CN107188098B - Control device and method for overhead working truck and overhead working truck - Google Patents
Control device and method for overhead working truck and overhead working truck Download PDFInfo
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- CN107188098B CN107188098B CN201710564541.0A CN201710564541A CN107188098B CN 107188098 B CN107188098 B CN 107188098B CN 201710564541 A CN201710564541 A CN 201710564541A CN 107188098 B CN107188098 B CN 107188098B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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Abstract
The invention discloses a control device and a method for an overhead working truck and the overhead working truck, wherein the device comprises: the system comprises a working control module, a standby control module and a detection and gating module; the detection and gating module is electrically connected with the working control module and the standby control module respectively; the detection and gating module detects the working state of the working control module in real time and sends a switching signal to the standby control module when the working control module is determined to be in a fault state; and the standby control module is switched to a working state after receiving the switching signal. According to the control device and method for the aerial work platform and the aerial work platform, if the working control module fails, the standby control module can rapidly switch the working control module, so that the whole control work is stable and reliable, unpredictable safety problems of the aerial work platform in the working state can be rapidly, safely and effectively solved, the control reliability is improved, and the market competitiveness is enhanced.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a control device and a control method for an aerial lift truck and the aerial lift truck.
Background
The overhead working truck is a special vehicle for transporting workers and using equipment to the site and carrying out aerial operation. The high-altitude operation vehicle controls a plurality of hydraulic oil cylinders through a hydraulic or electric system, can lift up and down for operation, and is widely applied to various high-altitude operation fields of electric power, fire control, traffic, advertisement, building outer wall decoration and cleaning, garden maintenance, communication equipment maintenance and repair and the like. Compared with the traditional scaffold type aerial work, the aerial work vehicle has extremely high aerial work safety, environmental adaptability and work efficiency, gradually replaces a scaffold, and becomes the mainstream aerial work mode at present. The electrical control of the overhead working truck comprises getting-on control and getting-off control. The boarding control comprises platform control and turntable control. The getting-off control mainly controls the interlocking function of the supporting legs and the getting-on and getting-off, and the getting-off control system is strictly forbidden to operate during high-altitude operation. In the construction process, the getting-off must be kept safe and reliable. If the control of the lower vehicle is in a problem, casualties, damage to the vehicle and the like may be caused. However, the existing high-altitude operation vehicle control is not added with redundant control, and the reliability of a control system is difficult to ensure.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an overhead working truck control apparatus, an overhead working truck control method and an overhead working truck.
According to an aspect of the present invention, there is provided an aerial work vehicle control apparatus comprising: the system comprises a working control module, a standby control module and a detection and gating module; the detection and gating module is electrically connected with the working control module and the standby control module respectively; the detection and gating module detects the working state of the working control module in real time and sends a switching signal to the standby control module when the working control module is determined to be in a fault state; and the standby control module is switched to a working state after receiving the switching signal.
Optionally, the method further comprises: a detection module; the working control module and the standby control module are respectively and electrically connected with the detection module and a driving device of the overhead working truck; and the working control module or the standby control module in the working state receives the control command and the detection information acquired by the detection module, and sends a control signal to the driving device based on the control command and/or the detection information.
Optionally, the detection module includes: a support leg state detection module; the driving device includes: a boom drive device; the working control module and the standby control module are respectively and electrically connected with the supporting leg state detection module and the arm support driving device; and the working control module or the standby control module in the working state receives the support leg state information acquired by the support leg state detection module, and when the situation that the horizontal support leg does not extend to the position or the vertical support leg has a soft leg fault is determined based on the support leg state information, a control signal is sent to the arm support driving device to control the upper arm support of the overhead working truck to stop running and alarm information is sent.
Optionally, the drive device comprises: a leg driving device; the working control module and the standby control module are respectively electrically connected with the supporting leg driving device; and the working control module or the standby control module in the working state sends a control signal to the supporting leg driving device according to a unilateral extension control command so as to control the extension of the horizontal supporting leg positioned on one side of the high-altitude operation vehicle to carry out unilateral operation.
Optionally, the drive device comprises: a turntable driving device; the working control module and the standby control module are respectively and electrically connected with the turntable driving device; during unilateral operation, the working control module or the standby control module in a working state sends a control signal to the turntable driving device to prohibit the upper boom from rotating to the other side of the high-altitude operation vehicle.
Optionally, the detection module comprises: a boom state detection module; the working control module and the standby control module are respectively and electrically connected with the arm support state detection module; and the working control module or the standby control module in the working state receives the upper arm support state information acquired by the arm support state detection module, and sends a control signal to the supporting leg driving device to control the horizontal supporting leg and the vertical supporting leg to stop running when the working arm is determined to be separated from the working arm support based on the upper arm support state information.
Optionally, the detection module includes: an engine state detection module; the working control module and the standby control module are respectively and electrically connected with the engine state detection module; and the working control module or the standby control module in a working state receives the engine rotating speed information acquired by the engine state detection module, and when the rotating speed of the engine is determined to exceed a preset rotating speed threshold value, a control signal is sent to the supporting leg driving device and/or the arm support driving device so as to control the supporting leg and/or the getting-on arm support to stop running.
Optionally, the detection module includes: a brake state detection module; the working control module and the standby control module are respectively and electrically connected with the brake state detection module; and the working control module or the standby control module in the working state receives the state information of the hand brake and the power takeoff of the chassis, which is acquired by the braking state detection module, and sends a control signal to the driving device when the hand brake is determined not to be pulled up and the power takeoff is not in the power takeoff state based on the state information of the hand brake and the power takeoff of the chassis, so as to control the whole high-altitude operation vehicle to stop operation.
Optionally, the monitoring and displaying module is used for displaying the state information and the alarm information of the aerial work platform; the working control module and the standby control module are respectively electrically connected with the monitoring display module.
According to another aspect of the present invention there is provided an aerial work platform comprising: the overhead working truck control device described above.
According to still another aspect of the present invention, there is provided an aerial work vehicle control method comprising: detecting the working state of the working control module in real time; if the working control module is determined to be in fault, sending a switching signal to a standby control module; and the standby control module receives the switching signal and then switches to a working state.
Optionally, the working control module or the standby control module in a working state receives a control command and detection information, and sends a control signal to a driving device of the aerial work platform based on the control command and/or the detection information.
Optionally, the drive device comprises: a boom drive device; and the working control module or the standby control module in the working state receives the state information of the supporting legs, and if the situation that the horizontal supporting legs do not extend to the position or the vertical supporting legs have soft leg faults is determined based on the state information of the supporting legs, a control signal is sent to the arm support driving device to control the arm support of the overhead working truck to stop running and alarm information is sent.
Optionally, the drive device comprises: a leg driving device; the working control module or the standby control module in the working state sends a control signal to the supporting leg driving device according to a unilateral extension control command so as to control the extension of a horizontal supporting leg positioned on one side of the high-altitude operation vehicle to perform unilateral operation; during unilateral operation, the working control module or the standby control module in a working state sends a control signal to the turntable driving device to prohibit the upper boom from rotating to the other side of the high-altitude operation vehicle.
Optionally, the working control module or the standby control module in the working state receives the state information of the get-on boom, and if it is determined that the working arm is separated from the working arm support based on the state information of the get-on boom, a control signal is sent to the support leg driving device to control the horizontal support leg and the vertical support leg to stop operating.
Optionally, the working control module or the standby control module in the working state receives engine rotation speed information, and when it is determined that the engine rotation speed exceeds a preset rotation speed threshold, sends a control signal to the support leg driving device and/or the boom driving device to control the support leg and/or the getting-on boom to stop running.
Optionally, the working control module or the standby control module in the working state receives state information of a hand brake and a power takeoff of the chassis, and sends a control signal to the driving device to control the whole high-altitude operation vehicle to stop working if the hand brake is not pulled up and the power takeoff is not in the power takeoff state based on the state information of the hand brake and the power takeoff of the chassis.
According to the control device and method for the aerial work platform and the aerial work platform, the detection and gating module detects the working state of the working control module in real time, and if the working control module fails, the standby control module quickly switches the working control module, so that the whole control work is stable, and the control reliability is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block schematic diagram of one embodiment of an aerial lift truck control apparatus according to the present disclosure;
FIG. 2 is a block schematic diagram of another embodiment of an aerial lift vehicle control according to the present disclosure;
FIG. 3 is a block schematic diagram of yet another embodiment of an aerial lift truck control according to the present disclosure;
fig. 4 is a schematic flow chart diagram of one embodiment of a method for controlling an aerial lift truck according to the present invention.
Detailed Description
The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present invention provides an overhead working truck control device, as shown in fig. 1, the overhead working truck control device includes: the device comprises a working control module 1, a standby control module 2 and a detection and gating module 3. The detection and gating module 3 is respectively and electrically connected with the working control module 1 and the standby control module 2. The detection and gating module 2 detects the working state of the working control module 1 in real time, and sends a switching signal to the standby control module 2 when the working control module 1 is determined to be in a fault state. And the standby control module 2 is switched to a working state after receiving the switching signal.
The working control module 1, the standby control module 2 and the detection and gating module 3 can be realized as a single chip microcomputer, a single board computer, a PLC, an integrated circuit and the like. When the working control module 1 works normally, the standby control module 2 does not work. The detection and gating module 2 may detect the operating state of the operation control module 1 in various ways, for example, receive a state signal sent by the operation control module 1, and determine whether the operation control module 1 has a fault based on the state signal.
In the control device of the aerial working truck in the embodiment, in order to ensure the safety of aerial working, redundant control is added on the basis of the original control system, so that the safety problem which is difficult to predict in the aerial working process of the control system can be prevented.
The work control module 1 can be a get-off control module and the like, and one control module is used as a standby control module 2 of the get-off control module of the high-altitude operation vehicle. The standby control module 2 and the working control module 1 are detected through a detection circuit of the detection and gating module 3, once the working control module 1 goes wrong, the standby control module 2 can quickly switch the working control module 1, so that the whole getting-off control system works stably and safely, the problem that the high-altitude operation vehicle cannot be predicted in the working state can be quickly, safely and effectively solved, the reliability of the whole control system is improved, and the market competitiveness is enhanced.
In one embodiment, the working control module 1 and the standby control module 2 are respectively electrically connected with the detection module 3 and a driving device of the aerial work platform, and the working control module 1 or the standby control module 2 in a working state receives a control command and detection information acquired by the detection module and sends a control signal to the driving device based on the control command and the detection information.
The driving device can be various, the detection module can be various, and various detection information can be collected. The working control module 1 and the standby control module 2 can be connected with a supporting leg state detection sensor, a recovery position detection sensor, a get-off electromagnetic valve, an ignition relay, a get-off rocker, a get-off state indicating lamp, a get-off alarm buzzer, a mode selection switch, a get-off emergency stop button and the like. The staff can accomplish each required function through the drive button on the control box.
As shown in fig. 2, the working control module 1 and the standby control module 2 are connected to each driving device, each display device, and each detection module (including various sensors) through a CAN bus 5, and the power supply module 4 CAN supply power to the detection and gating module 2 and the working control module 1 and the standby control module 2. The main functions of the control device of the overhead working truck can be realized by the control device of the overhead working truck comprise supporting leg state detection and display, unilateral operation function, getting-on and getting-off interlocking function, chassis hand brake power takeoff state acquisition function, automatic throttle adjusting function and the like.
When the high-altitude operation car is in the normal working process, the working control module 1 is unexpected, the detection and gating module 2 rapidly switches the standby control module 2 to the working state through rapid study and judgment, so that the construction operation can be safely and orderly completed, unnecessary loss is avoided, and the problems are displayed on the display device.
As shown in fig. 3, the working control module 1 and the standby control module 2 are electrically connected to the leg state detection module 61 and the boom driving device 71, respectively. The working control module 1 or the standby control module 2 in the working state receives the support leg state information acquired by the support leg state detection module 61, and when it is determined that the horizontal support leg does not extend to the position or the vertical support leg has a soft leg fault based on the support leg state information, a control signal is sent to the boom driving device 71 to control the on-board boom of the overhead working truck to stop running and alarm information is sent. A soft leg failure refers to a leg lift off or unsupported failure.
The working control module 1 and the standby control module 2 are provided with horizontal support leg full-extension detection and vertical support leg soft leg detection, corresponding state indication is provided, and when any support leg does not extend to a position or a soft leg, the action of the getting-on arm support is forbidden, and the system sends out alarm reminding. The monitoring display module 9 displays state information and alarm information of various high-altitude operation vehicles, and the work control module 1 and the standby control module 2 are respectively and electrically connected with the monitoring display module 9.
The working control module 1 and the standby control module 2 are electrically connected to the leg driving device 72, respectively. And the working control module 1 or the standby control module 2 in the working state sends a control signal to the supporting leg driving device 72 according to the unilateral extension control command so as to control the extension of the horizontal supporting leg on one side of the overhead working truck to carry out unilateral operation. During unilateral operation, the working control module 1 or the standby control module 2 in the working state sends a control signal to the turntable driving device 73 to prohibit the arm support of the upper truck from rotating to the other side of the high-altitude operation truck.
Under the road surface of different width, can select unilateral horizontal leg to stretch out as required through the work control module 1 or the reserve control module 2 that are in operating condition, when only one side horizontal leg stretches completely, the automatic restriction cantilever crane revolves toward horizontal leg one side that does not stretch completely, when four horizontal legs all do not stretch completely, cantilever crane automatic restriction revolves in small amplitude within range, and soft leg appears in arbitrary perpendicular landing leg, the action of automatic restriction work arm.
The working control module 1 and the standby control module 2 are respectively and electrically connected with the arm support state detection module 62. The working control module 1 or the standby control module 2 in the working state receives the upper arm support state information acquired by the arm support state detection module 62, and when the working arm is determined to be separated from the working arm support based on the upper arm support state information, sends a control signal to the support leg driving device 72 to control the horizontal support leg and the vertical support leg to stop running. When the working arm breaks away from the working arm support, the supporting legs do not act even if the supporting legs are operated, so that the interlocking function of getting on and off the whole vehicle is realized.
The working control module 1 and the standby control module 2 are respectively and electrically connected with the engine state detection module 63. The working control module 1 or the standby control module 2 in the working state receives the engine rotating speed information acquired by the engine state detection module 63, and when the rotating speed of the engine is determined to exceed a preset rotating speed threshold value, control signals are sent to the supporting leg driving device 72 and the arm support driving device 71 to control the supporting legs and the arm support of the upper vehicle to stop running. When the landing leg is operated or the vehicle is getting on, the rotating speed of the engine is increased along with the landing leg, and the engine automatically returns to an idling state after the operation is stopped.
The working control module 1 and the standby control module 2 are respectively electrically connected with the brake state detection module 64. And the working control module 1 or the standby control module 2 in the working state receives the state information of the hand brake and the power takeoff of the chassis, which is acquired by the braking state detection module 64, and sends a control signal to the driving device to control the whole high-altitude operation vehicle to stop working when the hand brake is not pulled up and the power takeoff is not in the power takeoff state based on the state information of the hand brake and the power takeoff of the chassis. The whole vehicle action is protected by collecting the states of the hand brake and the power takeoff of the chassis. When the hand brake is not pulled up and the power takeoff is not in the power takeoff state, the whole vehicle is prohibited from acting.
In one embodiment, the invention provides an aerial lift vehicle comprising an aerial lift vehicle control as in any one of the embodiments above.
Fig. 4 is a schematic flow chart of an embodiment of a control method for an aerial lift truck according to the invention, as shown in fig. 4:
In step 403, the standby control module switches to a working state after receiving the switching signal.
And the working control module or the standby control module in the working state receives the control command and the detection information and sends a control signal to a driving device of the overhead working truck based on the control command and the detection information.
In one embodiment, the working control module or the standby control module in the working state receives the support leg state information, and if the situation that the horizontal support leg does not extend to the position or the vertical support leg has a soft leg fault is determined based on the support leg state information, a control signal is sent to the arm support driving device to control the arm support of the overhead working truck to stop running, and alarm information is sent.
And the working control module or the standby control module in the working state sends a control signal to the supporting leg driving device according to the unilateral extension control command so as to control the extension of the horizontal supporting leg positioned on one side of the high-altitude operation vehicle to carry out unilateral operation. During unilateral operation, the working control module or the standby control module in the working state sends a control signal to the turntable driving device to prohibit the upper boom from rotating to the other side of the high-altitude operation vehicle.
And the working control module or the standby control module in the working state receives the state information of the getting-on arm support, and if the working arm is determined to be separated from the working arm support based on the state information of the getting-on arm support, a control signal is sent to the supporting leg driving device to control the horizontal supporting leg and the vertical supporting leg to stop running.
And the working control module or the standby control module in the working state receives the rotating speed information of the engine, and sends control signals to the supporting leg driving device and the arm support driving device when the rotating speed of the engine is determined to exceed a preset rotating speed threshold value so as to control the supporting leg and/or the getting-on arm support to stop running.
And the working control module or the standby control module in the working state receives the state information of the hand brake and the power takeoff of the chassis, and sends a control signal to the driving device to control the whole overhead working truck to stop working if the hand brake is not pulled up and the power takeoff is not in the power takeoff state based on the state information of the hand brake and the power takeoff of the chassis.
In the control device and method for the aerial working platform and the aerial working platform in the embodiment, the detection and gating module detects the working state of the working control module in real time, and if the working control module fails, the standby control module quickly switches the working control module, so that the whole control works stably and reliably, the unpredictable safety problem of the aerial working platform in the working state can be quickly, safely and effectively solved, the reliability of the whole control is improved, and the market competitiveness is enhanced.
The method and system of the present invention may be implemented in a number of ways. For example, the methods and systems of the present invention may be implemented in software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustrative purposes only, and the steps of the method of the present invention are not limited to the order specifically described above unless specifically indicated otherwise. Furthermore, in some embodiments, the present invention may also be embodied as a program recorded in a recording medium, the program including machine-readable instructions for implementing a method according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (12)
1. An aerial cage control device, comprising:
the device comprises a working control module, a detection module, a standby control module and a detection and gating module;
the detection and gating module is electrically connected with the working control module and the standby control module respectively; the detection and gating module detects the working state of the working control module in real time and sends a switching signal to the standby control module when the working control module is determined to be in a fault state; the standby control module receives the switching signal and then switches to a working state;
the working control module and the standby control module are respectively and electrically connected with the detection module and a driving device of the overhead working truck;
the detection module comprises: a support leg state detection module; the driving device includes: a boom drive device; the working control module and the standby control module are respectively and electrically connected with the supporting leg state detection module and the arm support driving device;
the working control module or the standby control module in a working state receives the support leg state information acquired by the support leg state detection module, and when the situation that a horizontal support leg does not extend to a position or a vertical support leg has a soft leg fault is determined based on the support leg state information, a control signal is sent to the arm support driving device to control the upper arm support of the overhead working truck to stop running and alarm information is sent;
the driving device includes: a leg driving device; the working control module and the standby control module are respectively electrically connected with the supporting leg driving device; and the working control module or the standby control module in the working state sends a control signal to the supporting leg driving device according to a unilateral extension control command so as to control the extension of the horizontal supporting leg positioned on one side of the high-altitude operation vehicle to carry out unilateral operation.
2. The control device of claim 1,
the driving device includes: a turntable driving device; the working control module and the standby control module are respectively and electrically connected with the turntable driving device;
during unilateral operation, the working control module or the standby control module in a working state sends a control signal to the turntable driving device to prohibit the upper boom from rotating to the other side of the high-altitude operation vehicle.
3. The control device of claim 1,
the detection module comprises: a boom state detection module; the working control module and the standby control module are respectively and electrically connected with the arm support state detection module;
and the working control module or the standby control module in the working state receives the upper arm support state information acquired by the arm support state detection module, and sends a control signal to the supporting leg driving device to control the horizontal supporting leg and the vertical supporting leg to stop running when the working arm is determined to be separated from the working arm support based on the upper arm support state information.
4. The control device of claim 1,
the detection module comprises: an engine state detection module; the working control module and the standby control module are respectively and electrically connected with the engine state detection module;
and the working control module or the standby control module in the working state receives the engine rotating speed information acquired by the engine state detection module, and when the rotating speed of the engine is determined to exceed a preset rotating speed threshold value, a control signal is sent to the supporting leg driving device and/or the arm support driving device so as to control the supporting leg and/or the getting-on arm support to stop running.
5. The control device of claim 1,
the detection module comprises: a brake state detection module; the working control module and the standby control module are respectively and electrically connected with the brake state detection module;
and the working control module or the standby control module in the working state receives the state information of the hand brake and the power takeoff of the chassis, which is acquired by the braking state detection module, and sends a control signal to the driving device when the hand brake is not pulled up and the power takeoff is not in the power takeoff state based on the state information of the hand brake and the power takeoff of the chassis, so as to control the whole high-altitude operation vehicle to stop operating.
6. The control apparatus according to claim 1, further comprising:
the monitoring display module is used for displaying the state information and the alarm information of the overhead working truck; the working control module and the standby control module are respectively electrically connected with the monitoring display module.
7. An aerial lift truck, comprising:
an aerial lift truck control as claimed in any one of claims 1 to 6.
8. A control method for an aerial cage is characterized by comprising the following steps:
detecting the working state of the working control module in real time;
if the working control module is determined to be in fault, sending a switching signal to a standby control module;
the standby control module receives the switching signal and then switches to a working state;
the working control module or the standby control module in a working state receives a control command and detection information, and sends a control signal to a driving device of the overhead working truck based on the control command and/or the detection information;
wherein the driving device includes: a boom drive device; the method further comprises the following steps:
the working control module or the standby control module in the working state receives support leg state information, and if the situation that a horizontal support leg does not extend to a position or a vertical support leg has a soft leg fault is determined based on the support leg state information, a control signal is sent to the arm support driving device to control the upper arm support of the overhead working truck to stop running and alarm information is sent;
the driving device includes: a leg driving device; the method further comprises the following steps:
and the working control module or the standby control module in the working state sends a control signal to the supporting leg driving device according to a unilateral extension control command so as to control the extension of the horizontal supporting leg positioned on one side of the high-altitude operation vehicle to carry out unilateral operation.
9. The method of claim 8, wherein the method further comprises:
during unilateral operation, the working control module or the standby control module in a working state sends a control signal to the arm support driving device to prohibit the arm support on the upper vehicle from rotating to the other side of the high-altitude operation vehicle.
10. The method of claim 9, further comprising:
and the working control module or the standby control module in the working state receives the state information of the upper arm support, and if the working arm is determined to be separated from the working arm support based on the state information of the upper arm support, a control signal is sent to the supporting leg driving device to control the horizontal supporting leg and the vertical supporting leg to stop running.
11. The method of claim 9, further comprising:
and the working control module or the standby control module in the working state receives the rotating speed information of the engine, and sends a control signal to the supporting leg driving device and/or the arm support driving device when the rotating speed of the engine is determined to exceed a preset rotating speed threshold value so as to control the supporting leg and/or the getting-on arm support to stop running.
12. The method of claim 8, further comprising:
and the working control module or the standby control module in the working state receives the state information of the hand brake and the power takeoff of the chassis, and if the hand brake is not pulled up and the power takeoff is not in the power takeoff state based on the state information of the hand brake and the power takeoff of the chassis, a control signal is sent to the driving device to control the whole high-altitude operation vehicle to stop working.
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| CN201710564541.0A CN107188098B (en) | 2017-07-12 | 2017-07-12 | Control device and method for overhead working truck and overhead working truck |
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| CN201710564541.0A CN107188098B (en) | 2017-07-12 | 2017-07-12 | Control device and method for overhead working truck and overhead working truck |
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