The invention discloses a glass sucker vehicle accessory load detection control method which comprises the following steps: controlling a vehicle control system to be powered on, calculating load gravity according to a moment balance model, and then converting the load gravity into load mass; the load mass is compared with a preset light-load mass value and a preset heavy-load mass value, if the load mass is smaller than the light-load mass value, the glass sucker vehicle is controlled to enter a light-load mode, and if the load mass is between the light-load mass value and the heavy-load mass value, the glass sucker vehicle is controlled to enter a heavy-load mode; the moment balance model is based on a triangle formed by two hinge points of an accessory leveling oil cylinder and three hinge points of an accessory and a main arm connecting hinge point. According to the glass sucker vehicle accessory load detection control method, the detection precision of the load weight can be improved, meanwhile, the vehicle operation range can be larger when the glass sucker vehicle is in a small load, and the safety, reliability and practicability of a self-walking type high-altitude operation glass sucker vehicle are improved.

    本发明公开一种玻璃吸盘车属具载荷检测控制方法,包括以下步骤:控制整车控制系统上电,根据力矩平衡模型计算载荷重力,然后将载荷重力转换成载荷质量;将载荷质量与预先设置的轻载质量值和重载质量值进行对比,若载荷质量小于轻载质量值,则控制玻璃吸盘车进入轻载模式,若载荷质量在轻载质量值和重载质量值之间,则控制玻璃吸盘车进入重载模式;力矩平衡模型基于属具调平油缸的两个铰点和属具与主臂连接铰点三个铰点构成的三角形。本发明提供的一种玻璃吸盘车属具载荷检测控制方法,能够提高载荷重量的检测精度,同时能够使玻璃吸盘车在小载荷时使车辆作业范围更大,提升自行走式高空作业玻璃吸盘车的安全可靠性与实用性。


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    Title :

    Glass sucker vehicle accessory load detection control method


    Additional title:

    一种玻璃吸盘车属具载荷检测控制方法


    Contributors:
    ZHANG QU (author) / QIU ZHAODING (author) / ZHANG YONG (author) / YU ZONGJIA (author) / DONG CHUANGONG (author)

    Publication date :

    2023-10-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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