CN103043041A - Supporting leg type engineering vehicle and control method and control system thereof - Google Patents
Supporting leg type engineering vehicle and control method and control system thereof Download PDFInfo
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- CN103043041A CN103043041A CN2012105871086A CN201210587108A CN103043041A CN 103043041 A CN103043041 A CN 103043041A CN 2012105871086 A CN2012105871086 A CN 2012105871086A CN 201210587108 A CN201210587108 A CN 201210587108A CN 103043041 A CN103043041 A CN 103043041A
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Abstract
The invention discloses a supporting leg type engineering vehicle and a control method and a control system thereof so as to solve the problem of incapability of guaranteeing operation safety of supporting leg type engineering vehicles in the prior art. The control method includes: the supporting leg type engineering vehicle monitors the current state thereof during operation, limits the current operation when judging that the monitored current state is different from the preset operation state, adjusts the current state thereof until the current state thereof is adjusted to the preset operation state, and continues performing the current operation. By the method, the supporting leg type engineering vehicle is capable of monitoring the current state thereof in real time during operation and is capable of timely limiting the operation and making adjustment on the current state when the current state is monitored to deviate from the preset operation state, and accordingly operation safety of the supporting leg type engineering vehicle can be improved effectively, and safety accidents are avoided.
Description
Technical field
The present invention relates to engineering machinery field, relate in particular to a kind of supporting leg class engineering truck and control method and system.
Background technology
At highly-mechanized society, be the indispensable visual plant of construction trade such as supporting leg class engineering trucks such as mobile automobile hoisting cranes, the safety performance of supporting leg class engineering truck receives people's concern day by day.
Describe as an example of mobile automobile hoisting crane (abbreviation hoisting crane) example.In the prior art, hoisting crane needed artificially to set according to the working condition of hoisting crane first the operating condition of hoisting crane before the beginning operation, and then according to the operating condition control hoisting crane of setting, when the state of hoisting crane reaches the operating condition of this setting, the beginning operation.
For example, the operating condition that artificially according to working condition hoisting crane is set is: the horizontal support legs of hoisting crane is for entirely stretching state, and then according to the operating condition of this setting, the horizontal support legs of control hoisting crane begins operation after reaching and entirely stretching state.
But; in the practical application scene; often can in operation process, depart from gradually the operating condition of setting owing to the problems such as crane support the automatic recovery, vertical support oil cylinder pressure release, Subgrade Subsidence cause hoisting crane; and in the prior art only before hoisting crane begins operation the state to hoisting crane control; the state to hoisting crane does not carry out real-time monitoring in the process of crane job; this will cause the operator can not find timely the variation of hoisting crane state in the process of crane job, thereby causes serious safety misadventure.
Summary of the invention
The embodiment of the invention provides a kind of supporting leg class engineering truck and control method and system, in order to solve the problem of the safety that can't guarantee the operation of supporting leg class engineering truck in the prior art.
The embodiment of the invention provides a kind of control method of supporting leg class engineering truck, comprising:
Supporting leg class engineering truck is monitored the current state of self in operation process; And
Judge whether the current state that monitors is identical with default operating condition;
The current state that monitors when judgement and described default operating condition are not simultaneously, limit current Job Operations, and adjust self current state, until when self current state is adjusted to described default operating condition, proceed current Job Operations.
The embodiment of the invention provides a kind of control system of supporting leg class engineering truck, comprising:
Monitoring modular is used for the current state at the described supporting leg class engineering truck of process monitoring of supporting leg class engineering truck operation;
Upper vehicle controller is used for judging whether the current state that described monitoring module monitors arrives is identical with default operating condition, and the current state that monitors when judgement and described default operating condition limit current Job Operations not simultaneously;
The supporting leg controller, be used for described monitoring module monitors to current state be transferred to described upper vehicle controller, when described upper vehicle controller is judged the current state that monitors and described default operating condition not simultaneously, adjust the current state of described supporting leg class engineering truck, until when the current state of described supporting leg class engineering truck is adjusted to described default operating condition, proceed current Job Operations.
The embodiment of the invention also provides a kind of supporting leg class engineering truck, comprises system described above.
The embodiment of the invention provides a kind of supporting leg class engineering truck and control method and system, the method supporting leg class engineering truck is monitored the current state of self in operation process, the state that stretches out of the horizontal support legs that monitors when judgement, the back-pressure state of vertical leg or the heeling condition on chassis and default operating condition are not simultaneously, limit current Job Operations, and adjust the current state of self supporting leg, until with the state that stretches out of own level supporting leg, when the back-pressure state of vertical leg and the heeling condition adjustment value on chassis are somebody's turn to do default operating condition, proceed again current Job Operations.Pass through said method, supporting leg class engineering truck can the real-time state that stretches out to the own level supporting leg, the back-pressure state of vertical leg and the heeling condition on chassis be monitored in the process of operation, when the heeling condition on the back-pressure state of the state that stretches out that monitors horizontal support legs, vertical leg or chassis has departed from default operating condition, can limit timely Job Operations and current state is adjusted, thereby can actv. improve the safety of supporting leg class engineering truck operation, avoid the generation of safety misadventure.
Description of drawings
The control process of the hoisting crane that Fig. 1 provides for the embodiment of the invention;
The control system structural representation of the supporting leg class engineering truck that Fig. 2 provides for the embodiment of the invention;
The control system specific implementation structural representation of the supporting leg class engineering truck that Fig. 3 provides for the embodiment of the invention.
The specific embodiment
Owing to only before supporting leg class engineering truck begins operation, the state of supporting leg class engineering truck is controlled in the prior art, the state to supporting leg class engineering truck does not carry out real-time monitoring in the process of supporting leg class engineering truck operation, so can reduce the safety of supporting leg class engineering truck operation in the prior art to the control method of supporting leg class engineering truck.The embodiment of the invention is in order to improve the safety of supporting leg class engineering truck operation, the state that stretches out, the back-pressure state of vertical leg and the heeling condition on chassis of this supporting leg class engineering truck horizontal support legs of Real-Time Monitoring in the process of supporting leg class engineering truck operation, when monitoring current state and departed from default operating condition, limit current Job Operations and adjust the supporting leg state of supporting leg class engineering truck, when current state is adjusted to default operating condition, proceed again current Job Operations.
Below in conjunction with Figure of description, take supporting leg class engineering truck as hoisting crane as example, the embodiment of the invention is described in detail.
The control process of the hoisting crane that Fig. 1 provides for the embodiment of the invention specifically may further comprise the steps:
S101: hoisting crane is monitored the current state of self in operation process.
In embodiments of the present invention, hoisting crane can be monitored the state that stretches out of own level supporting leg, the back-pressure state of vertical leg and the heeling condition on chassis in the process of operation, such as the state that stretches out, the back-pressure state of vertical leg and the heeling condition on chassis of monitoring own level supporting leg in hanging the process of carrying.Wherein, the back-pressure state of the state that stretches out of hoisting crane own level supporting leg, vertical leg and the heeling condition on chassis include but not limited to: the state that stretches out that crane lateral support is current is still partly stretched state, the current counter pressure value that is subject to of hoisting crane the vertical leg bearing force of vertical leg (namely in the face of), hoisting crane when the angle (being the angle of inclination value of hoisting crane) of front chassis and horizontal surface for entirely stretching state.
Concrete, when the current state that will monitor be crane lateral support current stretch out state the time, can approach switch be set at the horizontal support legs of hoisting crane, then hoisting crane is in operation process, the approach switch that can arrange by the horizontal support legs at self, the state that stretches out of level monitoring supporting leg.Wherein, for a hoisting crane, the state that stretches out of its horizontal support legs generally includes entirely to be stretched state and partly stretches state.Certainly, for other supporting leg class engineering trucks, the state that stretches out of its horizontal support legs can comprise that also other stretch out state, and the state that stretches out of horizontal support legs all can be monitored by the approach switch that arranges at horizontal support legs.
When the current state that will monitor is the current counter pressure value that is subject to of hoisting crane vertical leg, can pressure sensor be set in the vertical leg of hoisting crane, specifically can pressure sensor be set in the upper and lower chamber of vertical support oil cylinder, then hoisting crane is in operation process, the pressure sensor that can arrange by the vertical leg at self, the current counter pressure value that is subject to of monitoring vertical leg.
When the current state that will monitor is hoisting crane when working as the angle of front chassis and horizontal surface, can level indicator be set at hoisting crane, then hoisting crane can be monitored by level indicator the angle of current self chassis and horizontal surface in operation process.
S102: judge whether the state that stretches out of the horizontal support legs that monitors, the back-pressure state of vertical leg and the heeling condition on chassis mate with the operating condition of presetting, if, then return step S101, otherwise execution in step S103.
Wherein, should default operating condition be that hoisting crane is before operation, the operating condition that the operator is default according to the working condition of hoisting crane, this default operating condition includes but not limited to: for the default state that stretches out of the horizontal support legs of hoisting crane, for the default counter pressure value of the vertical leg of hoisting crane, for the default maximum inclination angle value in the chassis of hoisting crane.
Accordingly, when the current state of the hoisting crane by step S101 monitoring be the horizontal support legs of hoisting crane current stretch out state the time, judge that whether the current state monitor is specially with the method for default operating condition coupling: judge by the current state that stretches out of the horizontal support legs that monitors near quick closing valve that arranges at horizontal support legs with whether default to stretch out state (for the default state that stretches out of horizontal support legs) identical, if identical, judge that then the current state that monitors is identical with default operating condition, otherwise, judge that the current state that monitors is different from default operating condition.
When the current state of the hoisting crane of monitoring by step S101 is the current counter pressure value that is subject to of vertical leg of hoisting crane, judge that whether the current state monitor is specially with the method for default operating condition coupling: judge by the pressure sensor monitoring that arranges in vertical leg to the absolute value of difference of the current counter pressure value that is subject to of vertical leg and default counter pressure value (the counter pressure value of presetting for vertical leg) whether greater than the first setting threshold, if, judge that then the current state that monitors and the operating condition of presetting do not mate, otherwise, judge the current state that monitors and the operating condition coupling of presetting.
When the current state of the hoisting crane by step S101 monitoring is that hoisting crane is when working as the angle of front chassis and horizontal surface, judge that whether the current state monitor is specially with the method for default operating condition coupling: judge that whether the angle of the crane chassis that monitors by level indicator and horizontal surface is greater than the second setting threshold (this second setting threshold is the maximum inclination angle value of presetting for the chassis of hoisting crane), if, judge that then the current state that monitors and the operating condition of presetting do not mate, otherwise, judge the current state that monitors and the operating condition coupling of presetting.
Hoisting crane by said method judge the current state monitor whether with default operating condition coupling after, if judge the current state that monitors and the operating condition coupling of presetting, then can current Job Operations not limited, and the current state of continuation monitoring self, namely return step S101.
S103: limit current Job Operations, and adjust the current state of self supporting leg, until when the heeling condition on the back-pressure state of the state that stretches out of own level supporting leg, vertical leg and chassis is adjusted to this default operating condition, proceed current Job Operations, and return step S101.
When hoisting crane judges that the current state that monitors is not mated with the operating condition of presetting, the current state that hoisting crane is described has departed from default operating condition, proceed operation if keep current state, will cause danger, therefore, the current Job Operations of hoisting crane restriction this moment, and can be according to the current state of self and default operating condition, the current state of self is readjusted to this default operating condition, proceeds again current Job Operations after the adjustment.Certainly, when proceeding current Job Operations, the state that stretches out, the back-pressure state of vertical leg and the heeling condition on chassis of monitoring own level supporting leg that still will be real-time are also namely returned step S101.
In embodiments of the present invention, the complete machine of hoisting crane can be divided into two parts, be respectively upper frame part and lower frame part.Upper frame part is to be positioned at the above part in chassis in the hoisting crane complete machine, comprises operator's compartment, turntable, jib, suspension hook etc., does not comprise the chassis.Lower frame part is to be positioned at the following part in chassis in the hoisting crane complete machine, comprises horizontal support legs, vertical leg, chassis frame etc.
In above-mentioned steps S103, when hoisting crane judges that the current state that monitors is not mated with the operating condition of presetting, limit the operation that current Job Operations is specially restriction crane part, also, stop the upper lift operations of jib revolution, luffing and the suspension hook of hoisting crane.The current state of adjusting self then specifically can be to adjust stretching of own level supporting leg and stretching of vertical leg.
Concrete, when hoisting crane judges that by step S102 the current state that stretches out of the horizontal support legs monitor is with default when stretching out state and not mating, then in step S103, the method of the current state of hoisting crane adjustment self is specifically as follows: the stretch out state and default stretch out state current according to the horizontal support legs that monitors, control horizontal support legs flexible, the state that stretches out that makes the horizontal support legs after the adjustment with preset that to stretch out state identical.For example, suppose to preset and stretch out state for entirely stretching state, do not reach extension elongation when entirely stretching state and monitor the current extension elongation of horizontal support legs by step S102, then the hoisting crane horizontal support legs that can control self stretches out operation, make the state that stretches out of horizontal support legs reach the state of entirely stretching, that is, make the extension elongation of horizontal support legs reach extension elongation when entirely stretching state.
The difference of judging the current counter pressure value that is subject to of vertical leg monitor and default counter pressure value by step S102 when hoisting crane is during greater than the first setting threshold, then in step S103, the method of the current state of hoisting crane adjustment self is specifically as follows: according to the current counter pressure value that is subject to of the vertical leg that monitors and default counter pressure value, control vertical leg flexible makes the absolute value of the difference of counter pressure value that the vertical leg after the adjustment is subject to and default counter pressure value be not more than this first setting threshold.For example, suppose that hoisting crane monitors the current counter pressure value that is subject to of vertical leg greater than default counter pressure value, and the current counter pressure value that is subject to of vertical leg subtracts the difference of default counter pressure value greater than the first setting threshold, then the hoisting crane vertical leg that can control self is carried out retraction operation, the counter pressure value that is subject to reduce vertical leg makes the absolute value of the difference of counter pressure value that vertical leg is subject to and default counter pressure value be not more than this first setting threshold.
The angle of judging self chassis monitor and horizontal surface by step S102 when hoisting crane is during greater than the second setting threshold, then in step S103, the method of the current state of hoisting crane adjustment self is specifically as follows: according to the angle of current self the chassis level face that monitors, control the flexible of self vertical leg, to adjust the angle of self chassis and horizontal surface, make self chassis after the adjustment and the angle of horizontal surface be not more than this second setting threshold.
Certainly, except the method for aforesaid adjustment current state, can also adopt other methods of adjustment to adjust the current state of hoisting crane, make the current state after the adjustment be default operating condition, owing to have multiple current state according to hoisting crane and default operating condition in the prior art, adjust the current state of hoisting crane to the method for default operating condition, therefore just give unnecessary details no longer one by one here.
Pass through said method, supporting leg class engineering truck can the real-time state that stretches out to the own level supporting leg, the back-pressure state of vertical leg and the heeling condition on chassis be monitored in the process of operation, when monitoring current state and default operating condition not simultaneously, the current state that hoisting crane is described has departed from default operating condition, hoisting crane can limit timely Job Operations and current state is adjusted at this moment, thereby the generation of safety misadventure is avoided in the safety that can actv. improves crane job.
In embodiments of the present invention, hoisting crane is judged by above-mentioned steps S102 when the current state that monitors is not mated with the operating condition of presetting, can also send warning, current state with prompting operation person's hoisting crane has departed from default operating condition, hoisting crane can also show self the current state that monitors by read-out, make the operator know the current state of hoisting crane, thereby, when hoisting crane sends warning, the current state of the hoisting crane that the operator also can be manually shows according to read-out, hoisting crane is adjusted, its state is adjusted into default operating condition.
More than be the control method of the supporting leg class engineering truck that describes as hoisting crane as example take supporting leg class engineering truck, certainly, above-mentioned control method also can be applied to other supporting leg class engineering trucks except hoisting crane, such as pump truck etc.Based on same invention thinking, the embodiment of the invention also provides a kind of control system of supporting leg class engineering truck, as shown in Figure 2.
The control system structural representation of the supporting leg class engineering truck that Fig. 2 provides for the embodiment of the invention specifically comprises:
Monitoring modular 201 is used for the state that stretches out, the back-pressure state of vertical leg and the heeling condition on chassis at the described supporting leg class engineering truck horizontal support legs of process monitoring of supporting leg class engineering truck operation;
Upper vehicle controller 202, be used for judging whether the state that stretches out of the horizontal support legs that described monitoring modular 201 monitors, the back-pressure state of vertical leg and the heeling condition on chassis are complementary with the operating condition of presetting, when the current state that monitors when judgement and described default operating condition do not mate, limit current Job Operations;
Supporting leg controller 203, the state that stretches out for the horizontal support legs that described monitoring modular 201 is monitored, the back-pressure state of vertical leg and the heeling condition on chassis are transferred to described upper vehicle controller 202, judge the state that stretches out of the horizontal support legs that monitors when described upper vehicle controller 202, when the back-pressure state of vertical leg or the heeling condition on chassis and described default operating condition do not mate, adjust the current state of self supporting leg of described supporting leg class engineering truck, until with the state that stretches out of the horizontal support legs of described supporting leg class engineering truck, when the back-pressure state of vertical leg and the heeling condition on chassis are adjusted to described default operating condition, proceed current Job Operations.
Described monitoring modular 201 specifically comprises:
Be arranged on the approach switch 2011 on the described supporting leg class engineering truck horizontal support legs, be used for the current state that stretches out of level monitoring supporting leg, wherein, the state that stretches out of horizontal support legs comprises entirely to be stretched state and partly stretches state;
Described upper vehicle controller 202 specifically is used for, when judging that the current state that stretches out of horizontal support legs that described approach switch 2011 monitors stretches out state not simultaneously with default, judges that the state that stretches out and the described default operating condition that monitor horizontal support legs do not mate;
Described supporting leg controller 203 specifically is used for, what the horizontal support legs that described approach switch 2011 is monitored was current stretches out state transfer to described upper vehicle controller 202, and vehicle controller 202 is judged when the state that stretches out that monitors horizontal support legs and described default operating condition do not mate on described, stretch out state and described default the stretch out state current according to the horizontal support legs that monitors, control the flexible of described horizontal support legs, the state that stretches out that makes the horizontal support legs after the adjustment presets with described that to stretch out state identical;
Wherein, described approach switch 2011 links to each other with described supporting leg controller 203, and described supporting leg controller 203 links to each other by the first controller local area network (Controller Area Network, CAN) bus with described upper vehicle controller 202.
Described monitoring modular 201 specifically comprises:
Be arranged on the pressure sensor 2012 on the described supporting leg class engineering truck vertical leg, be used for the current counter pressure value of receiving of monitoring vertical leg;
Described upper vehicle controller 202 specifically is used for, when the absolute value of judging the current counter pressure value that is subject to of vertical leg that described pressure sensor 2012 monitors and the difference of default counter pressure value during greater than the first setting threshold, back-pressure state and described default operating condition that judgement monitors vertical leg do not mate;
Described supporting leg controller 203 specifically is used for, the current counter pressure value that is subject to of vertical leg that described pressure sensor 2012 is monitored is transferred to described upper vehicle controller 202, and vehicle controller 202 is judged when the back-pressure state that monitors vertical leg and described default operating condition do not mate on described, according to the current counter pressure value that is subject to of the vertical leg that monitors and described default counter pressure value, control the flexible of described vertical leg, make counter pressure value that the vertical leg after the adjustment is subject to and the difference of described default counter pressure value be not more than described the first setting threshold;
Wherein, described pressure sensor 2012 links to each other with described supporting leg controller 203, and described supporting leg controller 203 links to each other by a CAN bus with described upper vehicle controller 202.
Described monitoring modular 201 specifically comprises:
Level indicator 2013 is used for monitoring described supporting leg class engineering truck when the angle of front chassis and horizontal surface;
Described upper vehicle controller 202 specifically is used for, when judge that described level indicator 2013 monitors when the angle of front chassis and horizontal surface during greater than the second setting threshold, the heeling condition that judgement monitors the chassis is different from described default operating condition;
Described supporting leg controller 203 specifically is used for, the angle when front chassis and horizontal surface that described level indicator 2013 is monitored is transferred to described upper vehicle controller 202, and vehicle controller 202 is judged the heeling condition that monitors the chassis and described default operating condition not simultaneously on described, according to the angle when front chassis and horizontal surface that monitors, control the flexible of described supporting leg class engineering truck vertical leg, to adjust the angle of chassis and horizontal surface, make chassis after the adjustment and the angle of horizontal surface be not more than described the second setting threshold;
Wherein, described level indicator 2013 links to each other by the 2nd CAN bus with described supporting leg controller 203, and described supporting leg controller 203 links to each other by a CAN bus with described upper vehicle controller 202.
Described upper vehicle controller 202 also is used for, and when judging that described monitoring modular 201 monitors the heeling condition on the back-pressure state of the state that stretches out of horizontal support legs, vertical leg and chassis and described default operating condition and do not mate, sends warning.
Described system also comprises:
Main Control Tank panel 204 is used for receiving the operating order that the operator sends, and described operating order is sent to described supporting leg controller 203;
Described supporting leg controller 203 also is used for, and receives the operating order that is sent by described Main Control Tank panel 204, and operates accordingly according to the supporting leg that the described operating order that receives is controlled described supporting leg class engineering truck;
Wherein, described Main Control Tank panel 204 links to each other by the 3rd CAN bus with described supporting leg controller 203.
Described system also comprises:
Auxiliary control case panel 205 is used for receiving the operating order that the operator sends, and described operating order is sent to described supporting leg controller 203;
Described supporting leg controller 203 also is used for, and receives the operating order that is sent by described auxiliary control case panel 205, and operates accordingly according to the supporting leg that the described operating order that receives is controlled described supporting leg class engineering truck;
Wherein, described auxiliary control case panel 205 links to each other by the 2nd CAN bus with described supporting leg controller 203.
In above-mentioned control system shown in Figure 2, Main Control Tank panel 204 and auxiliary control case panel 205 all provide the control panel that is used for control supporting leg class engineering truck to the operator, the operator can use in Main Control Tank panel 204 and the auxiliary control case panel 205 any one that supporting leg class engineering truck is controlled, and, when one of them broke down, the operator can use another that supporting leg class engineering truck is controlled.
The control system specific implementation structural representation of the supporting leg class engineering truck that Fig. 3 provides for the embodiment of the invention, in control system shown in Figure 3, comprise altogether a CAN bus, the 2nd CAN bus, the 3rd CAN bus totally 3 CAN buses, wherein, the one CAN bus comprises CAN1_H and CAN1_L, the 2nd CAN bus comprises CAN2_H and CAN2_L, and the 3rd CAN bus comprises CAN3_H and CAN3_L.
In Fig. 3, approach switch and supporting leg controller are direct-connected, pressure sensor and supporting leg controller are direct-connected, the supporting leg controller links to each other by a CAN bus with upper vehicle controller, also can be on a CAN bus setting program download interface, be used for to supporting leg controller and upper vehicle controller download control program.The supporting leg controller links to each other by the 2nd CAN bus with level indicator, auxiliary control case panel.The supporting leg controller links to each other by the 3rd CAN bus with the Main Control Tank panel.Wherein, the one CAN bus, the 2nd CAN bus, the 3rd CAN bus are separate, unaffected each other, when break down in a certain road in these 3 buses, can not have influence on the normal operation of other CAN buses, can guarantee that supporting leg class engineering truck still can control by the equipment that connects on other CAN buses, thereby can actv. improve the reliability and stability of control system.
The embodiment of the invention also provides a kind of supporting leg class engineering truck, comprises the control system of aforesaid supporting leg class engineering truck.
The embodiment of the invention provides a kind of supporting leg class engineering truck and control method and system, the method supporting leg class engineering truck is monitored the state that stretches out of own level supporting leg in operation process, the back-pressure state of vertical leg and the heeling condition on chassis, monitor the state that stretches out of horizontal support legs when judgement, when the back-pressure state of vertical leg or the heeling condition on chassis are not mated with the operating condition of presetting, limit current Job Operations, and adjust the current state of self supporting leg, until with the state that stretches out of own level supporting leg, when the back-pressure state of vertical leg and the heeling condition on chassis are adjusted to this default operating condition, proceed again current Job Operations.Pass through said method, supporting leg class engineering truck can the real-time state that stretches out to the own level supporting leg, the back-pressure state of vertical leg and the heeling condition on chassis be monitored in the process of operation, when the heeling condition current state on the back-pressure state of the state that stretches out that monitors horizontal support legs, vertical leg and chassis has departed from default operating condition, can limit timely Job Operations and current state is adjusted, thereby can actv. improve the safety of supporting leg class engineering truck operation, avoid the generation of safety misadventure.
Those skilled in the art should understand that the application's embodiment can be provided as method, system or computer program.Therefore, the application can adopt complete hardware implementation example, complete implement software example or in conjunction with the form of the embodiment of software and hardware aspect.And the application can adopt the form of the computer program of implementing in one or more computer-usable storage medium (including but not limited to disc storage, CD-ROM, optical memory etc.) that wherein include computer usable program code.
The application is that reference is described according to diagram of circuit and/or the block scheme of method, equipment (system) and the computer program of the embodiment of the present application.Should understand can be by the flow process in each flow process in computer program instructions realization flow figure and/or the block scheme and/or square frame and diagram of circuit and/or the block scheme and/or the combination of square frame.Can provide these computer program instructions to the treater of general computer, single-purpose computer, Embedded Processor or other programmable data processing device producing a machine, so that the instruction of carrying out by the treater of computing machine or other programmable data processing device produces the device of the function that is used for being implemented in flow process of diagram of circuit or a plurality of flow process and/or square frame of block scheme or a plurality of square frame appointments.
These computer program instructions also can be stored in energy vectoring computer or the computer-readable memory of other programmable data processing device with ad hoc fashion work, so that the instruction that is stored in this computer-readable memory produces the manufacture that comprises command device, this command device is implemented in the function of appointment in flow process of diagram of circuit or a plurality of flow process and/or square frame of block scheme or a plurality of square frame.
These computer program instructions also can be loaded on computing machine or other programmable data processing device, so that carry out the sequence of operations step producing computer implemented processing at computing machine or other programmable devices, thereby be provided for being implemented in the step of the function of appointment in flow process of diagram of circuit or a plurality of flow process and/or square frame of block scheme or a plurality of square frame in the instruction that computing machine or other programmable devices are carried out.
Although described the application's preferred embodiment, in a single day those skilled in the art get the basic creative concept of cicada, then can make other change and modification to these embodiment.So claims are intended to all changes and the modification that are interpreted as comprising preferred embodiment and fall into the application's scope.
Obviously, those skilled in the art can carry out various changes and modification and the spirit and scope that do not break away from the application to the application.Like this, if these of the application are revised and modification belongs within the scope of the application's claim and equivalent technologies thereof, then the application also is intended to comprise these changes and modification interior.
Claims (10)
1. the control method of a supporting leg class engineering truck is characterized in that, comprising:
Supporting leg class engineering truck is monitored the state that stretches out of own level supporting leg, the back-pressure state of vertical leg and the heeling condition on chassis in operation process; And
Judge whether the state that stretches out of the described horizontal support legs that monitors, the back-pressure state of vertical leg and the heeling condition on chassis mate with the operating condition of presetting;
When the heeling condition on the state that stretches out of the described horizontal support legs that monitors when judgement, the back-pressure state of vertical leg or chassis and described default operating condition do not mate, limit current Job Operations, and adjust the current state of self supporting leg, until when being adjusted to the heeling condition on the back-pressure state of the state that stretches out of own level supporting leg, vertical leg and chassis with described default operating condition coupling, proceed current Job Operations.
2. the method for claim 1 is characterized in that, supporting leg class engineering truck is monitored the state that stretches out of own level supporting leg in operation process, specifically comprise:
Described supporting leg class engineering truck in operation process, by the approach switch that the horizontal support legs at self arranges, the state that stretches out that the level monitoring supporting leg is current, wherein, the state that stretches out of horizontal support legs comprises entirely to be stretched state and partly stretches state;
The state that stretches out and the described default operating condition that monitor described horizontal support legs do not mate, and specifically comprise:
Monitor the current state that stretches out of horizontal support legs and default to stretch out state different;
Adjust the current state of self supporting leg, specifically comprise:
According to the current state that stretches out of the horizontal support legs that monitors and describedly defaultly stretch out state, control the flexible of described horizontal support legs, the state that stretches out that makes the horizontal support legs after the adjustment presets with described that to stretch out state identical.
3. the method for claim 1 is characterized in that, supporting leg class engineering truck is monitored the back-pressure state of self vertical leg in operation process, specifically comprise:
Described supporting leg class engineering truck is monitored the current counter pressure value that is subject to of vertical leg in operation process;
The back-pressure state and the described default operating condition that monitor vertical leg do not mate, and specifically comprise:
Monitor the absolute value of difference of the current counter pressure value that is subject to of vertical leg and default counter pressure value greater than the first setting threshold;
Adjust the current state of self supporting leg, specifically comprise:
According to the current counter pressure value that is subject to of the vertical leg that monitors and described default counter pressure value, control the flexible of described vertical leg, make the absolute value of the difference of counter pressure value that the vertical leg after the adjustment is subject to and described default counter pressure value be not more than described the first setting threshold.
4. method as claimed in claim 3 is characterized in that, the current counter pressure value that is subject to of described vertical leg obtains by the pressure sensor that arranges in vertical leg.
5. the method for claim 1 is characterized in that, supporting leg class engineering truck is monitored the heeling condition on self chassis in operation process, specifically comprise:
Described supporting leg class engineering truck is in operation process, by the angle of current self chassis of level indicator monitoring and horizontal surface;
The heeling condition and the described default operating condition that monitor the chassis do not mate, and specifically comprise:
Monitor the angle of current self chassis and horizontal surface greater than the second setting threshold;
Adjust the current state of self supporting leg, specifically comprise:
According to current self chassis that monitors and the angle of horizontal surface, control the flexible of self vertical leg, to adjust the angle of self chassis and horizontal surface, make self chassis after the adjustment and the angle of horizontal surface be not more than described the second setting threshold.
6. the control system of a supporting leg class engineering truck is characterized in that, comprising:
Monitoring modular is for the state that stretches out, the back-pressure state of vertical leg and the heeling condition on chassis of monitoring the horizontal support legs of described supporting leg class engineering truck in the process of supporting leg class engineering truck operation;
Upper vehicle controller, be used for judging described monitoring module monitors to the back-pressure state of the state that stretches out, vertical leg of described horizontal support legs and the heeling condition on chassis whether with default operating condition coupling, when the heeling condition on the state that stretches out of the described horizontal support legs that monitors when judgement, the back-pressure state of vertical leg or chassis and described default operating condition do not mate, limit current Job Operations;
The supporting leg controller, be used for described monitoring module monitors to the state that stretches out of described horizontal support legs, the back-pressure state of vertical leg and the heeling condition on chassis are transferred to described upper vehicle controller, judge the state that stretches out of the described horizontal support legs that monitors when described upper vehicle controller, when the back-pressure state of vertical leg or the heeling condition on chassis and described default operating condition do not mate, adjust the current state of self supporting leg of described supporting leg class engineering truck, until with the state that stretches out of the horizontal support legs of described supporting leg class engineering truck, when the back-pressure state of vertical leg and the heeling condition on chassis are adjusted to described default operating condition coupling, proceed current Job Operations.
7. system as claimed in claim 6 is characterized in that, described monitoring modular specifically comprises:
Be arranged on the approach switch on the described supporting leg class engineering truck horizontal support legs, be used for the current state that stretches out of level monitoring supporting leg, wherein, the state that stretches out of horizontal support legs comprises entirely to be stretched state and partly stretches state;
The described controling appliance body of getting on the bus is used for, when judging that the current state that stretches out of horizontal support legs that described approach switch monitors stretches out state not simultaneously with default, judges that the state that stretches out and the described default operating condition that monitor horizontal support legs do not mate;
Described supporting leg controling appliance body is used for, what the horizontal support legs that described approach switch is monitored was current stretches out state transfer to described upper vehicle controller, and vehicle controller is judged when the state that stretches out monitor horizontal support legs and described default operating condition do not mate on described, stretch out state and described default the stretch out state current according to the horizontal support legs that monitors, control the flexible of described horizontal support legs, the state that stretches out that makes the horizontal support legs after the adjustment presets with described that to stretch out state identical;
Wherein, described approach switch links to each other with described supporting leg controller, and described supporting leg controller links to each other by first controller local area network's CAN bus with described upper vehicle controller.
8. system as claimed in claim 6 is characterized in that, described monitoring modular specifically comprises:
Be arranged on the pressure sensor on the described supporting leg class engineering truck vertical leg, be used for the current counter pressure value of receiving of monitoring vertical leg;
The described controling appliance body of getting on the bus is used for, when judge described pressure sensor monitoring to the absolute value of the current counter pressure value that is subject to of vertical leg and the difference of default counter pressure value during greater than the first setting threshold, back-pressure state and described default operating condition that judgement monitors vertical leg do not mate;
Described supporting leg controling appliance body is used for, with described pressure sensor monitoring to the current counter pressure value that is subject to of vertical leg be transferred to described upper vehicle controller, and vehicle controller is judged when the back-pressure state monitor vertical leg and described default operating condition do not mate on described, according to the current counter pressure value that is subject to of the vertical leg that monitors and described default counter pressure value, control the flexible of described vertical leg, make counter pressure value that the vertical leg after the adjustment is subject to and the difference of described default counter pressure value be not more than described the first setting threshold;
Wherein, described pressure sensor links to each other with described supporting leg controller, and described supporting leg controller links to each other by first controller local area network's CAN bus with described upper vehicle controller.
9. system as claimed in claim 6 is characterized in that, described monitoring modular specifically comprises:
Level indicator is used for monitoring described supporting leg class engineering truck when the angle of front chassis and horizontal surface;
The described controling appliance body of getting on the bus is used for, when judge that described level indicator monitors when the angle of front chassis and horizontal surface during greater than the second setting threshold, heeling condition and described default operating condition that judgement monitors the chassis do not mate;
Described supporting leg controling appliance body is used for, the angle when front chassis and horizontal surface that described level indicator is monitored is transferred to described upper vehicle controller, and vehicle controller is judged when the heeling condition monitor the chassis and described default operating condition do not mate on described, according to the angle when front chassis and horizontal surface that monitors, control the flexible of described supporting leg class engineering truck vertical leg, to adjust the angle of chassis and horizontal surface, make chassis after the adjustment and the angle of horizontal surface be not more than described the second setting threshold;
Wherein, described level indicator links to each other by second controller local area network CAN bus with described supporting leg controller, and described supporting leg controller links to each other by first controller local area network's CAN bus with described upper vehicle controller.
10. a supporting leg class engineering truck is characterized in that, comprises arbitrary described system such as claim 6-9.
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| CN201210587108.6A CN103043041B (en) | 2012-12-31 | 2012-12-31 | Supporting leg type engineering vehicle and control method and control system thereof |
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| CN201210587108.6A CN103043041B (en) | 2012-12-31 | 2012-12-31 | Supporting leg type engineering vehicle and control method and control system thereof |
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