the boom or the connector 5 of the attachment with the greatest difference in angles is reduced to -Δαa, n , then it is still impossible to achieve the condition -ΔR≤rR n ≤ΔR. The comparison of the angle difference between boom node 4 and attachment connector 5 will then continue.

[0118] The boom or the attachment connector 5 with the largest angle difference in the boom node 4 and the attachment connector 5 is adjusted so as to reduce the angle difference of the boom or the attachment connector 5 with the largest angle difference until the distance difference between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target device 3 of the attachment becomes less than the maximum value of the allowable distance difference range. Thus, the position of the boom or the attachment connector 5 with the largest angle difference at this time in the boom node 4 or in the attachment connector 5 is adjusted to reduce the angle difference in order to achieve the condition of -ΔR≤rR n ≤ΔR.

[0119] According to this embodiment, when the boom or connector 5 of the attachment with the largest angle difference is pre-adjusted to the extreme value of the error range, the distance difference still cannot meet the requirements. Therefore, the angle difference is further compared to determine the boom or connector 5 of the attachment with the largest angle difference in the current state, and its position is adjusted until the distance difference between the spherical coordinates of the operating point of the attachment connector 5 and the end attachment point of the target device of the attachment falls within the allowable distance difference range.

[0120] As shown in Fig. 2-6, according to some embodiments, after the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 exceeds the allowable position difference range, an adjustment operation is performed on the boom assembly 4 and / or the attachment connector 5 to correct the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 so that it falls within the allowable position difference range, and the following step is further provided:

[0121] After adjusting the angle difference of the boom with the smallest angle difference in the boom unit 4 to equal the maximum value of the allowable range of the preset angle of the boom, or adjusting the angle difference of the attachment connector 5 to the maximum value of the allowable range of the preset angle of the attachment connector, the distance difference between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target attachment 3 is still less than the minimum value of the allowable range of the distance difference, and the difference between the actual angle of each boom section in the boom unit 4 and the preset angle of each boom section corresponding to the target attachment 3, and the difference between the preset angles of the attachment connector,corresponding to the connector 5 of the attachment and the target device 3 of the attachment are compared accordingly. If the difference in the angles of the boom or the connector 5 of the attachment with the smallest difference in angles is increased to -Δα, n , then it is still impossible to achieve the condition -ΔR≤rR n ≤ΔR. The comparison of the angle difference between boom node 4 and attachment connector 5 will then continue.

[0122] The boom with the smallest angle difference in the boom joint 4 and the attachment connector 5 are adjusted so as to increase the angle difference of the boom or attachment connector 5 with the smallest angle difference until the distance difference between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target device 3 of the attachment becomes greater than the minimum value of the allowable distance difference range. Thus, the position of the boom or attachment connector 5 with the largest angle difference at this time in the boom joint 4 is adjusted to decrease the angle difference in order to achieve the condition -ΔR≤rR n ≤ΔR.

[0123] According to this embodiment, when the boom or attachment connector 5 with the smallest angle difference is pre-adjusted to the extreme value of the error range, the distance difference still cannot meet the requirements. Then, the angle difference is further compared to determine the boom or attachment connector 5 with the smallest angle difference in the current state, and its position is adjusted until the distance difference between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target attachment 3 is within the allowable distance difference range.

[0124] As shown in Fig. 2-6, according to some embodiments, after the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 exceeds the allowable range of position difference, an adjustment operation is performed on the boom assembly 4 and / or the attachment connector 5 to correct the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 so that it falls within the allowable range of position difference, and the following step is further provided:

[0125] After the difference in the included angles of the height between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target attachment 3 exceeds the maximum value of the allowable range of the included angle difference of the height, the difference between the actual angle of each boom section in the boom node 4 and the preset angle of each boom section corresponding to the target attachment 3, and the difference between the preset angles of the attachment connector 5 corresponding to the attachment connector 5 and the target attachment 3 are compared respectively. In this way, the difference between the included angle θ of the height of the working end point of the attachment connector 5 in the spherical coordinate system and the included angle θ is compared nheight of the final attachment point of the target device 3 of the attachment in the spherical coordinate system. If θ-θ n >Δθ, then the boom or the connector 5 of the attachment is adjusted with the greatest difference in angles in the boom unit 4 and in the connector 5 of the attachment.

[0126] The boom with the largest angle difference in the boom joint 4 or the attachment connector 5 is adjusted so as to reduce the angle difference of the boom or the attachment connector 5 with the largest difference in the included angle of the height until the difference in the distances between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the end point of attachment of the target device 3 of the attachment becomes less than the maximum value of the permissible range of the included angle difference. In this way, the angle difference is reduced so that the difference in the included angles of the height between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the end point of attachment of the target device 3 of the attachment satisfies the condition -Δθ≤θ-θ n ≤Δθ and was within the permissible range of the included elevation angle difference.

[0127] According to this embodiment, the angles of the turntable 2, the boom unit 4, and the attachment connector 5 are first roughly adjusted to sequentially move them within the permissible error range, and then the included angle of the height of the actually reached position of the working end point of the attachment connector 5 and the target device 3 of the attachment are compared. If the included angle of the height of the working end point of the attachment connector 5 does not meet the predetermined requirements, then the boom or the attachment connector 5 with the largest angle difference is selected for appropriate fine adjustment.Thus, the difference in the distances between the spherical coordinates of the working end point of the connector 5 of the attachment and the spherical coordinates of the end point of fastening of the target device 3 of the attachment falls within the permissible range of the difference in the adjacent height angle, which makes it possible to more accurately perform the operation of capturing and installing the target device 3 of the attachment.

[0128] As shown in Fig. 2-6, according to some embodiments, after the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 exceeds the allowable position difference range, an adjustment operation is performed on the boom assembly 4 and / or the attachment connector 5 to correct the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 so that it falls within the allowable position difference range, and the following step is further provided:

[0129] After the difference in the included angles of the height between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target attachment 3 is reduced to a value smaller than the minimum value of the allowable range of the included angle difference of the height, the difference between the actual angle of each boom section in the boom assembly 4 and the preset angle of each boom section corresponding to the target attachment 3, and the difference between the preset angles of the attachment connector 5 corresponding to the attachment connector 5 and the target attachment 3 are compared respectively. In this way, the difference between the included angle θ of the height of the working end point of the attachment connector 5 in the spherical coordinate system and the included angle θ is compared nheight of the final attachment point of the target device 3 of the attachment in the spherical coordinate system. If θ-θ n <-Δθ, then the boom or the connector 5 of the attachment is adjusted with the smallest difference in angles in the boom unit 4 or in the connector 5 of the attachment.

[0130] The boom or the attachment connector 5 with the smallest angle difference in the boom assembly 4 is adjusted so as to increase the angle difference of the boom or the attachment connector 5 with the smallest angle difference until the included angle difference in height between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target device 3 of the attachment becomes greater than the minimum value of the permissible included angle difference range. In this way, the angle difference is increased so that the included angle difference in height between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target device 3 of the attachment satisfies the condition -Δθ n ≤θ-θ n ≤Δθ and was within the permissible range of the included elevation angle difference.

[0131] According to this embodiment, the angles of the turntable 2, the boom unit 4 and the attachment connector 5 are first roughly adjusted to sequentially move them within the allowable error range, and then the adjacent angle of the height of the actually reached position of the working end point of the attachment connector 5 and the target device 3 of the attachment are compared.If the included angle of the height of the working end point of the attachment connector 5 does not satisfy the predetermined requirements, then the boom or the attachment connector 5 with the greatest difference in angles is selected for appropriate fine adjustment so that the difference in distances between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the end point of fastening of the target device 3 of the attachment falls within the permissible range of the difference in the included angle of height, which allows for more accurate execution of the operation of picking up and installing the target device 3 of the attachment.

[0132] As shown in Fig. 2-6, according to some embodiments, after the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 exceeds the allowable position difference range, an adjustment operation is performed on the boom assembly 4 and / or the attachment connector 5 to correct the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 so that it falls within the allowable position difference range, and the following step is further provided:

[0133] After adjusting the angle difference of the boom with the largest angle difference in the boom node 4 to equal the minimum value of the allowable range of the preset angle of the boom, or adjusting the angle difference of the attachment connector 5 to the minimum value of the allowable range of the preset angle of the attachment connector, the difference between the included angle of the height between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target attachment 3 still exceeds the maximum value of the allowable range of the included angle of the height difference, and the difference between the actual angle of each boom section in the boom node 4 and the preset angle of each boom section corresponding to the target attachment 3, and the difference between the preset angles of the attachment connector,corresponding to the attachment connector 5 and the target device 3 of the attachment are compared accordingly. If the difference in the boom angle or the attachment connector 5 with the greatest difference in angle is reduced to -Δα, n , then it is still impossible to achieve the condition -Δθ≤θ-θ n ≤Δθ. Then the comparison of the angle difference between the boom unit 4 and the attachment connector 5 will continue.

[0134] The boom or the attachment connector 5 with the largest angle difference in the boom node 4 or the attachment connector 5 is adjusted so as to reduce the included angle height difference of the boom or the attachment connector 5 with the largest angle difference until the included angle height difference between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target device 3 is less than the maximum value of the permissible included angle height difference range. Thus, the position of the boom or the attachment connector 5 with the largest angle difference at this time in the boom node 4 and in the attachment connector 5 is adjusted to reduce the angle difference in order to achieve the condition of -Δθ≤θ-θ n ≤Δθ.

[0135] According to this embodiment, when the boom or attachment connector 5 with the largest angle difference is pre-adjusted to the extreme value of the error range, the included angle height difference still cannot meet the requirements. Then, the angle difference is further compared to determine the position of the boom or attachment connector 5 with the largest angle difference in the current state, and the position of the boom or attachment connector 5 is adjusted until the included angle height difference between the spherical coordinates of the operating point of the attachment connector 5 and the end attachment point of the target attachment device is within the allowable included angle height difference range.

[0136] As shown in Fig. 2-6, according to some embodiments, after the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 exceeds the allowable position difference range, an adjustment operation is performed on the boom assembly 4 and / or the attachment connector 5 to correct the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 so that it falls within the allowable position difference range, and the following step is further provided:

[0137] After adjusting the angle difference of the boom with the smallest angle difference in the boom unit 4 to be equal to the maximum value of the allowable range of the preset angle of the boom, or adjusting the angle difference of the attachment connector 5 to the maximum value of the allowable range of the preset angle of the attachment connector, the difference in the included angles of the height between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target device 3 of the attachment is still less than the minimum value of the allowable range of the included angle difference, and the difference between the actual angle of each boom section in the boom unit 4 and the preset angle of each boom section corresponding to the target device 3 of the attachment are compared respectively.If the difference in the angles of the boom or the connector 5 of the attachment with the smallest difference in angles is increased to -Δα. n , then it is still impossible to achieve the condition -Δθ≤θ-θ n ≤Δθ. Then, the comparison of the angle difference between the boom unit 4 and the attachment connector 5 will be continued.

[0138] The boom with the smallest angle difference in the boom joint 4 or the attachment connector 5 is adjusted so as to increase the angle difference of the boom or attachment connector 5 with the smallest angle difference until the difference in the included angles of the height between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target device 3 of the attachment becomes greater than the minimum value of the permissible range of the included angle difference. Thus, the position of the boom or attachment connector 5 with the largest angle difference at this time in the boom joint 4 is adjusted to decrease the angle difference in order to achieve the condition of -Δθ≤θ-θ n ≤Δθ.

[0139] According to this embodiment, when the boom or attachment connector 5 with the smallest angle difference is pre-adjusted to the extreme value of the error range, the included angle height difference still cannot meet the requirements. Then, the angle difference is further compared to determine the position of the boom or attachment connector 5 with the smallest angle difference in the current state, and the position of the boom or attachment connector 5 is adjusted until the included angle height difference between the spherical coordinates of the operating point of the attachment connector 5 and the end attachment point of the target attachment device is within the allowable included angle height difference range.

[0140] As shown in Fig. 2-6, according to some embodiments, after the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 exceeds the allowable position difference range, an adjustment operation is performed on the boom assembly 4 and / or the attachment connector 5 to correct the position difference between the working end point of the attachment connector 5 and the attachment end point of the target attachment device 3 so that it falls within the allowable position difference range, and the following step is further provided:

[0141] During the boom angle difference adjustment process, the distance difference between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target device 3 of the attachment remains within the allowable distance difference range.

[0142] According to this embodiment, in the process of adjusting the included height angle, the distance difference between the spherical coordinates of the working end point of the attachment connector 5 and the spherical coordinates of the attachment end point of the target device 3 of the attachment also needs to be determined in real time during the change of the position of the boom and the attachment connector 5 so that the distance difference is always in the range of [-ΔR, +ΔR].

[0143] As shown in Fig. 2-6, according to some embodiments, after the turntable 2, the boom unit 4 and the attachment connector 5 have all reached predetermined positions corresponding to the target attachment device 3, the operation of forcing the attachment connector to perform the capture and installation of the target attachment device 3 specifically includes the following steps:

[0144] The working end point of the attachment connector 5 is moved to the first preset position, and the first preset position is designated N n in Fig. 4, and the coordinates in the spherical coordinate system are designated N n (Rn1, ψ n1 , π / 2-ω n ), where n is any of the set of attachment devices 3;

[0145] After moving the attachment connector 5 to the first preset position N n, the connector 5 of the attachment is rotated in such a way that the working end point of the connector 5 of the attachment reaches the second predetermined position, which is designated M n (R n , ψ n , π / 2-ω n ) in Fig. 4, so that it coincides with the end point of attachment of the target device 3 of the attachment so that the connector 5 of the attachment secures and locks the target device 3 of the attachment. The coordinate values ​​of the second predetermined position M n in the spherical coordinate system can be selected in the permissible error ranges Δr1, Δθ1 and Δψ1, respectively, that is, when the connector 5 of the attachment is in the second predetermined position M n the condition is met that the coordinate values ​​are in the ranges (R n ±Δr1, ψ n ±Δθ1, π / 2-ω n ±Δψ1).

[0146] According to this embodiment, during the process of picking up and installing the attachment device 3, the attachment connector 5 can first be rotated to a first predetermined position for pre-positioning, and then the attachment connector 5 can be rotated to reach a second predetermined position to securely fix the target attachment device 3 thereto.

[0147] As shown in Fig. 2-6, according to some embodiments, after the turntable 2, the boom unit 4 and the attachment connector 5 have all reached predetermined positions corresponding to the target attachment device 3, the operation of forcing the attachment connector 5 to perform the capture and installation of the target attachment device 3 further includes the following step:

[0148] After the attachment connector 5 reaches the second predetermined position to coincide with the end attachment point of the target attachment device 3, the target attachment device 3 is vertically raised upward by raising the last boom section in the boom assembly 4 and / or lowering the penultimate boom section in the boom assembly 4 until the height of the end attachment point of the target attachment device 3 exceeds the first predetermined height.

[0149] As shown in Fig. 5, the amplitude of movement of the attachment connector 5 is LA, where LA=r*sinθ, and the amplitude of movement of the attachment device 3 is L n , where L n denotes the distance between the projections of the distances of the various devices 3 of the attachment on the xОу plane and the origin of coordinates O, to ensure that the difference LA-L nbetween the amplitude of movement of the connector 5 of the attachment and the change in the position of the device 3 of the attachment is within the permissible range ΔL during the operation.

[0150] If LA-L n >ΔL, then stop raising the fourth section 44 of the boom and continue lowering the third section 43 of the boom. If LA-L n <-ΔL, then stop lowering the third section 43 of the boom and continue raising the fourth section 44 until the height z of the working end point M of the connector 5 of the attachment in the rectangular coordinate system exceeds the first predetermined height, i.e. z≥h max +Δh, where h max denotes the maximum height of the attachment in each attachment 3, and Δh denotes the reserved protective height.

[0151] According to this embodiment, in order to ensure smooth picking and installation of the target attachment device 3, its lifting can be performed vertically by raising the fourth boom section 44 and lowering the third boom section 43 to complete the picking and lifting operation of the attachment device 3. After this, the boom unit 4 or the attachment connector 5 can be adjusted as necessary to perform the corresponding rescue work.

[0152] As shown in Fig. 2-6, according to some embodiments, after the turntable 2, the boom unit 4 and the attachment connector 5 have reached predetermined positions corresponding to the target attachment device 3, the operation of forcing the attachment connector 5 to remove and return to the position of the target attachment device 3 specifically includes the following step:

[0153] The working end point of the attachment connector 5 is moved to the second preset position M n (R n , ψ n , π / 2-ω n ), which coincides with the end point of attachment of the target device 3 of the attachment so that the connector 5 of the attachment unlocks the target device 3 of the attachment. In this case, the values ​​of the coordinates of the second preset position M n in the spherical coordinate system can be selected in the permissible error ranges Δr1, Δθ1 and Δψ1, respectively, that is, when the connector 5 of the attachment is in the second predetermined position M n , the condition is satisfied that the coordinate values ​​are in the region (R n ±Δr1, ψ n ±Δθ1, π / 2-ω n ±Δψ1).

[0154] After the attachment connector 5 reaches the second preset position for removing the target device 3 of the attachment, the attachment connector 5 is rotated so that the working end point of the attachment connector 5 can reach the first preset position N n (R n1 , ψ n1 , π / 2-ω n ), which can then lead to a stop in the movement of the attachment connector 5. Subsequently, if necessary, the boom and attachment connector 5 can be adjusted. In this case, the coordinate values ​​of the first preset position N n in the spherical coordinate system can be selected in the permissible error ranges Δr2, Δθ2 and Δψ2, respectively, that is, when the connector 5 of the attachment is in the first predetermined position N n , the coordinate values ​​are in the ranges (Rn ±Δr2, ψ n ±Δθ2, π / 2-ω n ±Δψ2).

[0155] According to this embodiment, during the process of removing and returning the attachment device 3, the attachment connector 5 can first be moved to a second predetermined position to unlock the attachment device 3, and then the attachment connector 5 can be rotated to reach the first predetermined position to facilitate the subsequent operation of the attachment connector 5.

[0156] As shown in Fig. 2-6, according to some embodiments, after the turntable 2, the boom unit 4 and the attachment connector 5 have reached predetermined positions corresponding to the target attachment device 3, the operation of forcing the attachment connector 5 to remove and return to the position of the target attachment device 3 further includes the following step:

[0157] After the height of the end attachment point of the target device 3 of the attachment exceeds the first preset height (h max+Δh), the target device 3 of the attachment is vertically returned to its place by raising the last section of the boom in the boom node 4 and / or lowering the penultimate section of the boom in the boom node 4 so that the working end point of the connector 5 of the attachment reaches the second predetermined position to coincide with the end point of fastening of the target device 3 of the attachment.

[0158] As shown in Fig. 5, the amplitude of movement of the attachment connector 5 is LA, where LA=r*sinθ, and the amplitude of movement of the attachment device 3 is L n , while L n denotes the distance between the projections of the distances of the various devices 3 of the attachment on the xОу plane and the origin of coordinates O, to ensure that the difference LA-L n between the amplitude and the change in position of the device 3 of the attachment is within the permissible range ΔL during the operation.

[0159] If LA-L n >ΔL, then stop raising the third section 43 of the boom and continue lowering the fourth section 44 of the boom. If LA-L n <-ΔL, then stop lowering the fourth section 44 of the boom and continue raising the third section 43 of the boom until the working end point M of the connector 5 of the attachment in the rectangular coordinate system coincides with the coordinate M n of the corresponding target device 3 of the attachment, or until all its errors are within the ranges Δr1, Δθ1 and Δω.

[0160] According to this embodiment, in order to ensure smooth removal and return of the target device 3 of the attachment, the target device 3 can be lowered vertically by lowering the fourth boom section 44 and raising the third boom section 43 to complete the removal and return operation of the attachment device 3. After this, the boom unit 4 or the attachment connector 5 can be adjusted as necessary to perform the corresponding rescue work.

[0161] As shown in Fig. 2-6, according to some embodiments, the demolition vehicle further includes a plurality of attachment device presence detection devices 9, which are located in a plurality of attachment brackets 11, respectively, and are configured to detect whether each attachment device 3 is located in the corresponding attachment bracket 11.

[0162] The method for driving a demolition vehicle further includes the following step: after the target device 3 of the attachment is positioned in the bracket 11 for the attachment, the angles of the boom unit 4, the attachment connector 5 and the turntable 2 are adjusted so that the attachment connector 5 grips and positions the target device 3 of the attachment.

[0163] According to this embodiment, during the pick-up and installation operation of the attachment device 3, the adjustment of the positions of the boom unit 4, the attachment connector 5, and the turntable 2 is permitted only after the attachment device 3 is installed in its position, which helps reduce the risk of incorrect positioning of the attachment device 3. If the attachment presence detection device 9 detects that the target attachment 3 is not located in the attachment bracket 11, an alarm is generated. After the removal and return operation of the attachment device 3 is completed, the attachment presence detection device 9 can also judge whether the attachment 3 is installed in its position, so as to reduce the risk of an accident during vehicle movement due to the absence of the attachment device 3 in its position.

[0164] As shown in Fig. 2-6, according to some embodiments, the method for controlling the demolition vehicle further includes the following step: before adjusting the turntable 2 to a predetermined angle of the turntable corresponding to the target attachment 3, adjusting each boom section of the boom unit 4 to a predetermined angle of each boom section corresponding to the target attachment 3, and adjusting the attachment connector 5 to a predetermined angle of the attachment connector corresponding to the target attachment 3, after placing the target attachment 3 in the attachment bracket 11, raising the attachment connector 5.Thus, the height of the attachment connector 5 exceeds the second predetermined height so that the attachment connector 5 can be moved by the boom unit 4 and the rotating platform 2 to perform the appropriate position adjustment and prevent the boom unit 4 and the attachment connector 5 from colliding with the vehicle body during operation.

[0165] According to this embodiment, since a mechanical device is disposed in the peripheral part of the demolition vehicle, in order to prevent collision with the vehicle body during the adjustment of the boom unit 4, the height of the working end point of the attachment connector 5 can be first adjusted before performing the pick-up and installation operation of the target attachment device 3, and the subsequent position adjustment and the pick-up and installation operation can be performed after ensuring that the height z of the working end point of the attachment connector in the rectangular coordinate system exceeds the second predetermined height H s .

[0166] As shown in Fig. 2-6, according to some embodiments, the method for controlling the demolition vehicle further includes the following step: after the target attachment device 3 is not in the bracket 11 for the attachment, and the height of the attachment connector 5 is greater than or equal to the first predetermined height, adjusting the angles of the boom assembly 4, the attachment connector 5 and / or the turntable 2 so that the attachment connector 5 is moved back to the target attachment device 3.

[0167] According to this embodiment, since the attachment device 3 has a certain height, it is necessary to adjust the height of the working end point of the attachment connector 5 before the removal and return operation to ensure that the subsequent operation is performed after the height z of the working end point of the attachment connector in the rectangular coordinate system becomes greater than or equal to the first predetermined height. The first predetermined height includes, among other things, h max +Δh, where h max denotes the height of the largest attachment 3 among all attachments 3, and Δh denotes the reserved protective height.

[0168] As shown in Fig. 2-6, the stage of picking up and installing the target attachment device 3 may include three processes: positioning the attachment device 3, picking up and fixing the attachment device 3, and lifting the attachment device 3. A control device connected to the processor 8 may be provided, which enables the picking up and installing operation of the attachment device 3 to be performed by a single press on the control device, and a human-machine interface may also be added for monitoring the coordinate values ​​and target values ​​of the attachment connector 5 in real time, which is convenient for the operator to judge and perform the corresponding operation. The following will describe the algorithm for performing the picking up and installing operation of the target attachment device 3 according to some embodiments:

[0169] The presence of the target attachment 3 in the corresponding attachment bracket 11 is detected by the attachment presence detection device 9. If YES, an alarm is generated. If NO, the attachment connector 5 is raised so that the height of the attachment connector exceeds the second preset height H. s .

[0170] The angle of the rotary platform 2 is adjusted so that the angle β of the rotary platform 2 is in the range β n ±Δβ, corresponding to the target device 3 of the attachment. When the angle of the rotating platform is set, the first boom section 41 and the second boom section 42 are adjusted so that the angle of the first boom section 41 reaches α 1n ±Δα1, and the angle of the second section 42 of the boom reached α 2n±Δα2. When the first boom section 41 and the second boom section 42 are correctly installed, the third boom section 43 and the fourth boom section 44 are adjusted so that the angle of the third boom section 43 reaches α 3n ±Δα3, and the angle of the fourth section 44 of the boom reached α 4n ±Δα4. When the third boom section 43 and the fourth boom section 44 are correctly installed, the movement of the attachment connector 5 is controlled so that the angle of the attachment connector 5 reaches the specified angle α 5n±Δα5. When the angles of each section of the boom and the connector 5 of the attachment have all reached a predetermined position, the spherical coordinates M (r, θ, ψ) of the working point of the connector 5 of the attachment, and the difference between the spherical coordinates of the connecting hinge of the connector 5 of the attachment and the spherical coordinates of the target device 3 of the attachment are calculated, while the angle β of the platform can be controlled by the value of the angle ψ so that it is within the permissible error Δβ.

[0171] Compare the difference between the distance r of the spherical coordinates of the attachment connector 5 and R n spherical coordinates of the target device 3 of the attachment in order to ensure that it falls within the permissible error limits ΔR. If rR n>ΔR, the actual difference in angles between the boom assembly 4 and the attachment connector 5 is compared, and the boom or attachment connector 5 with the largest difference in angles is moved in such a way as to reduce the difference in angles until the condition -ΔR≤rR is met n ≤ΔR. If the boom or connector 5 of the attachment with the greatest angle difference is controlled in such a way as to move it to the permissible angle error -Δα n , then it is still impossible to achieve the condition -ΔR≤rR n ≤ΔR. The comparison of the angle difference is continued, and the boom or connector 5 of the attachment with the largest angle difference is controlled in such a way as to move it to reduce the angle difference until the condition -ΔR≤rR is met n ≤ΔR. Otherwise, if rR n>-ΔR, the actual difference in angles between the boom unit 4 and the attachment connector 5 is compared, and the boom or attachment connector 5 with the largest difference in angles is controlled in such a way as to move it to increase the difference in angles until the condition ΔR≥rR is met n ≥-ΔR. If the boom or connector 5 of the attachment with the smallest angle difference is controlled in such a way as to move it to the permissible angular error -Δα n , then it is still impossible to achieve the fulfillment of the condition rR n >-ΔR. The comparison of the angle difference is continued, and the boom or connector 5 of the attachment with the smallest angle difference is controlled in such a way as to move it to increase the angle difference until the condition ΔR≥rR is met n ≥-ΔR.

[0172] Compare the difference between the included angle θ of the height of the spherical coordinates of the attachment connector 5 and the included angle θ nheight of the spherical coordinates of the target device 3 of the attachment in order to ensure that it falls within the permissible error limits Δθ. If θ-θ п >Δθ, the actual angle difference between boom unit 4 and attachment connector 5 is compared, and the boom or attachment connector 5 with the greatest angle difference is controlled to move it to reduce the angle difference. At the same time, the distance difference rR is monitored. n spherical coordinates so that it is in the range [-ΔR, +ΔR]. If the boom or connector 5 of the attachment with the greatest difference in angles is controlled in such a way as to move it to the permissible angular error -Δα n , then it is still impossible to achieve the condition -Δθ≤θ-θ n≤Δθ. The comparison of the angle difference is continued, and the boom or connector 5 of the attachment with the largest angle difference is controlled in such a way as to move it to reduce the angle difference until the condition -Δθ≤θ-θ is met n ≤Δθ. If the difference in distances rR n spherical coordinates reaches the limit value ±ΔR during the movement process, a comparison is made between the angle difference of the boom or the attachment connector 5. If the boom or the attachment connector 5 with the largest angle difference is still this boom or the attachment connector 5, the movement of this boom or the attachment connector 5 is stopped, and the boom or the attachment connector 5 with the second largest angle difference is adjusted. In the case where 9 and r do not exceed their boundary conditions, the condition -Δθ≤θ-θ is allowed to be met. n≤Δθ. If the boom or connector 5 of the attachment with the largest angle difference is still not this boom or connector 5 of the attachment, continue adjusting the boom or connector 5 of the attachment with the largest angle difference until the condition -Δθ≤θ-θ is met n ≤Δθ. Otherwise, if θ-θ n <-Δθ, the actual angle difference between each boom section and the attachment connector 5 is compared, and the boom or attachment connector 5 with the smallest angle difference is controlled to move it to increase the angle difference. At the same time, the distance difference rR is monitored. n spherical coordinates so that it is in the range [-ΔR, +ΔR]. If the boom or connector 5 of the attachment with the greatest difference in angles is controlled to obtain the permissible error -Δα n, then the comparison of the difference in the angles of the boom or the connector 5 of the attachment is continued, and the boom or the connector 5 of the attachment with the smallest difference in angles is controlled in such a way as to move it to increase the difference in angles until the condition Δθ≥θ-θ is met n ≥Δθ. If the difference in distances rR n spherical coordinates reaches the limit value ±ΔR during the movement process, a comparison is made between the angle difference of the boom or the attachment connector 5. If the boom or the attachment connector 5 with the smallest angle difference is still this boom or the attachment connector 5, the movement of this boom or the attachment connector 5 is stopped, and adjustment is performed by moving the boom or the attachment connector 5 with the second smallest angle difference. In the case where θ and r do not exceed their boundary conditions, the condition Δθ≥θ-θ is allowed to be met n≥-Δθ. If the boom or connector 5 of the attachment with the greatest difference in angles is not this boom or connector 5 of the attachment, continue adjusting the boom or connector 5 of the attachment with the smallest difference in angles until the condition Δθ≥θ-θ is met n ≥-Δθ.

[0173] When the working end point of the attachment connector 5 reaches the first preset position N n , the shaft lock is clamped, and the attachment connector 5 is rotated so that the working end point of the attachment connector 5 reaches the second predetermined position M n , and all errors of the second preset position are in the range of Δr1, Δθ1 and Δψ1, and the movement is stopped, and the connector 5 of the attachment is locked.

[0174] In order to ensure that after the operation of moving the corresponding boom section, the attachment device 3 can be picked up and lifted smoothly, it is necessary to raise the attachment device 3 to the appropriate height h n , as shown in Fig. 3, where h n indicates the height of each attachment 3. After pressing the attachment lift button once, a combined method is used to lift the fourth boom section 44 and lower the third boom section 43 to ensure vertical movement of the attachment 3. In this case, it is necessary to calculate the value of the corresponding amplitude LA of the attachment connector 5, i.e. LA = r * sin θ, to ensure that the difference LA - L nbetween the amplitude and the change in position of the device 3 of the attachment is within the permissible range ΔL during the execution of this process. If LA-L n >ΔL, then stop raising the fourth section 44 of the boom and continue lowering the third section 43 of the boom. If LA-L n <-ΔL, then stop lowering the third section 43 of the boom and continue raising the fourth section 44 until the height of the working end point of the connector 5 of the attachment in the rectangular coordinate system takes the value z≥h max +Δh, where h max denotes the maximum height of the attachment in each attachment 3, and Δh denotes the reserved protective height. This completes the lifting operation of attachment 3. Subsequently, as necessary, the boom can be moved accordingly to complete the corresponding rescue operation.

[0175] As shown in Fig. 2-6, the stage of removing and returning the target attachment device 3 may include three processes: positioning the attachment device 3, returning the attachment device 3 to its place, and releasing the shaft lock of the attachment device 3. A control device connected to the processor 8 may be provided, which enables the operation of gripping and installing the attachment device 3 to be performed by a single press of the control device. The algorithm for performing the operation of removing and returning the target attachment device 3 will be described below according to some embodiments:

[0176] Since the attachment device 3 has a certain height, in the positioning process, it is necessary to estimate the ratio of the height values ​​z of the working end point of the attachment connector 5 in rectangular coordinates and h max , where h maxis defined as the greatest height of the attachment among the set of attachments 3, and where Δh denotes the reserved protective height. The position adjustment operation can only be performed if the condition z≥h is met. max +Δh.

[0177] After completing the adjustment operation of the attachment device 3, press the attachment removal and return operation start button. The presence of the target attachment device 3 on the vehicle in the corresponding attachment bracket 11 is detected by the attachment presence detection device 9. If it is in the corresponding attachment bracket 11, an alarm will be generated. If it is not, adjust the turntable 2, the boom unit 4, and the attachment connector 5 according to the above Table 2. First, the first boom section 41 is raised so that its angle reaches a predetermined angle δ 1n position and was within the error limits Δδ 1n The angle of the second section of the boom 42 is adjusted so that it reaches a predetermined angle δ 2n position and was within the error limits Δδ 2nThe angle of the third section of the boom 43 is adjusted so that it reaches a predetermined angle δ 3n position and was within the error limits Δδ 3n The angle of the fourth section of the boom 44 is adjusted so that it reaches a predetermined angle δ 4n position and was within the error limits Δδ 4n . The connector 5 of the attachment is turned so that the connector 5 of the attachment is in a horizontal position, i.e. it reaches the angle δ 5n , and was within the error range Δδ 5n . When the height of the connector 5 of the attachment in the rectangular coordinate system satisfies the condition z≥h max +Δh, the rotation operation of the turntable 2 can be performed so that the angle of the platform reaches the predetermined angle of the platform.

[0178] During the removal and return operation of the device, 3 attachments ensure that the difference LA-L nbetween the amplitude of the connector 5 of the attachment and the change in the position of the device 3 of the attachment was within the permissible range ΔL, where L n denotes the distance from the projection of the target device 3 of the attachment on the xOy plane to the origin of coordinates O. If LA-L n >ΔL, then stop raising the third section 43 of the boom and continue lowering the fourth section 44 of the boom. If LA-L n <-ΔL, then the lowering of the fourth section 44 of the boom is stopped and the lifting of the third section 43 of the boom is continued until the connector 5 of the attachment equipment reaches the second predetermined position so that all of its coordinate errors are within the ranges Δr1, Δθ1 and Δψ, and the connector 5 of the attachment equipment is locked. Thus, the operation of removing and returning the device 3 of the attachment equipment to its place is completed.

[0179] Finally, the attachment connector 5 is rotated so that the attachment connector 5 reaches the first preset position, and all its coordinate errors are within the ranges of Δr2, Δθ2, and Δψ2. This completes the operation. Subsequently, the boom can be moved accordingly as needed.

[0180] According to the above-mentioned embodiments and an additional aspect of the present disclosure, a machine-readable storage medium is also provided. The machine-readable storage medium comprises a computer program stored thereon, wherein this program, when executed by a processor, implements a method for controlling any demolition vehicle according to any of the embodiments described above.

[0181] According to one or more exemplary (illustrative) embodiments, the described functions may be implemented as hardware, software, firmware, or any combination thereof. If the function is implemented as software as a computer program product, each function may be stored on or transmitted by a computer-readable storage medium as one or more instructions or codes. A computer-readable storage medium includes both a computer storage medium and a transmission medium, including any media and environments that facilitate the transfer of a computer program from one place to another. The storage medium may be any storage medium accessible to a computer.By way of example, and not limitation, such a machine-readable storage medium may include RAM, ROM, EEPROM, CD-ROM or other optical disk drive, magnetic disk drive or other magnetic storage devices, or any other storage medium that can be used to carry or store desired program codes in the form of instructions or data structures and that can be accessed by a computer. Any communication channel may also be referred to as a machine-readable storage medium.For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair cable, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair cable, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave are included within the definition of storage medium. A disk drive, as used herein, includes a compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk, and Blu-ray disc, with a magnetic disc typically reproducing data magnetically, while an optical disc typically reproducing data optically using a laser. The combinations of disks described above should also be included within the scope of the definition of a machine-readable storage medium.

[0182] Various embodiments of the present disclosure have been described in detail herein. Some details well known in the art have not been described in order not to obscure the concept of the present disclosure. Based on the above description, those skilled in the art will fully understand how to implement the technical solutions disclosed herein.

[0183] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art should understand that the above examples are merely illustrative and do not limit the scope of the present disclosure. Those skilled in the art should understand that modifications to the above embodiments and equivalent replacements of some technical characteristics can be made without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined in the appended claims.

Claims

1. A demolition vehicle comprising: chassis (1) equipped with a plurality of brackets for attachments (11); a rotating platform (2), which is mounted on the chassis (1) and can rotate; a plurality of attachment devices (3) located respectively in a plurality of brackets (11) for attachment equipment; a boom assembly (4) connected by a hinge to a rotating platform (2) and comprising a plurality of boom sections which are sequentially connected to each other by means of a plurality of hinges; a connector (5) of an attachment connected by a hinge to the far end of the last boom section of a plurality of boom sections for gripping and installing or removing and returning to its place any device of a plurality of devices (3) of an attachment; a plurality of devices (61) for determining the hinge angle, connected to each of the boom sections and to the connector (5) of the attachment, respectively, and configured to determine the angles of each of the boom sections and the connector (5) of the attachment; a device (7) for determining the angle of the platform, connected to the rotating platform (2) and configured to determine the angle of rotation of the rotating platform (2) relative to the chassis (1); and a processor (8) connected for exchanging signals with the rotating platform (2), the boom unit (4), the attachment connector (5), the hinge angle determining device (61) and the platform angle determining device (7) and configured to adjust the angles of the rotating platform (2), the boom unit (4) and the attachment connector (5) to a predetermined angle of the rotating platform, a predetermined angle of the boom unit and a predetermined angle of the attachment connector corresponding to the target device (3), so that the attachment connector (5) performs the capture and installation or removal and return to place of the target device (3) of the attachment.

2. A vehicle for demolishing buildings according to paragraph 1, additionally including: a plurality of devices (9) for detecting the presence of attachment devices, located in a plurality of brackets (11) for attachment equipment, respectively, and configured to detect whether each attachment device (3) is located in the corresponding bracket (11) for attachment equipment; wherein the processor (8) is connected for exchanging signals with each device (9) for detecting the presence of an attachment and is configured to adjust the angles of the boom assembly (4), the attachment connector (5) and the rotating platform (2) after the target device (3) of the attachment is positioned in the corresponding container (11) for the attachment so that the attachment connector (5) captures and installs the target device (3) of the attachment.

3. A vehicle for demolishing buildings according to paragraph 1 or 2, additionally including: a plurality of gravity-based angle determining devices (62) connected to each of the boom sections and to the attachment connector (5), respectively, and configured to determine the angles of each of the boom sections and the attachment connector (5); wherein the processor (8) is connected for exchanging signals with each device (62) for determining the angle using gravity and is configured to determine the angles of each section of the boom assembly (4) and the connector (5) of the attachment in accordance with the information on the rotation angles received by each of the devices (61) for determining the hinge angle and each of the devices (62) for determining the angle using gravity.

4. A method for operating a demolition vehicle based on a demolition vehicle according to any one of paragraphs 1-3, comprising the following steps: obtaining information about the angle of each section of the boom assembly (4), the attachment connector (5) and the rotating platform (2), respectively, using a hinge angle determination device (61) and a platform angle determination device (7); adjusting the angle of the turntable (2) to a predetermined angle of the turntable corresponding to the target device (3) of the attachment, adjusting the angle of each boom section of the boom assembly (4) to a predetermined angle of each boom section corresponding to the target device (3) of the attachment respectively, and adjusting the angle of the coupler (5) of the attachment to a predetermined angle of the coupler of the attachment corresponding to the target device (3) of the attachment; and after the turntable (2), each boom section of the boom assembly (4) and the attachment connector (5) have all reached predetermined positions corresponding to the target device (3) of the attachment, the attachment connector (5) is forced to perform the capture and installation or removal and return to the location of the target device (3) of the attachment.

5. The method for operating a demolition vehicle according to claim 4, characterized in that the operation of adjusting the angle of the turntable (2) to a predetermined angle of the turntable corresponding to the target device (3) of the attachment, adjusting the angle of each boom section of the boom assembly (4) to a predetermined angle of each boom section corresponding to the target device (3) of the attachment, respectively, and adjusting the angle of the connector (5) of the attachment to a predetermined angle of the connector of the attachment corresponding to the target device (3) of the attachment, in particular, includes the following step: sequentially adjusting the angle of the turntable (2) to the permissible range of the preset angle of the turntable corresponding to the target device (3) of the attachment, adjusting the angle of each boom section of the boom assembly (4) to the permissible range of the preset angle of each boom section corresponding to the target device (3) of the attachment, and adjusting the angle of the connector (5) of the attachment to the permissible range of the preset angle of the connector of the attachment corresponding to the target device (3) of the attachment.

6. A method for driving a vehicle for demolishing buildings according to paragraph 4 or 5, additionally providing for the following stages: establishing a coordinate system with the center of the axis of rotation of the rotary platform (2) as the origin of coordinates; determining the coordinates of the position of the end attachment point of the target device (3) of the attachment according to the distance between the target device (3) of the attachment and the chassis (1), the distance between the target device (3) of the attachment and the origin, and the deflection angle between the target device (3) of the attachment and the origin; and determining the coordinates of the position of the working end point of the connector (5) of the attachment according to the distance between the first section of the boom assembly (4) and the origin, the length of each section of the boom assembly (4), the length of the connector (5), the angle of each section of the boom assembly (4), the angle of the connector (5) of the attachment, and the angle of the turntable (2); and adjusting at least one component of the boom assembly (4) and the attachment connector (5) to correct the position difference between the working end point of the attachment connector (5) and the end point of attachment of the target device (3) of the attachment so that it is within the permissible range of position difference after the position difference between the working end point of the attachment connector (5) and the end point of attachment of the target device (3) of the attachment exceeds the permissible range of position difference.

7. The method for controlling a vehicle for demolishing buildings according to paragraph 6, characterized in that after the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment exceeds the permissible range of the difference in positions, the operation of adjusting at least one component of the boom assembly (4) and the connector (5) of the attachment to correct the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment so that it is within the permissible range of the difference in positions, in particular, includes the following steps: after the difference in the distances between the spherical coordinates of the working end point of the connector (5) of the attachment and the spherical coordinates of the end point of fastening of the target device (3) of the attachment exceeds the maximum value of the permissible range of the difference in distances, the difference between the actual angle of each boom section of the boom assembly (4) and the preset angle of each boom section corresponding to the target device (3) of the attachment, and the difference between the actual angle of the connector (5) of the attachment and the preset angle of the connector of the attachment corresponding to the target device (3) of the attachment, respectively, are compared; and adjusting the boom with the greatest difference in angles in the boom assembly (4) or the attachment connector (5) in such a way as to reduce the difference in angles of the boom with the greatest difference in angles or the attachment connector (5) until the difference in distances between the spherical coordinates of the working end point of the attachment connector (5) and the spherical coordinates of the end point of fastening of the target device (3) of the attachment becomes less than the maximum value of the permissible range of the difference in distances.

8. The method for controlling a vehicle for demolishing buildings according to paragraph 6 or 7, characterized in that after the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment exceeds the permissible range of the difference in positions, the operation of adjusting at least one component of the boom assembly (4) and the connector (5) of the attachment to correct the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment so that it is within the permissible range of the difference in positions, further comprises the following steps: after reducing the difference in distances between the spherical coordinates of the working end point of the connector (5) of the attachment and the spherical coordinates of the end point of fastening of the target device (3) of the attachment to a value less than the minimum value of the permissible range of the difference in distances, comparing the difference between the actual angle of each boom section of the boom assembly (4) and the predetermined angle of each boom section corresponding to the target device (3) of the attachment, and the difference between the actual angle of the connector (5) of the attachment and the predetermined angle of the connector of the attachment corresponding to the target device (3) of the attachment, respectively; and adjusting the boom with the smallest angle difference in the boom assembly (4) or the connector (5) of the attachment in such a way as to increase the angle difference of the boom with the smallest angle difference or the connector (5) of the attachment until the difference in distances between the spherical coordinates of the working end point of the connector (5) of the attachment and the spherical coordinates of the end point of fastening of the target device (3) of the attachment becomes greater than the minimum value of the permissible range of the distance difference.

9. The method for controlling a vehicle for demolishing buildings according to paragraph 6 or 7, characterized in that after the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment exceeds the permissible range of the difference in positions, the operation of adjusting at least one component of the boom assembly (4) and the connector (5) of the attachment to correct the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment so that it is within the permissible range of the difference in positions, further comprises the following steps: after adjusting the difference in the boom angle with the largest difference in the angle of the boom assembly (4) to equal the minimum value of the permissible range of the preset angle of the boom or adjusting the angle of the coupler (5) of the attachment to equal the minimum value of the permissible range of the preset angle of the coupler of the attachment, and the difference in the distances between the spherical coordinates of the working end point of the coupler (5) of the attachment and the spherical coordinates of the end point of fastening of the target device (3) of the attachment still exceeds the maximum value of the permissible range of the difference in distances, the difference between the actual angle of each boom section of the boom assembly (4) and the preset angle of each boom section corresponding to the target device (3) of the attachment, and the difference between the actual angle of the coupler (5) of the attachment and the preset angle of the coupler of the attachment,corresponding to the target device (3) of the attachment, are compared accordingly; and, adjusting the boom with the largest angle difference of the boom assembly (4) or the connector (5) of the attachment in such a way as to reduce the angle difference of the boom with the largest angle difference or the connector (5) of the attachment until the difference in distances between the spherical coordinates of the working end point of the connector (5) of the attachment and the spherical coordinates of the end point of fastening of the target device (3) of the attachment becomes less than the maximum value of the permissible range of the distance difference.

10. A method for operating a vehicle for demolishing buildings according to any one of paragraphs 6-8, characterized in that after the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment exceeds the permissible range of the difference in positions, the operation of adjusting at least one component of the boom assembly (4) and the connector (5) of the attachment to correct the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment so that it is within the permissible range of the difference in positions, additionally includes the following steps: after adjusting the difference in the boom angle with the smallest difference in the angle of the boom assembly (4) to equal the maximum value of the permissible range of the preset angle of the boom or adjusting the angle of the coupler (5) of the attachment to equal the maximum value of the permissible range of the preset angle of the coupler of the attachment, and the difference in the distances between the spherical coordinates of the working end point of the coupler (5) of the attachment and the spherical coordinates of the end point of fastening of the target device (3) of the attachment is still less than the minimum value of the permissible range of the difference in distances, the difference between the actual angle of each boom section of the boom assembly (4) and the preset angle of each boom section corresponding to the target device (3) of the attachment, and the difference between the actual angle of the coupler (5) of the attachment and the preset angle of the coupler of the attachment,corresponding to the target device (3) of the attachment, are compared accordingly; and, adjusting the boom with the smallest angle difference in the boom assembly (4) or the connector (5) of the attachment in such a way as to increase the angle difference of the boom with the smallest angle difference or the connector (5) of the attachment until the difference in distances between the spherical coordinates of the working end point of the connector (5) of the attachment and the spherical coordinates of the end point of fastening of the target device (3) of the attachment becomes greater than the minimum value of the permissible range of the distance difference.

11. A method for operating a vehicle for demolishing buildings according to any one of paragraphs 6-10, characterized in that after the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment exceeds the permissible range of the difference in positions, the operation of adjusting at least one component of the boom assembly (4) and the connector (5) of the attachment to correct the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment so that it is within the permissible range of the difference in positions, further comprises the following steps: after the difference in the adjacent angles of height between the spherical coordinates of the working end point of the connector (5) of the attachment and the spherical coordinates of the end point of attachment of the target device (3) of the attachment exceeds the maximum value of the permissible range of the difference in adjacent angles of height, the difference between the actual angle of each boom section of the boom assembly (4) and the preset angle of each boom section corresponding to the target device (3) of the attachment, and the difference between the actual angle of the connector (5) of the attachment and the preset angle of the connector of the attachment corresponding to the target device (3) of the attachment, are compared respectively; and adjusting the boom with the greatest difference in angles in the boom assembly (4) or the connector (5) of the attachment in such a way as to reduce the difference in angles of the boom with the greatest difference in angles or the connector (5) of the attachment until the difference in the adjacent angles of height between the spherical coordinates of the working end point of the connector (5) of the attachment and the spherical coordinates of the end point of fastening of the target device (3) of the attachment becomes less than the maximum value of the permissible range of the difference in adjacent angles of height.

12. A method for operating a vehicle for demolishing buildings according to any one of paragraphs 6-11, characterized in that after the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment exceeds the permissible range of the difference in positions, the operation of adjusting at least one component of the boom assembly (4) and the connector (5) of the attachment to correct the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment so that it is within the permissible range of the difference in positions, further comprises the following steps: after reducing the difference in the adjacent angles of elevation between the spherical coordinates of the working end point of the connector (5) of the attachment and the spherical coordinates of the end point of attachment of the target device (3) of the attachment to a value less than the minimum value of the permissible range of the difference in adjacent angles of elevation, the difference between the actual angle of each boom section of the boom assembly (4) and the predetermined angle of each boom section corresponding to the target device (3) of the attachment, and the difference between the actual angle of the connector (5) of the attachment and the predetermined angle of the connector of the attachment corresponding to the target device (3) of the attachment, are compared respectively; and adjusting the boom with the smallest angle difference or the connector (5) of the attachment in such a way as to increase the angle difference of the boom with the smallest angle difference or the connector (5) of the attachment until the difference in the adjacent height angles between the spherical coordinates of the working end point of the connector (5) of the attachment and the spherical coordinates of the end point of fastening of the target device (3) of the attachment becomes greater than the minimum value of the permissible range of the difference in the adjacent height angles.

13. The method for controlling a vehicle for demolishing buildings according to claim 6 or 11, characterized in that after the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment exceeds the permissible range of the difference in positions, the operation of adjusting at least one component of the boom assembly (4) and the connector (5) of the attachment to correct the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment so that it is within the permissible range of the difference in positions, further comprises the following steps: after adjusting the difference in the boom angles with the largest difference in the angles of the boom assembly (4) to equal the minimum value of the permissible range of the preset angle of the boom or adjusting the angle of the coupler (5) of the attachment to equal the minimum value of the permissible range of the preset angle of the coupler of the attachment, the difference in the adjacent angles of the height between the spherical coordinates of the working end point of the coupler (5) of the attachment and the spherical coordinates of the end point of attachment of the target device (3) of the attachment still exceeds the maximum value of the permissible range of the difference in adjacent angles of the height, the difference between the actual angle of each boom section of the boom assembly (4) and the preset angle of each boom section corresponding to the target device (3) of the attachment,and the difference between the actual angle of the attachment connector (5) and the predetermined angle of the attachment connector corresponding to the target device (3) of the attachment are compared respectively; and, adjusting the boom with the greatest difference in angles in the boom assembly (4) or the connector (5) of the attachment in such a way as to reduce the difference in angles of the boom with the greatest difference in angles or the connector (5) of the attachment until the difference in the adjacent angles of height between the spherical coordinates of the working end point of the connector (5) of the attachment and the spherical coordinates of the end point of fastening of the target device (3) of the attachment becomes less than the maximum value of the permissible range of the difference in adjacent angles of height.

14. The method for controlling a vehicle for demolishing buildings according to claim 6 or 12, characterized in that after the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment exceeds the permissible range of the difference in positions, the operation of adjusting at least one component of the boom assembly (4) and the connector (5) of the attachment to correct the difference in positions between the working end point of the connector (5) of the attachment and the end point of fastening of the target device (3) of the attachment so that it is within the permissible range of the difference in positions, further comprises the following steps: after adjusting the difference in the boom angles with the smallest difference in the angles of the boom assembly (4) to equal the maximum value of the permissible range of the preset angle of the boom or adjusting the angle of the coupler (5) of the attachment to equal the maximum value of the permissible range of the preset angle of the coupler of the attachment, and the difference in the adjacent angles of the working end point of the coupler (5) of the attachment and the spherical coordinates of the end point of attachment of the target device (3) of the attachment is still less than the minimum value of the permissible range of the difference in adjacent angles of the height, the difference between the actual angle of each boom section of the boom assembly (4) and the preset angle of each boom section corresponding to the target device (3) of the attachment,and the difference between the actual angle of the attachment connector (5) and the predetermined angle of the attachment connector corresponding to the target device (3) of the attachment are compared respectively; and, adjusting the boom with the smallest difference in angles of the boom assembly (4) or the connector (5) of the attachment in such a way as to increase the difference in angles of the boom with the smallest difference in angles or the connector (5) of the attachment until the difference in the adjacent height angles between the spherical coordinates of the working end point of the connector (5) of the attachment and the spherical coordinates of the end point of fastening of the target device (3) of the attachment becomes greater than the minimum value of the permissible range of the difference in adjacent height angles.

15. A method for operating a demolition vehicle according to any one of paragraphs 4-14, characterized in that, after the rotating platform (2), each boom section of the boom assembly (4) and the attachment connector (5) have all reached predetermined positions corresponding to the target device (3) of the attachment, forcing the attachment connector (5) to perform the gripping and installation of the target device (3) of the attachment, in particular, includes the following steps: moving the working end point of the attachment connector (5) to the first predetermined position; and rotating the attachment connector (5) so that the working end point of the attachment connector (5) moves to a second predetermined position to coincide with the end point of fastening of the target device (3) of the attachment, thereby causing the attachment connector (5) to secure and lock the target device (3) of the attachment.

16. The method for controlling a vehicle for demolishing buildings according to claim 15, characterized in that, after the rotating platform (2), each boom section of the boom assembly (4) and the attachment connector (5) have all reached predetermined positions corresponding to the target device (3) of the attachment, forcing the attachment connector (5) to perform the gripping and installation of the target device (3) of the attachment further includes the following step: after the working end point of the connector (5) of the attachment has reached the second predetermined position in order to coincide with the end point of attachment of the target device (3) of the attachment, the target device (3) of the attachment is vertically raised upward by means of at least one of the actions of raising the last section of the boom of the boom assembly (4) or lowering the penultimate section of the boom of the boom assembly (4) until the height of the end point of attachment of the target device (3) of the attachment exceeds the first predetermined height.

17. A method for controlling a demolition vehicle according to any one of paragraphs 4-16, characterized in that, after the rotating platform (2), each boom section of the boom assembly (4) and the attachment connector (5) have all reached predetermined positions corresponding to the target device (3) of the attachment, forcing the attachment connector (5) to return to the location of the target device (3) of the attachment, in particular, includes the following steps: moving the working end point of the attachment connector (5) to a second predetermined position to coincide with the end point of fastening of the target device (3) of the attachment, so that the attachment connector (5) unlocks and removes the target device (3) of the attachment. rotating the attachment connector (5) so that the working end point of the attachment connector (5) moves to the first preset position.

18. A method for operating a demolition vehicle according to any one of paragraphs 4-17, characterized in that, after the rotating platform (2), each boom section of the boom assembly (4) and the attachment connector (5) have all reached predetermined positions corresponding to the target device (3) of the attachment, forcing the attachment connector (5) to return to the location of the target device (3) of the attachment further comprises the following step: after the height of the end point of attachment of the target device (3) of the attachment has exceeded the first predetermined height, the target device (3) of the attachment is returned to its place by vertical lifting using at least one of the actions of lifting the last section of the boom of the boom assembly (4) or lowering the penultimate section of the boom of the boom assembly (4) so ​​that the working end point of the connector (5) of the attachment reaches the second predetermined position in order to coincide with the end point of attachment of the target device (3) of the attachment.

19. A method for controlling a vehicle for demolishing buildings according to any of paragraphs 4-18, characterized in that the vehicle for demolishing buildings additionally contains: a plurality of devices (9) for detecting the presence of attachment devices, located in a plurality of brackets (11) for attachment equipment, respectively, and configured to detect whether each attachment device (3) is located in the corresponding bracket (11) for attachment equipment; Moreover, the method of driving a vehicle for demolition of buildings additionally provides for the following stage: after detecting with the device (9) for detecting the presence of attachment devices that the target device (3) of the attachment is located in the container (11) for the attachment, the angles of at least one component of the boom assembly (4), the connector (5) of the attachment and the rotating platform (2) are adjusted so that the connector (5) of the attachment captures and installs the target device (3) of the attachment.

20. A method for operating a demolition vehicle according to any one of paragraphs 4-19, further comprising the following step: before adjusting the angle of the turntable (2) to a predetermined angle of the turntable corresponding to the target device (3) of the attachment, adjusting the angle of each boom section of the boom unit (4) to a predetermined angle of each boom section corresponding to the target device (3) of the attachment respectively, and adjusting the angle of the attachment connector (5) to a predetermined angle of the attachment connector corresponding to the target device (3) of the attachment, after the target device (3) of the attachment is placed in the bracket (11) for the attachment, raising the attachment connector (5) so that the height of the attachment connector (5) becomes greater than the second predetermined height, thereby causing the attachment connector (5) to perform the gripping and installation of the target device (3).

21. A method of operating a demolition vehicle according to any one of paragraphs 4-20, further comprising the following step: after detecting with the device (9) for detecting the presence of attachment devices that the bracket (11) for attachment equipment corresponding to the target device of the attachment is empty, and the height of the connector (5) of the attachment exceeds the first predetermined height, adjusting the angles of at least one component of the boom assembly (4), the connector (5) of the attachment and the turntable (2) so that the connector (5) of the attachment returns to the place of the target device (3) of the attachment.

22. A machine-readable data carrier containing a computer program stored thereon, wherein this program, when executed by the processor (8), implements the method for controlling a vehicle for demolishing buildings according to any of paragraphs 4-21.

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