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CN113816317A - Parameter calibration control method and system for aerial work platform - Google Patents

Parameter calibration control method and system for aerial work platform Download PDF

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Publication number
CN113816317A
CN113816317A CN202110974496.2A CN202110974496A CN113816317A CN 113816317 A CN113816317 A CN 113816317A CN 202110974496 A CN202110974496 A CN 202110974496A CN 113816317 A CN113816317 A CN 113816317A
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parameters
safety
client
maximum
aerial work
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CN113816317B (en
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崔景兵
刘成昊
高侨
汤家升
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Jiangsu Xugong Construction Machinery Research Institute Co ltd
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Jiangsu Xugong Construction Machinery Research Institute Co ltd
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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

本发明公开了一种高空作业平台参数标定控制方法包括：将控制参数分为非安全相关参数和安全相关参数；对在用户客户端输入的控制参数的类别进行判断；根据判断结果选择采用用户客户端或者调试客户端对相应的控制参数进行标定。通过用户客户端对非安全相关参数进行标定；通过调试客户端对所有参数进行标定，本发明将相关参数严格区分成安全相关参数及非安全相关参数两类，非安全相关参数可以通过显示器途径或者专用标定工具进行标定，安全相关参数仅能通过专用标定工具进行标定，由于施工人员接触不到专用标定工具，因此无法对安全参数进行标定，从而实现了标定的安全性。

Figure 202110974496

The invention discloses a method for calibrating parameters of an aerial work platform. The method includes: dividing control parameters into non-safety-related parameters and safety-related parameters; judging the types of control parameters input at a user client; selecting and using the user client according to the judgment result terminal or debug client to calibrate the corresponding control parameters. The non-safety-related parameters are calibrated through the user client; all parameters are calibrated through the debugging client. The present invention strictly divides the relevant parameters into two types: safety-related parameters and non-safety-related parameters. Special calibration tools are used for calibration, and safety-related parameters can only be calibrated by special calibration tools. Since the construction personnel cannot access the special calibration tools, the safety parameters cannot be calibrated, thus realizing the safety of the calibration.

Figure 202110974496

Description

Parameter calibration control method and system for aerial work platform
Technical Field
The invention belongs to the technical field of aerial work platform electric control, and particularly relates to a parameter calibration control method for an aerial work platform.
Background
The invention discloses an aerial work platform, which is an engineering machine for sending constructors to a specified height and a specified position to perform construction work, and mainly comprises a scissor type aerial work platform, a crank arm type aerial work platform, a straight arm type aerial work platform and the like.
Before the aerial work platform leaves a factory, technicians calibrate relevant parameters of a vehicle electric control system according to relevant index requirements to ensure that each function of the aerial work platform achieves the best performance and then sell the aerial work platform, but the current electric control system has a potential safety hazard: when a purchaser or other related parties operate the aerial work platform to carry out construction work, related parameters are often changed privately through a display communication path according to field working conditions, operation habits and the like so as to achieve the purpose of adjusting the performance of the vehicle, but an operator is not clear of design details of an electric control system, the situation that the related parameters of safety are calibrated by mistake is likely to occur, and finally the life safety of the operator is damaged.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a parameter calibration control method for an aerial work platform, which can realize safe parameter calibration.
The technical problem to be solved by the invention is realized by the following technical scheme:
in a first aspect, a parameter calibration control method for an aerial work platform is provided, which includes: dividing the control parameters into non-safety related parameters and safety related parameters;
judging the category of the control parameter input at the user client;
and selecting a user client or a debugging client to calibrate the corresponding control parameters according to the judgment result.
Calibrating non-safety related parameters through a user client;
and calibrating all parameters by debugging the client.
With reference to the first aspect, further, the selecting, according to the determination result, a user client or a debugging client to calibrate the corresponding control parameter specifically includes:
if the judgment result is the non-safety related parameter, calibrating the non-safety related parameter through the user client;
if the judgment result is the safety related parameter, the safety related parameter is calibrated through the debugging client, and the debugging client can also calibrate the non-safety related parameter.
With reference to the first aspect, further, the modulation client and the user client may preset multiple sets of control parameters according to different aerial work platform application scenarios.
With reference to the first aspect, further, the non-safety-related parameters include: the control system comprises an operation handle dead zone, an operation handle maximum position, an operation handle minimum position, an operation handle middle position, a handle acceleration slope, a handle deceleration slope, a main pump maximum current, a main pump minimum current, a stay wire sensor minimum value, a stay wire sensor maximum value, an arm support extension maximum current, an arm support extension minimum current, an arm support retraction minimum current, an arm support lifting maximum current, an arm lifting minimum current, a slewing maximum current and a slewing minimum current.
With reference to the first aspect, further, the safety-related parameters include: the main arm variable-amplitude maximum angle measuring device comprises a chassis inclination angle, a chassis angle deviation maximum value, a maximum forward and backward traveling speed, a maximum left and right angle of a platform rotary oscillating shaft, a main arm variable-amplitude maximum angle, a weighing sensor maximum value, a platform inclination maximum angle, a platform angle deviation maximum value, a stay wire sensor deviation maximum value and a pressure sensor deviation maximum value.
With reference to the first aspect, further, the user client is further provided with an authority management module, and the authority management module is used for setting parameters that can be calibrated for the user account.
With reference to the first aspect, a checking module is further disposed at the debugging client, and the calibrated parameters are checked through the checking module.
With reference to the first aspect, further, if it is determined that the control parameter input at the user client is the safety-related parameter, the safety-related parameter is displayed at the user client in a read-only manner.
In a second aspect, a parameter calibration control system for an aerial work platform is provided, which includes:
the parameter type judging module is used for dividing the control parameters into non-safety related parameters and safety related parameters;
judging the category of the control parameter input at the user client;
and the parameter calibration module is used for selectively adopting the user client or the debugging client to calibrate the corresponding control parameters according to the judgment result.
Calibrating non-safety related parameters through a user client;
and calibrating all parameters by debugging the client.
In a third aspect, a parameter calibration control system for an aerial work platform is provided, which includes:
the system comprises a user client, a debugging client and a controller, wherein the user client and the debugging client are respectively connected with the controller.
The invention has the beneficial effects that: the invention strictly distinguishes the related parameters into two types of safe related parameters and non-safe related parameters, the non-safe related parameters can be calibrated through a display way or a special calibration tool, the safe related parameters can only be calibrated through the special calibration tool, and since the constructors can not contact the special calibration tool, the calibration of the safe parameters can not be carried out, thereby realizing the calibration safety.
Drawings
FIG. 1 is a schematic diagram of the operation of a straight arm aerial work platform;
FIG. 2 is a hardware connection diagram of the electric control system according to the present invention;
FIG. 3 is a flow chart of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. 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.
For better understanding of the present invention, the related art in the technical solution of the present invention is explained below.
As shown in fig. 1-3, in order to realize the operation of each action of the aerial work platform, the aerial work platform parameter calibration control system of the invention uses the controller as a control core unit, and selects elements such as a related sensor, a control handle, an actuator and the like. The specific input and output elements comprise a key switch, various action control handles, a long angle sensor, a platform tilt angle sensor, a chassis tilt angle sensor, a weighing sensor, various action hydraulic oil cylinder electromagnetic valves and the like. The long angle sensor is responsible for detecting the amplitude variation angle and the telescopic length of the large arm, the platform inclination angle sensor is responsible for detecting the inclination angle of the platform, the chassis inclination angle sensor is responsible for detecting the inclination angle of the chassis, the weighing sensor is responsible for weighing the weight of personnel on the platform, and each action hydraulic oil cylinder electromagnetic valve is a corresponding electric signal output unit.
In addition, a display and a parameter calibration tool are included (it should be noted that the selected controller must have at least 2 CAN ports, the CAN1 is responsible for the display and the controller communication, and the CAN2 is responsible for the calibration tool and the controller communication). The display and the controller, and the special calibration tool (debugging client) and the controller have respective communication protocols. The display (user client) is used for displaying each parameter and vehicle state and calibrating the non-safety parameter, the special calibration tool is used for calibrating the safety parameter and the non-safety parameter, the special calibration tool is not equipped on the vehicle generally, and the modification of the safety parameter by the user through the special calibration tool is avoided
The control method based on the system comprises the following steps:
dividing control parameters into non-safety related parameters and safety related parameters;
wherein the non-safety related parameters include: the control system comprises an operation handle dead zone, an operation handle maximum position, an operation handle minimum position, an operation handle middle position, a handle acceleration slope, a handle deceleration slope, a main pump maximum current, a main pump minimum current, a stay wire sensor minimum value, a stay wire sensor maximum value, an arm support extension maximum current, an arm support extension minimum current, an arm support retraction minimum current, an arm support lifting maximum current, an arm lifting minimum current, a slewing maximum current and a slewing minimum current.
The safety-related parameters include: the main arm variable-amplitude maximum angle measuring device comprises a chassis inclination angle, a chassis angle deviation maximum value, a maximum forward and backward traveling speed, a maximum left and right angle of a platform rotary oscillating shaft, a main arm variable-amplitude maximum angle, a weighing sensor maximum value, a platform inclination maximum angle, a platform angle deviation maximum value, a stay wire sensor deviation maximum value and a pressure sensor deviation maximum value.
Judging the category of the control parameter input at the user client;
and step three, selecting a user client (display) or a debugging client (calibration tool) to calibrate the corresponding control parameters according to the judgment result.
If the security-related parameters are the security-related parameters, the security-related parameters can be read and calibrated through a calibration tool (a debugging client), and only the security-related parameters can be displayed on a display (a user client). If the non-safety-related parameter is not present, both the display and the calibration tool can read and calibrate the non-safety-related parameter.
In addition, in order to facilitate calibration, control parameters are preset at the modulation client and the user client according to different aerial work platform application scenes, so that a user or a debugger can call the control parameters conveniently according to different scene requirements, and the calibration can be conveniently and rapidly realized.
The embodiment of the invention also provides a parameter calibration control system of the aerial work platform, which comprises the following steps:
the parameter type judging module is used for dividing the control parameters into non-safety related parameters and safety related parameters;
judging the category of the control parameter input at the user client;
and the parameter calibration module is used for selectively adopting the user client or the debugging client to calibrate the corresponding control parameters according to the judgment result.
Calibrating non-safety related parameters through a user client;
and calibrating all parameters by debugging the client.
In order to facilitate different personnel to control the calibration parameters of the parameters, the user client is further provided with a parameter limit management module, and the parameters which can be calibrated by the user account are set through the authority management module.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Claims (10)

1.一种高空作业平台参数标定控制方法，其特征在于，包括：1. A method for calibrating parameters for aerial work platforms, characterized in that, comprising: 将控制参数分为非安全相关参数和安全相关参数；Divide control parameters into non-safety-related parameters and safety-related parameters; 对在用户客户端输入的控制参数的类别进行判断；Judging the type of control parameters input in the user client; 根据判断结果选择采用用户客户端或者调试客户端对相应的控制参数进行标定；According to the judgment result, choose to use the user client or the debugging client to calibrate the corresponding control parameters; 通过用户客户端对非安全相关参数进行标定；Calibration of non-safety-related parameters through the user client; 通过调试客户端对所有参数进行标定。All parameters are calibrated by the debug client. 2.根据权利要求1所述的一种高空作业平台参数标定控制方法，其特征在于，所述根据判断结果选择采用用户客户端或者调试客户端对相应的控制参数进行标定具体为：2. A kind of aerial work platform parameter calibration control method according to claim 1, is characterized in that, described according to the judgment result, chooses to adopt user client or debug client to demarcate corresponding control parameters specifically: 若判断结果为非安全相关参数则通过用户客户端对其进行标定；If the judgment result is a non-safety-related parameter, it will be calibrated by the user client; 若判断结果为安全相关参数则通过调试客户端对其进行标定，调试客户端亦能对非安全相关参数进行标定。If the judgment result is a safety-related parameter, it can be calibrated through the debugging client, and the debugging client can also calibrate the non-safety-related parameters. 3.根据权利要求1所述的一种高空作业平台参数标定控制方法，其特征在于，所述调制客户端和用户客户端可以根据不同的高空作业平台应用场景预设多套控制参数。3 . The method for calibrating and controlling parameters of aerial work platforms according to claim 1 , wherein the modulation client and the user client can preset multiple sets of control parameters according to different application scenarios of aerial work platforms. 4 . 4.根据权利要求1所述的一种高空作业平台参数标定控制方法，其特征在于，所述非安全相关参数包括：操作手柄死区、操作手柄最大位置、操作手柄最小位置、操作手柄中位、手柄加速斜坡、手柄减速斜坡、主泵最大电流、主泵最小电流、拉线传感器最小值、拉线传感器最大值、臂架伸最大电流、臂架缩最大电流、臂架伸最小电流、臂架缩最小电流、变幅起最大电流、变幅起最小电流、变幅落最大电流、变幅落最小电流、回转最大电流以及回转最小电流。4 . The method for calibrating parameters of an aerial work platform according to claim 1 , wherein the non-safety-related parameters include: dead zone of the operating handle, maximum position of the operating handle, minimum position of the operating handle, and neutral position of the operating handle. 5 . , handle acceleration ramp, handle deceleration ramp, the maximum current of the main pump, the minimum current of the main pump, the minimum value of the cable sensor, the maximum value of the cable sensor, the maximum current of the boom extension, the maximum current of the boom retraction, the minimum current of the boom extension, the boom retraction Minimum current, maximum current from amplitude, minimum current from amplitude, maximum current from amplitude, minimum current from amplitude, maximum current from swing, and minimum current from swing. 5.根据权利要求1所述的一种高空作业平台参数标定控制方法，其特征在于：所述安全相关参数包括：底盘倾斜角度、底盘角度偏差最大值、前进后退行驶最大速度、平台回转摆动轴的左右最大角度、主臂变幅最大角度、称重传感器最大值、平台倾斜最大角度、平台角度偏差最大值、拉线传感器偏差最大值以及压力传感器偏差最大值。5 . The method for calibrating parameters of an aerial work platform according to claim 1 , wherein the safety-related parameters include: chassis inclination angle, maximum value of chassis angle deviation, maximum speed of forward and backward travel, platform swing axis The maximum left and right angle, the maximum boom luffing angle, the maximum load cell angle, the maximum platform tilt angle, the maximum platform angle deviation, the maximum wire sensor deviation and the maximum pressure sensor deviation. 6.根据权利要求1所述的一种高空作业平台参数标定控制方法，其特征在于，所述用户客户端还设有权限管理模块，通过权限管理模块对用户账户所能标定的参数进行设置。6 . The method for calibrating parameters of an aerial work platform according to claim 1 , wherein the user client is further provided with a rights management module, and the parameters that can be calibrated by the user account are set through the rights management module. 7 . 7.根据权利要求1所述的一种高空作业平台参数标定控制方法，其特征在于，在调试客户端设有校核模块，通过校核模块对标定后的参数进行校核。7 . The method for calibrating parameters for aerial work platforms according to claim 1 , wherein a calibration module is provided on the debugging client, and the calibrated parameters are calibrated through the calibration module. 8 . 8.根据权利要求1所述的一种高空作业平台参数标定控制方法，其特征在于：若判断出在用户客户端输入的控制参数为安全相关参数，则将安全相关参数以只读的方式在用户客户端显示。8. A kind of aerial work platform parameter calibration control method according to claim 1 is characterized in that: if it is judged that the control parameter input in the user client is safety-related parameters, then the safety-related parameters are in a read-only manner in the User client display. 9.一种高空作业平台参数标定控制系统，其特征在于，包括：9. An aerial work platform parameter calibration control system, characterized in that, comprising: 参数类别判断模块，用于将控制参数分为非安全相关参数和安全相关参数；The parameter category judgment module is used to divide the control parameters into non-safety-related parameters and safety-related parameters; 对在用户客户端输入的控制参数的类别进行判断；Judging the type of control parameters input in the user client; 参数标定模块，用于根据判断结果选择采用用户客户端或者调试客户端对相应的控制参数进行标定；The parameter calibration module is used to select the user client or the debugging client to calibrate the corresponding control parameters according to the judgment result; 通过用户客户端对非安全相关参数进行标定；Calibration of non-safety-related parameters through the user client; 通过调试客户端对所有参数进行标定。All parameters are calibrated by the debug client. 10.一种高空作业平台参数标定控制系统，其特征在于，包括：10. An aerial work platform parameter calibration control system, characterized in that, comprising: 用户客户端、调试客户端以及控制器，用户客户端和调试客户端分别和控制器连接。The user client, the debugging client, and the controller are respectively connected to the controller.
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