The embodiment of the invention provides high-altitude operation equipment, a control method and device thereof, equipment and a storage medium. The control method comprises the steps that the inclination angle of a working bucket relative to the horizontal plane and the flow of hydraulic oil in a variable-amplitude oil cylinder are obtained; and based on the flow and the inclination angle of the hydraulic oil in the variable-amplitude oil cylinder, a leveling oil cylinder is controlled to drive the working bucket to rotate relative to the fly jib so as to adjust the inclination angle to a target value. According to the control method of the high-altitude operation equipment, based on the flow of the hydraulic oil in the variable-amplitude oil cylinder and the current inclination angle of the working bucket, the working bucket is jointly controlled in a matched mode, and the flow of the hydraulic oil in the variable-amplitude oil cylinder corresponds to the variable-amplitude speed of the fly jib. In other words, the variation of the inclination angle of the working bucket caused by the variable-amplitude motion of the fly boom can be estimated, so that the estimated value can be added into the working bucket to control the fly boom to move in the variable-amplitude motion process, the working bucket can continuously keep moving in a relatively stable posture, and the comfort level of workers in the working bucket is better.
本申请实施例提供了一种高空作业设备及其控制方法、装置、设备和存储介质。其中,控制方法包括:获取工作斗相对于水平面的倾斜角以及变幅油缸内液压油的流量;基于变幅油缸内液压油的流量以及倾斜角,控制调平油缸驱动工作斗相对于飞臂转动,以将倾斜角调整至目标值。本申请实施例的高空作业设备的控制方法,基于变幅油缸中液压油的流量以及工作斗当前的倾斜角,共同配合进行工作斗的控制,变幅油缸中液压油的流量对应飞臂的变幅速率。也就是说,飞臂变幅运动引起的工作斗的倾斜角的变化量能够进行预估,从而能够将此预估值加入工作斗的控制飞臂在变幅运动的过程中,工作斗能够持续地保持相对稳定的姿态移动,工作斗内工作人员的舒适度更好。
High-altitude operation equipment, control method and device thereof, equipment and storage medium
高空作业设备及其控制方法、装置、设备和存储介质
12.09.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | 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 , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / F15B SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL , Druckmittelbetriebene Systeme allgemein |
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