Control method and control system for high-altitude operation machine and high-altitude operation machine

Abstract

The invention relates to the field of engineering machinery, and discloses a control method and system for a high-altitude operation machine and the high-altitude operation machine. The control method comprises the steps that the chassis inclination angle and the platform load of the high-altitude operation machine are detected; according to the chassis inclination angle and the platform load, the inclination angle range where the chassis inclination angle is located and the load range where the platform load is located are determined, and the number of the inclination angle range and the load range is at least one; according to the determined dip angle range and the load range, determining a corresponding boom operation range; and controlling the boom action of the high-altitude operation machine according to the boom operation range. According to the control method and system for the high-altitude operation machine and the high-altitude operation machine, the arm support operation range can be adjusted according to the actual platform load and the chassis inclination angle, the surplus arm support operation range can be utilized, and the product flexibility and the operation efficiency are improved.

Description

Technical Field

[0001] The present application belongs to the technical field of engineering machinery, and specifically relates to a control method for an aerial work machine, a control system for an aerial work machine, an aerial work machine, and a machine-readable storage medium. Background Art

[0002] In the prior art, aerial work machinery calculates the stability of the whole machine through the rated load, thereby limiting the operating range of the boom system. When the boom is within the operating range, as long as it is detected that the actual load of the working platform does not exceed the rated load, it can be judged that the current posture of the whole machine is stable and there is no risk of tipping over. However, at this time, the boom is always limited to work within an operating range. Even if the current actual load is far less than the rated load, it is impossible to allow the boom to appropriately exceed the operating range while ensuring safety, resulting in the surplus operating range cannot be fully utilized, limiting the overall operating efficiency. Summary of the invention

[0003] In response to at least one of the above-mentioned defects or shortcomings of the prior art, the present application provides a control method for an aerial work machinery, a control system for an aerial work machinery, an aerial work machinery and a machine-readable storage medium, which can adjust the boom operating range according to the actual platform load and the chassis inclination angle, thereby making full use of the surplus boom operating range and improving the flexibility and operating efficiency of the product.

[0004] In order to achieve the above-mentioned purpose, the present application provides, on one hand, a control method for an aerial work machine, comprising:

[0005] Detecting the chassis inclination angle and platform load of the aerial work machine;

[0006] According to the chassis inclination angle and the platform load, respectively determining the inclination angle range of the chassis inclination angle and the load range of the platform load, wherein at least one inclination angle range and at least one load range are provided;

[0007] Determining a corresponding boom operating range according to the determined inclination angle range and the load range;

[0008] The boom movement of the aerial work machine is controlled according to the boom operation range.

[0009] In some embodiments, the inclination angle range includes a first inclination angle range and a second inclination angle range, the minimum inclination angle threshold of the first inclination angle range is equal to the maximum inclination angle threshold of the second inclination angle range, the load range includes a first load range, the boom operating range includes a first boom operating range and a second boom operating range, and the first boom operating range is smaller than the second boom operating range;

[0010] According to the determined inclination angle range and the load range, determining the corresponding boom operating range includes:

[0011] When it is determined that the chassis inclination angle is within the first inclination angle range and the load range is within the first load range, determining the boom operating range to be the first boom operating range;

[0012] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the first load range, the boom operating range is determined to be the second boom operating range.

[0013] In some embodiments, the load range further includes a second load range, a third load range, a fourth load range and a fifth load range, the second load range, the third load range, the fourth load range and the fifth load range are sequentially divided from large to small within the first load range, the boom operating range further includes a third boom operating range, a fourth boom operating range and a fifth boom operating range which increase in sequence, and the third boom operating range is larger than the second boom operating range;

[0014] According to the determined inclination angle range and the load range, determining the corresponding boom operating range also includes:

[0015] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the second load range, determining the boom operating range to be the second boom operating range;

[0016] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the third load range, determining the boom operating range to be the third boom operating range;

[0017] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the fourth load range, determining the boom operating range to be the fourth boom operating range;

[0018] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the fifth load range, the boom operating range is determined to be the fifth boom operating range.

[0019] In some embodiments, the control method further comprises:

[0020] Determining whether the chassis inclination angle is greater than a maximum inclination angle threshold of the first inclination angle range;

[0021] When it is determined that the chassis inclination angle is greater than the maximum inclination angle threshold of the first inclination angle range, the boom is not allowed to move in a dangerous direction and the alarm is controlled to send an alarm signal.

[0022] In some embodiments, the control method further comprises:

[0023] Determining whether the boom exceeds the determined operating range of the boom;

[0024] When it is determined that the boom is beyond the boom operation range, the boom is not allowed to move in a dangerous direction and the alarm is controlled to send out an alarm signal.

[0025] The second aspect of the present application provides a control system for an aerial work machine, comprising:

[0026] An inclination sensor is used to detect the inclination of the chassis of the aerial work machine;

[0027] A load sensor, used to detect the platform load of the working platform of the aerial work machine;

[0028] A processing device is connected to the inclination sensor and the load sensor respectively and is configured as follows:

[0029] According to the chassis inclination angle and the platform load, respectively determining the inclination angle range of the chassis inclination angle and the load range of the platform load, wherein at least one inclination angle range and at least one load range are provided;

[0030] Determining the corresponding boom operating range according to the determined inclination angle range and the load range;

[0031] The boom movement of the aerial work machine is controlled according to the boom operation range.

[0032] In some embodiments, the inclination angle range includes a first inclination angle range and a second inclination angle range, the minimum inclination angle threshold of the first inclination angle range is equal to the maximum inclination angle threshold of the second inclination angle range, the load range includes a first load range, the boom operating range includes a first boom operating range and a second boom operating range, and the first boom operating range is smaller than the second boom operating range;

[0033] The processing device is further configured to:

[0034] When it is determined that the chassis inclination angle is within the first inclination angle range and the load range is within the first load range, determining the boom operating range to be the first boom operating range;

[0035] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the first load range, the boom operating range is determined to be the second boom operating range.

[0036] In some embodiments, the load range further includes a second load range, a third load range, a fourth load range and a fifth load range, the second load range, the third load range, the fourth load range and the fifth load range are sequentially divided from large to small within the first load range, the boom operating range further includes a third boom operating range, a fourth boom operating range and a fifth boom operating range which increase in sequence, and the third boom operating range is larger than the second boom operating range;

[0037] The processing device is further configured to:

[0038] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the second load range, determining the boom operating range to be the second boom operating range;

[0039] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the third load range, determining the boom operating range to be the third boom operating range;

[0040] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the fourth load range, determining the boom operating range to be the fourth boom operating range;

[0041] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the fifth load range, the boom operating range is determined to be the fifth boom operating range.

[0042] In some embodiments, the control system further comprises an alarm, and the processing device is in communication with the alarm and is further configured to:

[0043] Determining whether the chassis inclination angle is greater than a maximum inclination angle threshold of the first inclination angle range;

[0044] When it is determined that the chassis inclination angle is greater than the maximum inclination angle threshold of the first inclination angle range, the boom is not allowed to move in a dangerous direction and the alarm is controlled to send an alarm signal.

[0045] In some embodiments, the control system further comprises an alarm, and the processing device is in communication with the alarm and is further configured to:

[0046] Determining whether the boom exceeds the determined operating range of the boom;

[0047] When it is determined that the boom is beyond the boom operation range, the boom is not allowed to move in a dangerous direction and the alarm is controlled to send out an alarm signal.

[0048] A third aspect of the present application provides an aerial work machine, comprising the above-mentioned control system for the aerial work machine.

[0049] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, wherein the instructions are used to enable a machine to execute the above-mentioned control method for aerial work machinery.

[0050] Through the above-mentioned technical scheme, the control method for aerial work machinery of the present application can set the corresponding boom operating range according to the platform load and the chassis inclination angle. When both or one of the platform load and the chassis inclination angle is reduced to fall into another load range or inclination range, the current boom operating range can be adjusted to another larger boom operating range, thereby allowing the boom to be further extended or amplified, thereby improving the flexibility and operating efficiency of the aerial work machinery and broadening its application scenarios.

[0051] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0053] Figure 1 It is a flowchart of a control method for aerial work machinery in a specific implementation manner of the present application;

[0054] Figure 2 It is a schematic diagram of the operating range of each boom of an aerial work machine in a specific implementation manner of the present application.

[0055] Description of Reference Numerals

[0056] 1 Aerial Work Machinery 101 Chassis

[0057] 102 working platform 103 boom

[0058] K The first boom operating range A The second boom operating range

[0059] B The third boom operating range C The fourth boom operating range

[0060] D Fifth boom operating range DETAILED DESCRIPTION

[0061] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0062] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0063] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0064] Reference Figure 1 As shown, the first exemplary embodiment of the present application provides a control method for an aerial work machine, comprising:

[0065] S100: Detecting the chassis inclination angle and platform load of the aerial work machine 1;

[0066] S200: determining, according to the chassis inclination angle and the platform load, respectively an inclination angle range where the chassis inclination angle is located and a load range where the platform load is located, wherein at least one inclination angle range and at least one load range are provided;

[0067] S300: determining a corresponding boom operating range according to the determined inclination angle range and load range;

[0068] S400: Controlling the boom movement of the aerial work machine according to the boom operation range.

[0069] It should be noted that the chassis inclination angle is the inclination angle of the chassis relative to the horizontal plane. For example, when the aerial work machine is operating on a slope with a slope of 5°, the chassis inclination angle is 5°. It is understandable that when the chassis inclination angle exceeds the maximum inclination angle threshold of the inclination angle range, or the platform load exceeds the maximum load value of the load range, the aerial work machine has a higher risk of tipping over. Therefore, it is necessary to control the chassis inclination angle and platform load to be within the safe inclination angle range and load range respectively.

[0070] In this embodiment, there can be multiple inclination ranges and load ranges, and they are all within the safe range. Correspondingly, there are also multiple boom operating ranges, and multiple boom operating ranges are set one by one with multiple inclination ranges and multiple load ranges. It can be understood that when the inclination range of the chassis inclination is smaller, it means that the risk of overturning of the aerial work machinery is lower, so the corresponding boom operating range is larger, and vice versa. Similarly, when the load range of the platform load is smaller, it means that the risk of overturning of the aerial work machinery is lower, so the corresponding boom operating range is larger, and vice versa. In practical applications, different boom operating ranges can be determined according to the stabilizing torque and overturning torque generated by the aerial work machinery under different inclination ranges and different load ranges, so that when the aerial work machinery operates in different boom operating ranges, the stabilizing torque is greater than the overturning torque (that is, the sum of the reaction forces of the two wheels on the same side of the aerial work machinery is greater than 0), so that the stability of the aerial work machinery is sufficient to avoid overturning.

[0071] It can be seen that the control method for aerial work machinery of this exemplary embodiment can set the corresponding boom operating range according to the platform load and the chassis inclination angle. When the actual platform load decreases and falls into another smaller load range, or the actual chassis inclination angle decreases and falls into another smaller inclination angle range, or the platform load and the chassis inclination angle both decrease and fall into another smaller load range and inclination angle range, the current boom operating range can be adjusted to another larger boom operating range, thereby allowing the boom to be further extended or the amplitude adjusted. While ensuring safety, the surplus operating range is fully utilized. Compared with the control method in the prior art that limits the boom to a safe operating range, the control method of the present application can greatly improve the flexibility and operating efficiency of the aerial work machinery.

[0072] In addition, by setting multiple inclination angle ranges, aerial work machinery can be allowed to operate normally when the chassis inclination angle is large, that is, it can operate normally on slopes with larger inclinations or more rugged roads, thereby broadening the application scenarios of aerial work machinery and helping to enhance the competitiveness of aerial work machinery products.

[0073] For example, in an optional or preferred embodiment, the inclination angle range includes a first inclination angle range and a second inclination angle range, the load range includes a first load range, wherein the minimum inclination angle threshold of the first inclination angle range is equal to the maximum inclination angle threshold of the second inclination angle range, that is, the first inclination angle range is greater than the second inclination angle range, and the boom operating range includes a first boom operating range K and a second boom operating range A, and step S300 includes the following steps:

[0074] When it is determined that the chassis inclination angle is within the first inclination angle range and the load range is within the first load range, the boom operating range is determined to be the first boom operating range K;

[0075] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the first load range, the boom operating range is determined to be the second boom operating range A.

[0076] Specifically, Figure 2 As shown, the first boom operating range K is smaller than the second boom operating range A. By adopting the above control method, when the chassis inclination increases and falls from the second inclination range to the first inclination range, the boom operating range can be adjusted from the second boom operating range A to the first boom operating range K. Although the boom operating range is reduced to ensure stability, the normal use of the aerial work machinery can still be guaranteed, thereby broadening the application scenarios of the aerial work machinery and greatly enhancing its adaptability.

[0077] Furthermore, the first load range can be divided into a plurality of load ranges, including a second load range, a third load range, a fourth load range and a fifth load range, which are divided in descending order, such as Figure 2 As shown, the boom operating range also includes a third boom operating range B, a fourth boom operating range C and a fifth boom operating range D which are increased in sequence, wherein the third boom operating range B is larger than the second boom operating range A, thus, step S300 includes the following steps:

[0078] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the second load range, the boom operating range is determined to be the second boom operating range A;

[0079] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the third load range, the boom operating range is determined to be the third boom operating range B;

[0080] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the fourth load range, the boom operating range is determined to be the fourth boom operating range C;

[0081] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the fifth load range, the boom operating range is determined to be the fifth boom operating range D.

[0082] By adopting the above-mentioned control method, when the platform load changes between the second load range, the third load range, the fourth load range and the fifth load range, the corresponding boom operating range can be set, so that the boom operating range changes accordingly with the change of the platform load. Especially when the platform load is within a smaller load range, the boom can be allowed to have a larger operating range, thereby improving the operating flexibility of the aerial work machinery without improving the structure of the aerial work machinery, and the improvement cost is extremely low.

[0083] Referring to Table 1, in a specific implementation manner, the first inclination angle range is 3°<a≤5°, the second inclination angle range is 0°≤a≤3°, wherein a is the detected chassis inclination angle; the first load range is 0≤W≤400kg, the second load range is 350kg<W≤400kg, the third load range is 300kg<W≤350kg, the fourth load range is 250kg<W≤300kg, and the fifth load range is 0kg≤W≤250kg, wherein W is the detected platform load; the first boom operating range is K, the second boom operating range is A, the third boom operating range is B, the fourth boom operating range is C, and the fifth boom operating range is D.

[0084] Combining Table 1 and Figure 2 As shown, when 3°<a≤5° and 0≤W≤400kg, the boom can be controlled to operate within the operating range K of the first boom; when 0°≤a≤3° and 0≤W≤400kg, the boom can be controlled to operate within the operating range A of the second boom; when 0°≤a≤3° and 350kg<W≤400kg, the boom is similarly controlled to operate within the operating range A of the second boom; when 0°≤a≤3° and 300kg<W≤350kg, the boom can be controlled to operate within the operating range B of the third boom; when 0°≤a≤3° and 250kg<W≤300kg, the boom can be controlled to operate within the operating range C of the fourth boom; when 0°≤a≤3° and 0kg≤W≤250kg, the boom can be controlled to operate within the operating range D of the fifth boom.

[0085] Table 1 Comparison table of the relationship between inclination range, load range and boom operating range

[0086]

[0087] In an optional or preferred embodiment, the above control method further includes:

[0088] S400: Determine whether the chassis inclination angle is greater than a maximum inclination angle threshold of the first inclination angle range;

[0089] S500: When it is determined that the chassis inclination angle is greater than the maximum inclination angle threshold of the first inclination angle range, the boom 103 is not allowed to move in a dangerous direction and the alarm is controlled to send an alarm signal.

[0090] Taking the above specific implementation as an example, when the chassis inclination angle a is greater than 5°, regardless of whether the platform load exceeds the first load range or whether the boom exceeds the first boom operating range K, the boom 103 is not allowed to move in a dangerous direction, such as changing amplitude and extending, and the alarm is controlled to send an alarm signal, such as emitting an alarm sound or turning on a warning light. In the case of a turntable, for safety reasons, the turntable may not be allowed to rotate, and during operation, the chassis is always stationary. Although the boom 103 is not allowed to move in a dangerous direction, it is still allowed to retract, and the flying arm and platform are allowed to move, thereby avoiding rollover.

[0091] Furthermore, during the operation of the boom 103, in order to prevent the boom 103 from exceeding the corresponding boom operation range and causing danger, the above control method further includes:

[0092] S600: Determine whether the boom 103 exceeds the determined boom operation range;

[0093] S700: When it is determined that the boom 103 is beyond the boom operation range, the boom 103 is not allowed to move in a dangerous direction and the alarm is controlled to send out an alarm signal.

[0094] Specifically, it can be determined whether the boom 103 exceeds the corresponding boom operation range by detecting the boom 103's amplitude change angle and extension length. Similarly, referring to the above control method, when the boom 103 exceeds the corresponding boom operation range, the boom 103 is not allowed to move in a dangerous direction, such as amplitude change and extension, and the alarm is controlled to send an alarm signal, such as emitting an alarm sound or turning on a warning light.

[0095] The second exemplary embodiment of the present application provides a control system for aerial work machinery (not shown in the drawings), which is capable of executing the above-mentioned control method for aerial work machinery. Therefore, the various embodiments of the control system described below can obviously also obtain the technical effects brought about by the corresponding embodiments of the above-mentioned method. Therefore, for each embodiment described below, only the additional technical effects brought about by its structural features are described to avoid repeating the previous content.

[0096] Specifically, the control system of this exemplary embodiment mainly includes:

[0097] An inclination sensor, used to detect the inclination of the chassis 101 of the aerial work machine 1;

[0098] A load sensor for detecting a platform load of a working platform 102 of the aerial work machine 1;

[0099] The processing device is connected to the inclination sensor and the load sensor respectively and is configured as follows:

[0100] According to the chassis inclination angle and the platform load, respectively determine the inclination angle range and the load range of the chassis inclination angle and the platform load, wherein at least one inclination angle range and at least one load range are provided;

[0101] Determine the corresponding boom operating range according to the determined inclination angle range and load range;

[0102] The boom movement of the aerial work machine is controlled according to the boom operation range.

[0103] It should be noted that the inclination sensor can be arranged on the chassis 101, and the load sensor can be a weighing sensor arranged at the bottom of the working platform 102. In the case where the aerial work machine 1 is provided with a flying arm, the load sensor can also be a pressure sensor arranged in the flying arm boom cylinder. Since the pressure of the flying arm boom cylinder is only related to the weight of the flying arm, the platform load and the boom boom angle, the pressure sensor can be used to detect the oil pressure in the flying arm boom cylinder, and then the platform load can be calculated in combination with the boom boom angle. When controlling the boom 103 to perform a lifting operation, the processing equipment obtains the detection data of the inclination sensor and the load sensor to determine in which inclination range and load range the chassis inclination and the platform load are, thereby selecting the corresponding boom operating range, so as to control the boom 103 to move within the boom operating range.

[0104] In an optional or preferred embodiment, Figure 2 As shown, the inclination angle range includes a first inclination angle range and a second inclination angle range, the minimum inclination angle threshold of the first inclination angle range is equal to the maximum inclination angle threshold of the second inclination angle range, that is, the first inclination angle range is greater than the second inclination angle range, the load range includes a first load range, the boom operating range includes a first boom operating range K and a second boom operating range A, and the first boom operating range K is smaller than the second boom operating range A;

[0105] The processing device is further configured to:

[0106] When it is determined that the chassis inclination angle is within the first inclination angle range and the load range is within the first load range, the boom operating range is determined to be the first boom operating range K, so that the boom 103 is controlled to move within the first boom operating range K, the range of the boom 103 is reduced, and the maximum allowable inclination angle of the chassis inclination angle is increased;

[0107] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the first load range, the boom operating range is determined to be the second boom operating range A, so that the boom 103 is controlled to move within the second boom operating range A.

[0108] In an optional or preferred embodiment, the load range further includes a second load range, a third load range, a fourth load range and a fifth load range, and the second load range, the third load range, the fourth load range and the fifth load range are sequentially divided from large to small within the first load range, and the boom operating range further includes a third boom operating range B, a fourth boom operating range C and a fifth boom operating range D which increase in sequence, and the third boom operating range B is larger than the second boom operating range A;

[0109] The processing device is further configured to:

[0110] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the second load range, the boom operating range is determined to be the second boom operating range A;

[0111] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the third load range, the boom operating range is determined to be the third boom operating range B;

[0112] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the fourth load range, the boom operating range is determined to be the fourth boom operating range C;

[0113] When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the fifth load range, the boom operating range is determined to be the fifth boom operating range D.

[0114] In an optional or preferred embodiment, the control system further comprises an alarm (not shown in the drawings), and the processing device communicates with the alarm and is further configured to:

[0115] Determining that the chassis inclination angle is greater than a maximum inclination angle threshold of the first inclination angle range;

[0116] When it is determined that the chassis inclination angle is greater than the maximum inclination angle threshold of the first inclination angle range, the boom 103 is not allowed to move in a dangerous direction and the alarm is controlled to send an alarm signal.

[0117] Furthermore, in order to adaptively control the boom 103 to move within the corresponding boom operation range, the processing device communicates with the alarm and is further configured as follows:

[0118] Determine whether the boom 103 exceeds the determined boom operation range;

[0119] When it is determined that the boom 103 is beyond the boom operation range, the boom 103 is not allowed to move in a dangerous direction and the alarm is controlled to send out an alarm signal.

[0120] like Figure 2As shown, the third exemplary embodiment of the present application provides an aerial work machine, which includes the above-mentioned control system for the aerial work machine. Obviously, the aerial work machine has all the technical effects brought by the above-mentioned control system, so they will not be repeated here.

[0121] The fourth exemplary embodiment of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned control method for aerial work machinery.

[0122] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0123] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0124] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0125] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0126] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0127] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0128] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0129] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0130] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A control method for aerial work machinery, comprising: Detecting the chassis inclination angle and platform load of the aerial work machine; According to the chassis inclination angle and the platform load, respectively determining the inclination angle range of the chassis inclination angle and the load range of the platform load, wherein at least one inclination angle range and at least one load range are provided; Determining a corresponding boom operating range according to the determined inclination angle range and the load range; The boom movement of the aerial work machine is controlled according to the boom operation range.

2. The control method for aerial work machinery according to claim 1, wherein: The inclination angle range includes a first inclination angle range and a second inclination angle range, the minimum inclination angle threshold of the first inclination angle range is equal to the maximum inclination angle threshold of the second inclination angle range, the load range includes a first load range, the boom operating range includes a first boom operating range (K) and a second boom operating range (A), and the first boom operating range (K) is smaller than the second boom operating range (A); According to the determined inclination angle range and the load range, determining the corresponding boom operating range includes: When it is determined that the chassis inclination angle is within the first inclination angle range and the load range is within the first load range, determining the boom operating range as the first boom operating range (K); When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the first load range, the boom operating range is determined to be the second boom operating range (A).

3. The control method for aerial work machinery according to claim 2, wherein: The load range further includes a second load range, a third load range, a fourth load range and a fifth load range, wherein the second load range, the third load range, the fourth load range and the fifth load range are sequentially divided from large to small within the first load range, and the boom operating range further includes a third boom operating range (B), a fourth boom operating range (C) and a fifth boom operating range (D) which increase in sequence, and the third boom operating range (B) is larger than the second boom operating range (A); According to the determined inclination angle range and the load range, determining the corresponding boom operating range also includes: When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the second load range, determining the boom operating range as the second boom operating range (A); When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the third load range, determining the boom operating range to be the third boom operating range (B); When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the fourth load range, determining the boom operating range as the fourth boom operating range (C); When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the fifth load range, the boom operating range is determined to be the fifth boom operating range (D).

4. The control method for aerial work machinery according to claim 2, wherein: The control method further comprises: Determining whether the chassis inclination angle is greater than a maximum inclination angle threshold of the first inclination angle range; When it is determined that the chassis inclination angle is greater than the maximum inclination angle threshold of the first inclination angle range, the boom is not allowed to move in a dangerous direction and the alarm is controlled to send an alarm signal.

5. The control method for aerial work machinery according to any one of claims 1 to 4, wherein: The control method further comprises: Determining whether the boom exceeds the determined operating range of the boom; When it is determined that the boom is beyond the boom operation range, the boom is not allowed to move in a dangerous direction and the alarm is controlled to send out an alarm signal.

6. A control system for aerial work machinery, comprising: An inclination sensor is used to detect the inclination of the chassis of the aerial work machine; A load sensor, used to detect the platform load of the working platform of the aerial work machine; A processing device is connected to the inclination sensor and the load sensor respectively and is configured as follows: According to the chassis inclination angle and the platform load, respectively determining the inclination angle range of the chassis inclination angle and the load range of the platform load, wherein at least one inclination angle range and at least one load range are provided; Determining a corresponding boom operating range according to the determined inclination angle range and the load range; The boom movement of the aerial work machine is controlled according to the boom operation range.

7. The control system for aerial work machinery according to claim 6, wherein: The inclination angle range includes a first inclination angle range and a second inclination angle range, the minimum inclination angle threshold of the first inclination angle range is equal to the maximum inclination angle threshold of the second inclination angle range, the load range includes a first load range, the boom operating range includes a first boom operating range (K) and a second boom operating range (A), and the first boom operating range (K) is smaller than the second boom operating range (A); The processing device is further configured to: When it is determined that the chassis inclination angle is within the first inclination angle range and the load range is within the first load range, determining the boom operating range as the first boom operating range (K); When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the first load range, the boom operating range is determined to be the second boom operating range (A).

8. The control system for aerial work machinery according to claim 7, wherein: The load range further includes a second load range, a third load range, a fourth load range and a fifth load range, wherein the second load range, the third load range, the fourth load range and the fifth load range are sequentially divided from large to small within the first load range, and the boom operating range further includes a third boom operating range (B), a fourth boom operating range (C) and a fifth boom operating range (D) which increase in sequence, and the third boom operating range (B) is larger than the second boom operating range (A); The processing device is further configured to: When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the second load range, determining the boom operating range as the second boom operating range (A); When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the third load range, determining the boom operating range to be the third boom operating range (B); When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the fourth load range, determining the boom operating range as the fourth boom operating range (C); When it is determined that the chassis inclination angle is within the second inclination angle range and the load range is within the fifth load range, the boom operating range is determined to be the fifth boom operating range (D).

9. The control system for aerial work machinery according to claim 7, wherein: The control system further includes an alarm, the processing device is in communication with the alarm and is further configured to: Determining whether the chassis inclination angle is greater than a maximum inclination angle threshold of the first inclination angle range; When it is determined that the chassis inclination angle is greater than the maximum inclination angle threshold of the first inclination angle range, the boom is not allowed to move in a dangerous direction and the alarm is controlled to send an alarm signal.

10. The control system for aerial work machinery according to any one of claims 6 to 9, wherein: The control system further includes an alarm, the processing device is in communication with the alarm and is further configured to: Determining whether the boom exceeds the determined operating range of the boom; When it is determined that the boom is beyond the boom operation range, the boom is not allowed to move in a dangerous direction and the alarm is controlled to send out an alarm signal.

11. Aerial work machine, comprising the control system for aerial work machine according to any one of claims 6 to 10.

12. A machine-readable storage medium having instructions stored thereon, wherein the instructions are used to enable a machine to execute the control method for aerial work machinery according to any one of claims 1 to 5.

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