CN109231013A - Intelligent and variable height truck-mounted crane operating room and its control method - Google Patents
Intelligent and variable height truck-mounted crane operating room and its control method Download PDFInfo
- Publication number
- CN109231013A CN109231013A CN201811036018.1A CN201811036018A CN109231013A CN 109231013 A CN109231013 A CN 109231013A CN 201811036018 A CN201811036018 A CN 201811036018A CN 109231013 A CN109231013 A CN 109231013A
- Authority
- CN
- China
- Prior art keywords
- height
- upper housing
- truck
- lower case
- intelligent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 238000013528 artificial neural network Methods 0.000 claims description 15
- 238000005070 sampling Methods 0.000 claims description 12
- 239000005340 laminated glass Substances 0.000 claims description 9
- 230000007423 decrease Effects 0.000 claims description 5
- 239000011521 glass Substances 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 3
- 238000012549 training Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000032683 aging Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000010606 normalization Methods 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000004035 construction material Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003062 neural network model Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
- B66C13/54—Operator's stands or cabins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/30—Circuits for braking, traversing, or slewing motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Window Of Vehicle (AREA)
Abstract
The invention discloses intelligent and variable height truck-mounted crane operating rooms, comprising: lower case, with upward opening；The two sides of the lower case are arranged in first sliding rail；Upper housing can cooperate with the sliding rail, slide up and down outside the lower case with downward opening；Rotating mechanism, one end are connected at the top of the lower case；Windshield is arranged in described upper housing one end, and the windshield lower part is connect with the rotating mechanism other end；The rotating mechanism side is arranged in limited block；Wherein, rotate the windshield makes the upper housing make upper housing slide downward in the lower case, completes the control room height adjustment to height, upper housing described in slide downward is limited.The control room that the present invention designs can be realized the adjusting of control room height, and automobile is made to pass through various road conditions；The present invention also provides a kind of control methods of intelligent and variable height truck-mounted crane operating room.
Description
Technical field
The present invention relates to intelligent and variable height truck-mounted crane operating room and its control methods, belong to transport vehicle field.
Background technique
Truck with loading crane, full name truck with loading crane are that one kind is realized by hydraulic lifting and telescopic system
The equipment of lifting, the revolution, handling of cargo, is usually assemblied on cargo vehicle, generally by truck chassis, loading space, power taking
Device, loop wheel machine composition.Truck with loading crane, it be widely used in the construction materials such as urban construction, colliery engineering, afforestation with
The lifting and transport of other equipment.Truck with loading crane can control operation, can be with positive and negative 360 degree rotation, can also be entirely square
Position rotation.
Currently, there are many trucks with loading crane, users to be pacified according to its different requirement for production in the market
On a variety of different vehicles, the operation bench of truck with loading crane is arranged station to adapt to the operation of arm of crane
Onboard higher position.But bring a series of problems simultaneously, if such as operation bench control room height it is certain, will be unable to
Truck with loading crane is set smoothly to cross height-limiting bar, limit for height bridge opening or compared with low obstacle.Therefore, some trucks with loading crane
Operation bench uses the operation bench without control room, but operation bench is chronically exposed to outside, is beaten by exposing to the weather rain, it is easy to make
Components aging and cannot use, influence the service life of operation bench, bring unnecessary economic loss and economic pressures.
Therefore height can be adjusted and can prevent the bring problem of aging that exposes to wind and rain by needing to design a kind of operating room.
Summary of the invention
The present invention has designed and developed intelligent and variable height truck-mounted crane operating room, can adjust control room height, make with vehicle
Derrick car passes through limit for height object.
Another goal of the invention of the invention, is rotated by windshield, adjusts the height of windshield.
The present invention also provides the control methods of intelligent and variable height truck-mounted crane operating room, by BP neural network to upper casing
Body fall time and windshield rotation angle are controlled, and are improved the precision of control room height adjustment, are improved the safety of traveling
Property.
Technical solution provided by the invention are as follows:
Intelligent and variable height truck-mounted crane operating room, comprising:
Lower case, with upward opening；
The two sides of the lower case are arranged in sliding rail；
Upper housing can cooperate with the sliding rail, slide up and down outside the lower case with downward opening；
Rotating mechanism, one end are connected at the top of the lower case；
Windshield is arranged in described upper housing one end, and the windshield lower part and the rotating mechanism are another
One end connection；
The rotating mechanism side is arranged in limited block；
Wherein, the windshield is rotated to height is limited, and it is described that upper housing described in slide downward makes the upper housing
Upper housing slide downward in the lower case completes the control room height adjustment.
Preferably, the upper housing side, which slidably connects, visits, and the upper header is rotatably connected to handle.
Preferably, described to visit as laminated glass
Preferably, it is provided with Xiamen in the lower case, the lower case side is rotatably connected on by hinge.
Preferably, described visit is oppositely arranged with the Xiamen.
Preferably, the windshield is laminated glass, forms angle between the windshield and ground.
Preferably, the angle is acute angle.
Preferably, one end is provided with operation bench inside the lower case, and the other end is provided with seat.
Preferably, described windshield one end is provided with L-type connecting hook.
Preferably, support frame is provided in the upper housing and the lower case.
The control method of intelligent and variable height truck-mounted crane operating room is operated using the intelligent and variable height truck-mounted crane
Room characterized by comprising
Step 1: being turned according to the sampling period using travel speed V, driving motor of the sensor to truck with loading crane
Fast va, rotating electric machine revolving speed vbAnd the height H of limit for height mechanism is obtained；
Step 2: parameter is normalized, and establish the input layer vector x={ x of three layers of BP neural network1,x2,x3,
x4, wherein x1Travel speed coefficient, x2For driving motor revolving speed coefficient, x3For rotating electric machine revolving speed coefficient, x4For height coefficient；
Step 3: input layer is mapped to middle layer, middle layer vector y={ y1,y2,...,yl, l is middle layer node
Number, the middle layer node number l meet:Wherein, m is input layer number, and l is middle layer section
Point number, n are output layer node number；
Step 4: obtaining output layer vector o={ o1,o2, wherein o1For upper housing fall time adjustment factor, o2For institute
State windshield rotation angle adjustment factor；
Step 5: control upper housing fall time and windshield rotate angle, make:
t(i+1)=o1 itmax；
θ(i+1)=o2 iθmax；
Wherein,For the output layer parameter in i-th sampling period, tmaxFor upper housing maximum fall time, θmaxFor
Windshield maximum rotation angle.
Preferably, during decline, the empirical equation of falling head L meets the upper housing:
Wherein, λ is correction coefficient, and V is the travel speed of truck with loading crane, and H is the height of limit for height mechanism, s1It is upper
Body height, s2For lower case height, s is slideway height, and f is coefficient of friction, and θ is that windshield rotates angle.
It is of the present invention the utility model has the advantages that the present invention, which designs intelligent adjustable height truck-mounted crane, enough realizes control room height
Adjusting, so that automobile is passed through various limit for height road conditions；Station and seat are arranged inside control room, are station and seat
Chair is keeped out wind and rain, and the problem of aging of component is reduced, and reduces economic loss, and it is convenient to bring for operating personnel, is avoided exposing to the weather, is subtracted
Light work pressure.Inclined angle is formed between front windshield and ground, has allowed the operator to better visual angle, it is convenient
The judgement and work of operator, using stainless steel tube support frame, stable structure.
Angle is rotated to the upper housing fall time of truck-mounted crane and windshield by BP neural network to control, and is improved
The precision of control room height adjustment, improves the safety of traveling
Detailed description of the invention
Fig. 1 is the structure composition schematic diagram of intelligent and variable height truck-mounted crane operating room of the present invention.
Fig. 2 is schematic diagram when intelligent and variable height truck-mounted crane operating room height of the present invention reduces.
Fig. 3 is intelligent and variable height truck-mounted crane operating room disassemblying structure schematic diagram of the present invention.
Fig. 4 is intelligent and variable height truck-mounted crane operating room disassemblying structure schematic diagram of the present invention.
Fig. 5 is the normal condition of intelligent and variable height truck-mounted crane operating room of the present invention onboard.
Fig. 6 is the state that the height of intelligent and variable height truck-mounted crane operating room of the present invention onboard reduces.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
As shown in figures 1 to 6, the present invention provides a kind of intelligent and variable height truck-mounted crane operating room, including lower case 200,
Two sides are provided with sliding rail 230, and upper housing 100 has downward opening, and can be slidably connected with lower case 200, upper housing 100
It can be slided up and down along lower case 200.One end of upper housing 100 is provided with windshield 110, with setting in lower case
The rotating mechanism on 200 tops is connected, and enables windshield 110 and adjusts height by rotating.Inside lower case 200,
One end is provided with operation bench 260, and the other end is provided with seat 270.
The lower part of control room is arranged in lower case 200, has upward opening, and be symmetrically arranged in lower case two sides
A pair of of sliding rail 230.
The top of control room is arranged in upper housing 100, has downward opening, and internal two sides are provided with driving sliding block,
It is driven by driving motor, and is matched with the sliding rail 230 being arranged in lower case 200, enable upper housing 100 under
Shell 200 slides up and down, and adjusts the height of truck with loading crane control room, and automobile is made to pass through various road conditions, convenient fast
It is prompt.
Meanwhile the opening area of upper housing is greater than the opening area of lower case 200, so that upper opening can more easily be held
Easy entangles under shed, and when needed, upper housing 100 can be preferably coated in lower case 200, and lower case 200 is stored
In the inside of upper housing 100, preferably prepare for the adjusting of truck with loading crane control room height.
The side of lower case 200 is provided with Xiamen 210, Xiamen 210 is rotatablely connected by hinge 220 and lower case, side
Just the height adjustment of the disengaging of operator and control room.Lower case 100 includes support pipe support 130, is coated on support pipe support 130
External sheet metal.
In the present invention, as a preference, support pipe support 130 selects stainless steel tube.
On upper housing 100, relative position with the Xiamen 210 of lower case 200 is provided with and visits 120, visits 120 logical
It crosses connection slideway to be slidably connected with upper housing 100, and is rotatably connected to rotatable handle 121 on 120 top of visiting, make
Door 120 can slide up and down on upper housing 100.By be mounted on the edge on 120 of visiting can 200 ° of rotating handles 121 will visit
120 slide up and down, and adapt to the lifting visited, and not interfere when going up and down control room height, and play the role of vent window.
In the present invention, laminated glass is selected as a preference, visiting.
The front end of upper housing 100 is arranged in windshield 110, angle is formed between windshield 110 and ground, in this hair
In bright, in order to make operator have better visual angle, facilitate operation, the angle between windshield 110 and ground is acute angle.
In the present invention, as a preference, windshield 110 uses laminated glass.
At the top of the two sides of lower case 100, it is provided with rotating mechanism 240, one end of rotating mechanism 240 is connected to lower casing
At the top of body, the other end connects windshield 110, and rotating mechanism 240 is made of electric push rod mechanism, and is driven by rotating electric machine
It is dynamic, for connecting windshield 110 and lower case 200, and realize the lifting of front windshield.
In another embodiment, rotating mechanism is made of a four-bar mechanism added with electric pushrod.
The side of rotating mechanism 240 is provided with limited block 250, limited block 250 can limit under windshield 110
The height of drop carries out the restriction of height by limited block 250 when windshield 110 is highly adjusted, and limits windshield
The minimum altitude of 110 declines.
Above-mentioned adjustable height truck with loading crane control room, lower case 200 be by sheet metal and steel pipe it is hinged or
It welds and forms, be used to support upper housing 100 and accept operation bench 260 and seat 270.
Upper housing 100 is made of sheet metal, steel pipe and laminated glass, is connect using sliding rail 230 with lower case 200, is realized
The raising and reduction of height.
Windshield 110 is formed by laminated glass and steel pipe combination, and windshield and ground are in a fixed inclination, to make to make
Industry personnel have better visual angle, facilitate operation.
Rotating mechanism 240 is made of the screw body of an oiling air spring, for connecting windshield 110 under
Shell, and realize the lifting of windshield 110.
Visiting 120 with upper housing 100 is connect by connecting sliding rail, can 200 ° of rotations by be mounted on edge on glass pane
Handle hand slides up and down laminated glass, not interfere when going up and down control room height, and plays the role of vent window.
The present invention also provides a kind of control methods of intelligent and variable height truck-mounted crane operating room, pass through BP neural network pair
Upper housing fall time and windshield rotation angle are controlled, and are improved the precision of control room height adjustment, are improved traveling
Safety specifically comprises the following steps:
Step 1 establishes BP neural network model,
For the BP network architecture that the present invention uses by up of three-layer, first layer is input layer, total m node, corresponding
Indicate that m detection signal of control room working condition, these signal parameters are provided by data preprocessing module；The second layer is hidden
Layer, total l node are determined in an adaptive way by the training process of network；Third layer is output layer, total n node, by being
System actual needs output in response to determining that.
The mathematical model of the network are as follows:
Input vector: x=(x1,x2,...,xm)T；
Middle layer vector: y=(y1,y2,...,yl)T；
Output vector: O=(o1,o2,...,on)T；
In the present invention, input layer number m=4, output layer number of nodes n=2, hidden layer number of nodes l are estimated by following formula
Out:
Travel speed V, driving motor revolving speed v according to the sampling period, using sensor to truck with loading cranea, rotation
Rotating motor revolving speed vbAnd the height H of front limit for height mechanism is obtained；
4 parameters of input signal respectively indicate are as follows: x1For travel speed coefficient, x2For driving motor revolving speed coefficient, x3For
Rotating electric machine revolving speed coefficient, x4For height coefficient；
Since the data that sensor obtains belong to different physical quantitys, dimension is different.Therefore, people is inputted in data
Before artificial neural networks, need to turn to data requirement into the number between 0-1.
Specifically, measuring the travel speed V of truck with loading crane by velocity sensor, after being standardized, obtain
To travel speed coefficient x1,
Wherein, VmaxFor maximum travelling speed, VminFor minimum travel speed；
Likewise, measuring driving motor revolving speed v by velocity sensora, after being standardized, obtain driving motor revolving speed
Coefficient x2,
Wherein, vamaxFor driving motor maximum (top) speed, vamaxFor driving motor minimum speed；
Likewise, measuring rotating electric machine revolving speed v by velocity sensorb, after being standardized, obtain rotating electric machine revolving speed
Coefficient x3,
Wherein, vbmaxFor rotating electric machine maximum (top) speed, vbmaxFor rotating electric machine minimum speed；
Likewise, measuring limit for height mechanism height H by infrared distance sensor, after being standardized, limit for height mechanism is obtained
Height coefficient x4,
Wherein, HmaxFor limit for height mechanism maximum height value, HminFor limit for height mechanism minimum height values.
2 parameters of defeated place's layer respectively indicate are as follows: o1For upper housing fall time adjustment factor, o2For the windshield
Rotate angle adjustment factor.
Upper housing fall time adjustment factor o1The upper housing fall time being expressed as in next sampling period with currently adopt
The ratio between upper housing fall time maximum value set in the sample period, i.e., the collected upper housing decline in the ith sample period
Time ti, the upper housing fall time adjustment factor in ith sample period is exported by BP neural networkAfterwards, i+1 is controlled
Upper housing fall time t in a sampling periodi+1, make its satisfaction:
Wherein, tmaxFor upper housing fall time maximum value.
Rotating mechanism rotates angle adjustment factor o2The rotating mechanism being expressed as in next sampling period rotates angle and works as
The ratio between rotating mechanism maximum rotation angle set in the preceding sampling period, i.e., the collected whirler in the ith sample period
It is θ that structure, which rotates angle,i, angle adjustment factor is rotated by the rotating mechanism that BP neural network exports the ith sample periodAfterwards,
It controls rotating mechanism in the i+1 sampling period and rotates angle, θi+1, make its satisfaction:
Wherein, θmaxFor rotating mechanism maximum rotation angle.
Step S2, BP neural network training is carried out,
The sample of training, and the connection between given input node i and hidden layer node j are obtained according to historical empirical data
Weight Wij, hidden node j and output node layer k between connection weight Wjk, the threshold θ of hidden node jj, output node layer k's
Threshold θk、Wij、Wjk、θj、θkIt is the random number between -1 to 1.
In the training process, W is constantly correctedij、WjkValue, until systematic error be less than or equal to anticipation error when, complete mind
Training process through network.
As shown in table 1, given the value of each node in one group of training sample and training process.
Each nodal value of 1 training process of table
Step 3, acquisition console run signal are input in neural network and obtain output signal, control to console
System；
Trained artificial neural network is solidificated among controller chip, and hardware circuit is made to have prediction and intelligent decision
Function, to form Intelligent hardware.After Intelligent hardware power-up starting simultaneously, it detects the travel speed V of truck with loading crane, drive
Dynamic motor speed va, rotating electric machine revolving speed vbAnd the height H of front limit for height mechanism, above-mentioned parameter is subjected to normalization processing, is obtained
To the initial input vector of BP neural networkBy the operation of BP neural network initially exported to
Amount
Step 4 obtains initial output vectorAfterwards, speed regulation can be carried out, by sensor to i-th
Travel speed V, the driving motor revolving speed v of the truck with loading crane in sampling perioda, rotating electric machine revolving speed vbAnd front limit for height
The height H of mechanism is obtained, and obtains the input vector in ith sample period by normalizationPass through
The operation of BP neural network obtains the output vector in ith sample periodThen upper housing decline is controlled to adjust
The angle of time and windshield rotation, make the lower case fall time at the i+1 sampling period and the rotation of windshield
Gyration is respectively as follows:
When initial,
t1=0.3tmax
θ1=0.1 θmax
Wherein,Output parameter respectively in the ith sample period, tmaxWhen declining for upper housing
Between maximum value, θmaxFor rotating mechanism maximum rotation angle.
In another embodiment, in adjustment process, for upper housing during decline, the empirical equation of falling head L is full
Foot:
Wherein, λ is correction coefficient, and range 0-10, value 1.01, V are truck with loading crane in another embodiment
Travel speed, unit km/h, H are the height of limit for height mechanism, unit m, s1For upper housing height, unit m, s2For under
Body height, unit m, s are slideway height, and unit m, f are coefficient of friction, and θ is that windshield rotates angle.
By above-mentioned setting, intelligent and variable height truck-mounted crane operating room control method is by BP neural network to upper housing
Fall time and windshield rotation angle are controlled, and are improved the precision of control room height adjustment, are improved the safety of traveling.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. intelligent and variable height truck-mounted crane operating room characterized by comprising
Lower case, with upward opening；
The outside of the lower case two sides is arranged in sliding rail；
Upper housing, with downward opening；
Sliding block is driven, is driven by driving motor, and the inside of the upper housing two sides is set, and is cooperated with the sliding rail；
Wherein, the upper housing can be set in the outer of the lower case by the sliding block and being slidably matched for the sliding rail
Side, and can be in the outer Slideslip of the lower case；
Two rotating mechanisms, one end are symmetrically connected at the top of the lower case；
Windshield, two sides symmetrically connect the rotating mechanism other end connection；
Two limited blocks are connected at the top of the lower case, and the rotating mechanism side are respectively set；
Wherein, the windshield is adjusted to limit height, slides down to the upper housing in the lower case minimum
Point completes the operating room height adjustment.
2. intelligent and variable height truck-mounted crane operating room according to claim 1, which is characterized in that further include:
It visits, is slidably connected at the upper housing side, and be rotatably connected to handle in the upper header, it is described to visit
For laminated glass.
3. intelligent and variable height truck-mounted crane operating room according to claim 2, which is characterized in that the rotating mechanism is
Electric pushrod is driven by rotating electric machine.
4. intelligent and variable height truck-mounted crane operating room according to claim 3, which is characterized in that further include: Xiamen,
The lower case side is rotatably connected on by hinge.
5. intelligent and variable height truck-mounted crane operating room according to claim 4, which is characterized in that it is described visit with it is described
Xiamen is oppositely arranged.
6. intelligent and variable height truck-mounted crane operating room according to claim 5, which is characterized in that the windshield is
Laminated glass forms angle between the windshield and ground.
7. intelligent and variable height truck-mounted crane operating room according to claim 6, which is characterized in that the angle is sharp
Angle.
8. intelligent and variable height truck-mounted crane operating room according to claim 1 or claim 7, which is characterized in that the lower case
Internal one end is provided with operation bench, and the other end is provided with seat.
9. the control method of intelligent and variable height truck-mounted crane operating room, uses height described in claim 1-8 any one
Adjustable truck with loading crane control room characterized by comprising
Step 1: travel speed V, driving motor revolving speed v according to the sampling period, using sensor to truck with loading cranea、
Rotating electric machine revolving speed vbAnd the height H of limit for height mechanism is obtained；
Step 2: parameter is normalized, and establish the input layer vector x={ x of three layers of BP neural network1,x2,x3,x4,
In, x1Travel speed coefficient, x2For driving motor revolving speed coefficient, x3For rotating electric machine revolving speed coefficient, x4For height coefficient；
Step 3: input layer is mapped to middle layer, middle layer vector y={ y1,y2,...,yl, l is middle layer node number, institute
State middle layer node number l satisfaction:Wherein, m is input layer number, and l is middle layer node
Number, n are output layer node number；
Step 4: obtaining output layer vector o={ o1,o2, wherein o1For upper housing fall time adjustment factor, o2For the gear
Wind glass rotates angle adjustment factor；
Step 5: control upper housing fall time and windshield rotate angle, make:
t(i+1)=o1 itmax；
θ(i+1)=o2 iθmax；
Wherein,For the output layer parameter in i-th sampling period, tmaxFor upper housing maximum fall time, θmaxFor the glass that keeps out the wind
Glass maximum rotation angle.
10. the control method of intelligent and variable height truck-mounted crane operating room according to claim 9, which is characterized in that institute
Upper housing is stated during decline, the empirical equation of falling head L meets:
Wherein, λ is correction coefficient, and V is the travel speed of truck with loading crane, and H is the height of limit for height mechanism, s1For upper housing
Highly, s2For lower case height, s is slideway height, and f is coefficient of friction, and θ is that windshield rotates angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811036018.1A CN109231013B (en) | 2018-09-06 | 2018-09-06 | Intelligent variable-height truck-mounted crane operating room |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811036018.1A CN109231013B (en) | 2018-09-06 | 2018-09-06 | Intelligent variable-height truck-mounted crane operating room |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109231013A true CN109231013A (en) | 2019-01-18 |
| CN109231013B CN109231013B (en) | 2024-01-23 |
Family
ID=65060748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811036018.1A Active CN109231013B (en) | 2018-09-06 | 2018-09-06 | Intelligent variable-height truck-mounted crane operating room |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109231013B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200230350Y1 (en) * | 2001-02-21 | 2001-07-19 | 최성운 | covering device of drivers seat for vehicle crane |
| KR200261439Y1 (en) * | 2001-10-29 | 2002-01-23 | 강태구 | a control seat cover crane and tongs equipment of a crane and tongs car |
| KR20020082188A (en) * | 2002-10-04 | 2002-10-30 | 호봉식 | Work chair safety cover for crane |
| KR20050046312A (en) * | 2003-11-13 | 2005-05-18 | 호봉식 | Work chair safety cover for crane |
| CA2481158A1 (en) * | 2003-12-23 | 2005-06-23 | Rotobec Inc. | Pivoting collapsible crane cab |
| KR101037948B1 (en) * | 2010-08-13 | 2011-05-30 | 김석곤 | Cabin of drivers seat for vehicle crane |
| KR20140109592A (en) * | 2013-03-06 | 2014-09-16 | 이동희 | cabin for driver seat of a veihcle crane |
| KR20150132953A (en) * | 2014-05-19 | 2015-11-27 | 안준범 | A operation seat safety cover of cargo crane |
| KR101615110B1 (en) * | 2015-09-10 | 2016-04-25 | 주식회사 금명특장 | Car driver Kevin Crane |
| CN205706922U (en) * | 2016-04-11 | 2016-11-23 | 泉州市劲力工程机械有限公司 | A kind of driver's cabin in engineering machinery |
| CN206767477U (en) * | 2017-05-13 | 2017-12-19 | 惠安县翔盛建筑设计有限公司 | A kind of tower crane cab |
| CN208631955U (en) * | 2018-09-06 | 2019-03-22 | 辽宁工业大学 | A kind of adjustable height truck-mounted crane control room |
-
2018
- 2018-09-06 CN CN201811036018.1A patent/CN109231013B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200230350Y1 (en) * | 2001-02-21 | 2001-07-19 | 최성운 | covering device of drivers seat for vehicle crane |
| KR200261439Y1 (en) * | 2001-10-29 | 2002-01-23 | 강태구 | a control seat cover crane and tongs equipment of a crane and tongs car |
| KR20020082188A (en) * | 2002-10-04 | 2002-10-30 | 호봉식 | Work chair safety cover for crane |
| KR20050046312A (en) * | 2003-11-13 | 2005-05-18 | 호봉식 | Work chair safety cover for crane |
| CA2481158A1 (en) * | 2003-12-23 | 2005-06-23 | Rotobec Inc. | Pivoting collapsible crane cab |
| KR101037948B1 (en) * | 2010-08-13 | 2011-05-30 | 김석곤 | Cabin of drivers seat for vehicle crane |
| KR20140109592A (en) * | 2013-03-06 | 2014-09-16 | 이동희 | cabin for driver seat of a veihcle crane |
| KR20150132953A (en) * | 2014-05-19 | 2015-11-27 | 안준범 | A operation seat safety cover of cargo crane |
| KR101615110B1 (en) * | 2015-09-10 | 2016-04-25 | 주식회사 금명특장 | Car driver Kevin Crane |
| CN205706922U (en) * | 2016-04-11 | 2016-11-23 | 泉州市劲力工程机械有限公司 | A kind of driver's cabin in engineering machinery |
| CN206767477U (en) * | 2017-05-13 | 2017-12-19 | 惠安县翔盛建筑设计有限公司 | A kind of tower crane cab |
| CN208631955U (en) * | 2018-09-06 | 2019-03-22 | 辽宁工业大学 | A kind of adjustable height truck-mounted crane control room |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109231013B (en) | 2024-01-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11873671B2 (en) | Method for controlling door movements of the door of a motor vehicle, and motor vehicle component | |
| US11820338B2 (en) | Autonomous vehicle cleaning and feedback system using adjustable ground truth | |
| DE102007060001A1 (en) | Vehicle Interior ambient control system | |
| CN1191806C (en) | Automobile ingress/egress system | |
| CN109231013A (en) | Intelligent and variable height truck-mounted crane operating room and its control method | |
| US7694774B2 (en) | Reduced wind resistant haulage vehicle apparatus | |
| EP3554881A1 (en) | Display device and authentication device for a motor scooter, and method for controlling a display device and computer-readable storage medium | |
| CN113119687B (en) | Automatic control method for working modes of air and air conditioner in automobile | |
| CN114217501A (en) | Vehicle with a steering wheel | |
| CN208631955U (en) | A kind of adjustable height truck-mounted crane control room | |
| US4265586A (en) | Lift assembly | |
| CN210502181U (en) | Automobile air conditioner intelligent control system capable of monitoring air quality of cab bidirectionally | |
| CN111186384B (en) | Automatic umbrella supply method and device for vehicle | |
| CN110549823A (en) | Automobile air conditioner intelligent control system and method for bidirectionally monitoring air quality of cab | |
| CN112010242A (en) | Straight arm type overhead working truck | |
| CN110968341B (en) | Method and device for setting air conditioner parameters | |
| CN115113581B (en) | Passenger boarding vehicle parking control system and method based on Internet of things | |
| CN211860353U (en) | Vehicle video monitoring terminal | |
| CN208789432U (en) | Environment inside car adjusts device | |
| CN115199174A (en) | Vehicle window regulation and control method, medium, electronic equipment, regulation and control system and vehicle | |
| US11878663B2 (en) | Autonomous vehicle cleaning system using foldable seats and adjustable lighting conditions | |
| CN109580523A (en) | A kind of all-direction multi-functional atmospheric detection vehicle | |
| CN112172480B (en) | Safe escape system for passenger car | |
| CN221029791U (en) | Telescopic liftable lifting brake with license plate recognition function | |
| CN220973852U (en) | Rotatable suspension system of tower crane land leveling dual-purpose machine vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |