Floating safety control method, device and equipment, medium and aerial work platform

Abstract

The invention discloses a floating safety control method, device and equipment, a medium and an aerial work platform, the floating safety control method comprises the steps that a first inclination angle is obtained, and the first inclination angle is the inclination angle of a vehicle frame when a vehicle does not fall into a pit; a second inclination angle is obtained, wherein the second inclination angle is the inclination angle of the frame after the vehicle falls into the pit; obtaining a first change angle, wherein the first change angle is a difference value between the first inclination angle and the second inclination angle; executing a floating action or a safety control action according to the first change angle; the floating action is used for controlling and triggering the action of the single-side floating oil cylinder corresponding to the corresponding single-side floating switch after the vehicle falls into the pit, and the safety control action is used for limiting the action of the floating oil cylinder. The aerial work platform can safely control the action of the floating oil cylinder, and safe operation and stable operation of the aerial work platform are facilitated.

Description

Technical Field

[0001] The present application relates to the field of aerial work platforms, and in particular to a floating safety control method, device, equipment, medium and aerial work platform. Background Art

[0002] The operating safety of the off-road scissor-type self-propelled platform when traveling at high altitudes needs to be fully guaranteed, and the floating function is a very important control and protection function. The floating function is that when the front wheel of the off-road scissor-type self-propelled platform falls into a pit during the travel process after the working platform is lifted, the swing axis, i.e., the floating cylinder, can quickly perform the floating action according to the control logic, so that the front wheel immediately contacts the ground to ensure that the whole vehicle will not tip over, so as to ensure the safety and stability of the working platform under such working conditions. However, when the equipment fails and the floating action is executed incorrectly, it will seriously affect the safety and stability of the current working platform, and may cause serious safety accidents such as the tipping of the whole vehicle, posing a serious threat to the safety of the equipment and the lives of the workers on the equipment. Summary of the invention

[0003] The present application aims to propose a floating safety control method, device, equipment, medium and aerial work platform, which can realize the safe control of the floating cylinder action by the aerial work platform, and contribute to the safe operation and stable operation of the aerial work platform.

[0004] According to the first aspect of the present application, the floating safety control method includes:

[0005] Acquire a first tilt angle, where the first tilt angle is a tilt angle of the vehicle frame when the vehicle does not fall into a pit;

[0006] Acquire a second tilt angle, where the second tilt angle is the tilt angle of the vehicle frame after the vehicle falls into the pit; wherein the corresponding single-side floating switch is triggered after the vehicle falls into the pit, and the single-side floating switch includes a left floating switch and a right floating switch;

[0007] Acquire a first change angle, where the first change angle is a difference between the first tilt angle and the second tilt angle;

[0008] According to the first change angle, a floating action or a safety control action is performed; the floating action is used to control and trigger the single-sided floating cylinder action corresponding to the corresponding single-sided floating switch after the vehicle falls into a pit, and the safety control action is used to limit the floating cylinder action.

[0009] According to some embodiments of the present application, performing a floating action or a safety control action according to the first change angle includes:

[0010] Determining the wheel falling state of the vehicle according to triggering the corresponding single-side floating switch after the vehicle falls into the pit and the first change angle;

[0011] According to the wheel falling state of the vehicle, the floating action is performed or the safety control action is performed.

[0012] According to some embodiments of the present application, the inclination angle of the frame when it is in a horizontal state is zero degrees, the inclination angle of the frame when it is higher on the left and lower on the right is a positive angle, and the inclination angle of the frame when it is lower on the left and higher on the right is a negative angle; the first change angle is a first difference obtained by subtracting the first inclination angle from the second inclination angle;

[0013] The method of determining the wheel falling state of the vehicle according to triggering the corresponding single-side floating switch after the vehicle falls into a pit and the first change angle includes:

[0014] When the left floating switch is triggered, and when the first change angle is less than zero, and the absolute value of the first change angle is greater than a first threshold, determining that the wheel falling state of the vehicle is a left front wheel falling state;

[0015] When the right floating switch is triggered, and when the first change angle is greater than zero, and the absolute value of the first change angle is greater than a first threshold, determining that the wheel falling state of the vehicle is a right front wheel falling state;

[0016] In the case that the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state, the wheel falling state of the vehicle is determined to be an unknown falling state.

[0017] According to some embodiments of the present application, performing a floating action or a safety control action according to the wheel falling state includes:

[0018] When the wheel falling state is the left front wheel falling state, controlling the left floating cylinder corresponding to the triggering of the left floating switch to act;

[0019] When the wheel falling state is the right front wheel falling state, controlling the right floating cylinder corresponding to the triggering of the right floating switch to act;

[0020] When the wheel falling state is the unknown falling state, the safety control action is performed.

[0021] According to some embodiments of the present application, before obtaining the first tilt angle, the method further includes:

[0022] Obtaining a first left floating pressure and a first right floating pressure, wherein the first left floating pressure and the first right floating pressure are working pressures of the floating cylinders on the left and right sides when the vehicle does not fall into a pit;

[0023] When the first left floating pressure or the first right floating pressure is greater than a second threshold value and the duration is greater than a first preset judgment time, the safety control action is executed.

[0024] According to some embodiments of the present application, before obtaining the second tilt angle, the method further includes:

[0025] Acquire a second floating pressure, where the second floating pressure is the working pressure of the single-side floating cylinder corresponding to the single-side floating switch triggered after the vehicle falls into a pit;

[0026] When the second floating pressure is less than a third threshold value and the duration is greater than a second preset judgment time, the safety control action is executed.

[0027] According to the second aspect of the present application, the floating safety control device comprises:

[0028] A first acquisition module is used to acquire a first tilt angle, where the first tilt angle is a tilt angle of the vehicle frame when the vehicle does not fall into a pit;

[0029] A second acquisition module is used to acquire a second tilt angle, where the second tilt angle is the tilt angle of the vehicle frame after the vehicle falls into a pit; wherein the corresponding single-side floating switch is triggered after the vehicle falls into the pit, and the single-side floating switch includes a left floating switch and a right floating switch;

[0030] A third acquisition module is used to acquire a first change angle, where the first change angle is a difference between the first tilt angle and the second tilt angle;

[0031] An execution module is used to perform a floating action or a safety control action according to the first change angle; the floating action is used to control and trigger the single-sided floating cylinder action corresponding to the corresponding single-sided floating switch after the vehicle falls into a pit, and the safety control action is used to limit the floating cylinder action.

[0032] According to an electronic device of an embodiment of the third aspect of the present application, the electronic device includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the floating safety control method as described in any one of the embodiments of the first aspect are implemented.

[0033] The aerial work platform according to the fourth aspect embodiment of the present application includes the electronic device as described in the third aspect embodiment.

[0034] According to the computer-readable storage medium of the fifth aspect embodiment of the present application, computer-executable instructions are stored, and the computer-executable instructions are used to execute the floating safety control method as described in the first aspect embodiment above.

[0035] In the embodiment of the present application, the actual side of the pit where the vehicle fell into the pit is determined by obtaining the change in the inclination angle of the frame of the aerial work platform from before the vehicle fell into the pit to after the vehicle fell into the pit. The floating action is performed only when the unilateral floating switch triggered by the vehicle falling into the pit corresponds to the actual side of the pit obtained by judgment and are on the same side. This can effectively ensure that the change in the actual angle of the entire vehicle is consistent with the triggering logic state of the floating switch, and thus make the action direction of the floating cylinder consistent with the corresponding action logic, avoiding the accident of the floating cylinder executing the opposite direction action and causing the vehicle to tip over when a vehicle malfunctions, thereby achieving safe control of the action of the floating cylinder, improving the safety of the floating function, meeting the requirements of the stability of the entire vehicle, and ensuring the life safety of the workers on the vehicle.

[0036] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0038] Figure 1 It is a flowchart of an embodiment of the floating safety control method of the present application;

[0039] Figure 2 It is a structural schematic diagram of an embodiment of a floating safety control device of the present application;

[0040] Figure 3 It is a schematic diagram of the hardware structure of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0041] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0042] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0043] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0044] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0045] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0046] Figure 1 This is a flow chart of the floating safety control method of the embodiment provided in this application. Figure 1 , the embodiments of the present application are further described.

[0047] The present application embodiment proposes a floating safety control method, which comprises the following steps:

[0048] Step 101, obtaining a first tilt angle, where the first tilt angle is the tilt angle of the vehicle frame when the vehicle does not fall into a pit;

[0049] Step 102, obtaining a second tilt angle, the second tilt angle being the tilt angle of the vehicle frame after the vehicle falls into the pit; wherein the corresponding unilateral floating switch is triggered after the vehicle falls into the pit, and the unilateral floating switch includes a left floating switch and a right floating switch;

[0050] Step 103: obtaining a first change angle, where the first change angle is a difference between the first tilt angle and the second tilt angle;

[0051] Step 104, execute a floating action or a safety control action according to the first change angle; the floating action is used to control the action of the unilateral floating cylinder corresponding to the corresponding unilateral floating switch triggered after the vehicle falls into a pit, and the safety control action is used to limit the action of the floating cylinder.

[0052] In the embodiment of the present application, the actual side of the pit where the vehicle fell into the pit is determined by obtaining the change in the inclination angle of the frame of the aerial work platform from before the vehicle fell into the pit to after the vehicle fell into the pit. The floating action is performed only when the unilateral floating switch triggered by the vehicle falling into the pit corresponds to the actual side of the pit obtained by judgment and are on the same side. This can effectively ensure that the change in the actual angle of the entire vehicle is consistent with the triggering logic state of the floating switch, and thus make the action direction of the floating cylinder consistent with the corresponding action logic, avoiding the accident of the floating cylinder executing the opposite direction action and causing the vehicle to tip over when a vehicle malfunctions, thereby achieving safe control of the action of the floating cylinder, improving the safety of the floating function, meeting the requirements of the stability of the entire vehicle, and ensuring the life safety of the workers on the vehicle.

[0053] The above-mentioned vehicle can be an aerial work platform, that is, an aerial work vehicle, specifically, it can be a scissor-type aerial work platform or a self-propelled aerial work platform.

[0054] For example, the above-mentioned vehicle is an off-road scissor-type self-propelled aerial work platform.

[0055] In order to reflect the tilt direction of the vehicle and to judge whether it is tilted to the left or right by the tilt angle, the tilt angle of the frame has a positive or negative sign, and the corresponding relationship between the left and right tilt directions and the positive or negative signs needs to be set.

[0056] For example, the tilt angle when the frame is in a horizontal state is determined to be zero degrees, the tilt angle when the frame is higher on the left and lower on the right, that is, when it tilts to the right, is a positive angle, and the tilt angle when the frame is lower on the left and higher on the right, that is, when it tilts to the left, is a negative angle.

[0057] The tilt angle of the frame can reflect the tilt direction and tilt degree of the vehicle. The tilt direction can reflect whether the vehicle is tilted to the left or right, and the tilt degree can reflect the horizontal height difference between the left and right sides of the vehicle.

[0058] The above-mentioned tilting direction can be determined by the positive or negative value of the tilting angle.

[0059] For example, after setting the inclination angle of the frame when it is in a horizontal state as zero degrees, the inclination angle when the left side of the frame is higher than the right side, that is, when it is tilted to the right side as a positive angle, and the inclination angle when the left side of the frame is lower than the right side, that is, when it is tilted to the left side as a negative angle, the obtained inclination angle is a positive angle, it can be judged that the frame is higher on the left side and lower on the right side, that is, when it is tilted to the right side, and the obtained inclination angle is a negative angle, it can be judged that the left side of the frame is lower than the right side, that is, when it is tilted to the left side.

[0060] The above-mentioned inclination degree can be determined by the absolute value of the inclination angle.

[0061] When the tilt of the frame is small, it means that the horizontal heights of the left and right sides of the vehicle are close to the same, and the vehicle is running smoothly; when the tilt of the frame is too large, it means that the horizontal height difference between the left and right sides of the vehicle is too large, and the vehicle is tilted to one side, and one wheel may fall into a pothole, resulting in a situation where one side of the vehicle is higher than the other. Therefore, the above tilt can be positively correlated with the absolute value of the tilt angle.

[0062] For example, a larger absolute value of the obtained tilt angle indicates a larger tilt degree, and a smaller absolute value of the obtained tilt angle indicates a smaller tilt degree.

[0063] The inclination angle of the frame can be measured by a level sensor. The level sensor can be arranged on the frame to measure the inclination angle of the frame.

[0064] The above-mentioned frame can be a frame between the left front wheel and the right front wheel of the vehicle. The change in the inclination angle of the frame between the left front wheel and the right front wheel of the vehicle can make it easier to judge when the left front wheel or the right front wheel falls into a pothole.

[0065] The vehicle falling into a pothole may be a situation where the left front wheel or the right front wheel falls into a pothole, because the front wheel usually falls into a pothole during the vehicle's travel. The floating switch may be arranged on the rear wheel to detect whether the front wheel falls into a pothole.

[0066] The corresponding unilateral floating switch is triggered after the above-mentioned vehicle falls into the pit. The left floating switch is triggered after the left front wheel of the vehicle falls into the pit, and the right floating switch is triggered after the right front wheel of the vehicle falls into the pit.

[0067] Under normal circumstances, after the single-sided floating switch is triggered, the main controller performs the floating action according to the floating switch triggering side obtained, and the main controller sends a control signal to the floating function control valve. The floating function control valve extends the single-sided floating cylinder on the corresponding side to support the side that fell into the pit, and locks the floating cylinder to ensure the position of the floating cylinder, ensuring that the vehicle will not tip over after falling into the pit, thereby ensuring the safety of the vehicle.

[0068] However, when a vehicle fails, the trigger side of the floating switch may not be consistent with the actual side that fell into the pit, and the floating switch trigger signal transmitted to the main controller may be incorrect, resulting in the main controller obtaining the trigger side inconsistent with the actual side that fell into the pit. In this case, if the main controller performs the floating action according to the obtained floating switch trigger side, the control logic will be wrong, not only will it not support the side that fell into the pit, but it may also lift up the side that did not fall into the pit, which may cause serious accidents such as tipping and rollover.

[0069] In addition, when the left and right front wheels of the vehicle fall into a pothole at the same time, both the left and right floating switches will be triggered. However, the situation when the left and right front wheels fall into a pothole at the same time is more complicated. Extending the floating cylinders on both sides at the same time may not necessarily have a good effect on the stability of the vehicle. On the contrary, it may put the vehicle at risk of rolling.

[0070] The above-mentioned floating switch can be a travel switch. The working principle of the travel switch is mainly to use the collision of the moving parts of the production machinery to make the contacts move, so as to connect or disconnect the control circuit and achieve a certain control purpose. Usually, this type of switch is used to limit the position or stroke of the mechanical movement, so that the moving machinery can automatically stop, reverse, change speed or automatically reciprocate according to a certain position or stroke. Specifically, there is generally a set of normally open contacts and a set of normally closed contacts inside the travel switch. When the moving parts touch the operating mechanism of the travel switch, it will drive the internal transmission mechanism and auxiliary contacts to move, thereby realizing the opening and closing of the contacts.

[0071] For example, the left floating switch may be a left travel switch, and the right floating switch may be a right travel switch. When the vehicle does not fall into a pothole, both the left and right travel switches are in an open state; when the left front wheel of the vehicle falls into a pothole, the mechanical action of the pothole-falling process triggers the left floating switch, causing the left travel switch to switch to a closed state; when the right front wheel of the vehicle falls into a pothole, the mechanical action of the pothole-falling process triggers the right floating switch, causing the right travel switch to switch to a closed state.

[0072] The first tilt angle is the tilt angle of the frame when the vehicle has not fallen into the pit, and the second tilt angle is the tilt angle of the frame after the vehicle has fallen into the pit. The time when the vehicle has not fallen into the pit can be when both the left floating switch and the right floating switch are not triggered, and the time after the vehicle has fallen into the pit can be when the left floating switch or the right floating switch or both floating switches are triggered.

[0073] The first change angle is the difference between the first tilt angle and the second tilt angle, which can be the difference obtained by subtracting the first tilt angle from the second tilt angle, or the difference obtained by subtracting the second tilt angle from the first tilt angle. The first change angle reflects the actual angle change of the frame after the vehicle falls into the pit. Therefore, by analyzing the first change angle, the actual situation of the vehicle falling into the pit can be obtained, and the actual pit side and the actual tilt situation can be determined.

[0074] By judging by the first change angle, rather than judging the actual pit side only by the second tilt angle after falling into the pit, a more accurate judgment can be achieved. This is because when the vehicle is not on a horizontal plane before falling into the pit, the pit side judged only by the second tilt angle after falling into the pit may not match the actual pit side. Therefore, judging according to the difference between the initial angle before falling into the pit, i.e., the first tilt angle, and the second tilt angle after falling into the pit, i.e., the first change angle, can obtain a judgment result consistent with the actual situation.

[0075] The above-mentioned floating action can trigger the floating switch after the vehicle falls into a pit. The main controller sends a control signal to the floating function control valve according to the triggered floating switch side, so that the floating function control valve controls the corresponding single-sided floating cylinder to extend, thereby supporting the side that fell into the pit, and locking the floating cylinder to ensure the position of the floating cylinder, thereby ensuring that the vehicle will not tip over after falling into the pit.

[0076] For example, the above-mentioned floating action can be that the left floating switch is triggered after the vehicle falls into a pit, and the main controller sends a control signal to the floating function control valve, so that the floating function control valve controls the left floating cylinder to extend, and locks the floating cylinder to ensure the position of the floating cylinder. It should be noted that no matter whether the vehicle actually falls into the pit with its left front wheel or its right front wheel, as long as the left floating switch is triggered, the left floating cylinder will extend after the floating action is executed.

[0077] Therefore, the above-mentioned execution of the floating action or the safety control action according to the first change angle can be that when the actual pit-falling side of the vehicle indicated by the first change angle is consistent with the trigger switch side, the floating action is executed.

[0078] The above-mentioned safety control action can be that after the vehicle falls into a pit and triggers the float switch, the main controller sends a control signal to the float function control valve, so that the float function control valve limits the extension of the corresponding single-side floating cylinder.

[0079] For example, the vehicle's right front wheel actually fell into a pothole, but the left floating switch was triggered due to a fault. The above-mentioned safety control action can be that the main controller sends a control signal to the floating function control valve, so that the floating function control valve limits the extension of the left floating cylinder, thereby avoiding the vehicle from further tilting to the right or even rolling over.

[0080] Therefore, the above-mentioned execution of the floating action or the safety control action according to the first change angle can be that when the actual pit side indicated by the first change angle is inconsistent with the side of the triggered floating switch, the safety control action is executed.

[0081] The above-mentioned safety control actions may include limiting the walking action of the aerial work platform and limiting the lifting action of the aerial work platform.

[0082] The above safety control actions may also include alarm actions to report vehicle floating abnormalities, reminding staff to pay attention to operational safety and to perform repairs in a timely manner.

[0083] In some embodiments, performing a floating action or performing a safety control action according to the first change angle includes:

[0084] Determining the wheel falling state of the vehicle according to triggering the corresponding single-side floating switch and the first change angle after the vehicle falls into the pit;

[0085] According to the wheel drop status of the vehicle, a floating action or a safety control action is performed.

[0086] In this implementation, by combining the corresponding floating switch side triggered when the vehicle falls into a pit with the first change angle, it is determined whether the triggering side of the floating switch is logically consistent with the actual pit-falling situation, thereby ensuring the accuracy of the judgment and effectively ensuring that the actual angle change of the entire vehicle is consistent with the triggering logic state of the floating switch.

[0087] The above-mentioned method of determining the wheel falling state of the vehicle based on triggering the corresponding single-sided floating switch and the first change angle after the vehicle falls into a pit can be that when the corresponding floating switch side triggered after the vehicle falls into the pit is logically consistent with the first change angle situation, it can be determined that the wheel falling state of the vehicle is that the side corresponding to the triggered single-sided floating switch has fallen into the pit; when the corresponding floating switch side triggered after the vehicle falls into the pit is logically inconsistent with the first change angle situation, the specific wheel falling state of the vehicle cannot be determined.

[0088] The above-mentioned floating action or the safety control action is performed according to the wheel falling state of the vehicle. The floating action can be performed only when the wheel falling state of the vehicle can be determined, and the safety control action can be performed when the specific wheel falling state of the vehicle cannot be determined.

[0089] In some embodiments, the tilt angle of the frame when it is in a horizontal state is zero degrees, the tilt angle of the frame when it is higher on the left and lower on the right is a positive angle, and the tilt angle of the frame when it is lower on the left and higher on the right is a negative angle; the first change angle is a first difference obtained by subtracting the first tilt angle from the second tilt angle;

[0090] The method determines the wheel falling state of the vehicle according to triggering the corresponding single-side floating switch and the first change angle after the vehicle falls into the pit, including:

[0091] When the left floating switch is triggered and the first change angle is less than zero and the absolute value of the first change angle is greater than a first threshold, determining that the wheel drop state of the vehicle is a left front wheel drop state;

[0092] When the right floating switch is triggered and the first change angle is greater than zero, and the absolute value of the first change angle is greater than a first threshold, determining that the wheel drop state of the vehicle is a right front wheel drop state;

[0093] When the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state, the wheel falling state of the vehicle is determined to be an unknown falling state.

[0094] In this implementation, a specific method for determining the wheel falling state is given, and the conditions for determining the left front wheel falling state and the right front wheel falling state are clarified. When the state cannot be determined, it is judged as an unknown falling state, which can truly and effectively determine the actual condition of the vehicle, thereby ensuring the safety of subsequent floating actions.

[0095] The tilt angle of the frame when it is in a horizontal state is zero, the tilt angle of the frame when it is higher on the left and lower on the right is a positive angle, and the tilt angle of the frame when it is lower on the left and higher on the right is a negative angle, which is a definition of the positive and negative tilt angles of the frame. The first change angle is a first difference obtained by subtracting the first tilt angle from the second tilt angle, which is a specific definition of the first change angle.

[0096] Under the premise of the above definition, when the left front wheel of the vehicle falls into the pothole, the inclination angle of the vehicle frame should tilt to the left based on the original first inclination angle to reach the second inclination angle. Since the inclination angle when the left side of the frame is lower than the right side is a negative angle, the first change angle, that is, the first difference obtained by subtracting the second inclination angle from the first inclination angle, should be a negative value.

[0097] When the right front wheel of the vehicle falls into the pothole, the inclination angle of the vehicle frame should tilt to the right based on the original first inclination angle to reach the second inclination angle. Since the inclination angle when the left side of the frame is higher than the right side is a positive angle, the first change angle, that is, the first difference obtained by subtracting the second inclination angle from the first inclination angle, should be a positive value.

[0098] In addition, the floating action requires that the change in the vehicle frame tilt angle reaches a certain change angle, that is, the minimum change angle. If the change in the frame tilt angle is too small and does not affect the operation or travel of the vehicle, there is no need to perform the floating action, and it cannot be judged that the vehicle has fallen into a pothole. When the change in the frame tilt angle is greater than the minimum change angle, it can be judged that the vehicle has fallen into a pothole. The above minimum change angle can be set according to the specifications of the vehicle equipment and other specific conditions.

[0099] The first threshold may be an absolute value of the minimum change angle.

[0100] The absolute value of the first change angle is greater than the first threshold, that is, the change in the frame inclination angle is greater than the minimum change angle, which can be determined as a condition of falling into a pothole.

[0101] In the above-mentioned case where the left floating switch is triggered, when the first change angle is less than zero, it can be judged that the left front wheel of the vehicle has fallen into a pothole, and when the absolute value of the first change angle is greater than the first threshold, it can be judged that the change in the frame inclination angle is greater than the minimum change angle. Therefore, the triggered floating switch side is consistent with the actual pothole side and meets the judgment conditions of the pothole condition, so it can be determined that the wheel falling state of the vehicle is the left front wheel falling state.

[0102] In the above-mentioned case where the right floating switch is triggered, when the first change angle is greater than zero, it can be judged that the right front wheel of the vehicle has fallen into a pothole, and when the absolute value of the first change angle is greater than the first threshold, it can be judged that the change in the frame inclination angle is greater than the minimum change angle. Therefore, the triggered floating switch side is consistent with the actual pothole side and meets the judgment conditions of the pothole condition, so it can be determined that the wheel falling state of the vehicle is the right front wheel falling state.

[0103] In the above-mentioned situation where the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state, it can be determined that when the absolute value of the first change angle is less than or equal to the first threshold, the change in the frame inclination angle is not greater than the minimum change angle, and the judgment condition of falling into a pothole is not met, so the wheel falling state of the vehicle is determined to be an unknown falling state.

[0104] The above-mentioned situation where the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state may be the case where the left floating switch is triggered and the absolute value of the first change angle is less than the first threshold value, or the case where the right floating switch is triggered and the absolute value of the first change angle is greater than the first threshold value. At this time, the triggered floating switch side is inconsistent with the actual pit falling side, so the wheel falling state of the vehicle is determined to be an unknown falling state.

[0105] The above-mentioned situation where the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state may be when the left floating switch and the right floating switch are triggered at the same time. Since the conditions that the first change angle is less than zero and the first change angle is greater than zero cannot be met at the same time, the wheel falling state of the vehicle is determined to be an unknown falling state. At this time, the left and right front wheels of the vehicle fall into the pit at the same time, and the situation is more complicated. Extending the floating cylinders on both sides at the same time may not necessarily have a better effect on the stability of the vehicle. On the contrary, it may cause the vehicle to be at risk of rolling. Therefore, the wheel falling state of the vehicle is determined to be an unknown falling state.

[0106] In some cases, the definition of the positive and negative inclination angle of the frame and the definition of the first change angle can be changed according to actual conditions. Accordingly, the judgment conditions for determining the wheel drop state of the vehicle need to be adaptively modified, which will not be elaborated here.

[0107] In some embodiments, according to the wheel falling state, a floating action or a safety control action is performed, including:

[0108] When the wheel falls off in the left front wheel falling state, the left floating cylinder corresponding to the left floating switch triggering is controlled to move;

[0109] When the wheel falls off in the right front wheel falling state, the right floating cylinder corresponding to the triggering of the right floating switch is controlled to move;

[0110] When the wheel fall state is an unknown fall state, a safety control action is performed.

[0111] In this embodiment, the floating action is performed only when it is determined that the wheel falling state of the vehicle is the left front wheel falling state or the right front wheel falling state, and the corresponding single-sided floating cylinder action is controlled. This can effectively avoid the risks of floating cylinder action in an unknown falling state, improve the safety of the floating function, and meet the requirements of vehicle stability.

[0112] The above-mentioned wheel falling state is an unknown falling state, which may be a situation where the change in the inclination angle of the frame after the vehicle falls into a pit is not greater than the minimum change angle, that is, the pit into which the vehicle falls is shallow and there is no need to perform a floating action.

[0113] The above-mentioned wheel falling state is an unknown falling state. It can also be a situation where the side of the triggered floating switch is inconsistent with the actual side of the pit, such as triggering the left floating switch and actually falling into the pit on the right side, or triggering the right floating switch and actually falling into the pit on the left side. In this case, controlling the floating cylinder on the corresponding side to extend according to the triggered floating switch side will only lead to more serious roll phenomenon, so safety control action needs to be performed.

[0114] The above-mentioned wheel falling state is an unknown falling state. It can also be that the left and right front wheels of the vehicle fall into the pit at the same time. When the left floating switch and the right floating switch are triggered at the same time, the situation in this falling state is more complicated. Extending the floating cylinders on both sides at the same time may not necessarily have a good effect on the stability of the vehicle. On the contrary, it may cause the vehicle to be at risk of rolling. Therefore, safety control actions need to be performed.

[0115] In some implementations, before obtaining the first tilt angle, the method further includes:

[0116] Obtaining a first left floating pressure and a first right floating pressure, where the first left floating pressure and the first right floating pressure are the working pressures of the floating cylinders on the left and right sides when the vehicle does not fall into a pit;

[0117] When the first left floating pressure or the first right floating pressure is greater than the second threshold value and the duration is greater than the first preset judgment time, a safety control action is executed.

[0118] In this embodiment, the left and right floating pressures are detected when the vehicle has not fallen into a pit and it is determined whether they are within a normal range. When the pressure value is abnormal, a safety control action is performed. By safely detecting the floating pressure, the safety of the floating function can be ensured.

[0119] The working pressure of the floating cylinders on the left and right sides when the vehicle does not fall into the pit is, under normal circumstances, when the vehicle does not fall into the pit, the floating cylinders do not extend, and theoretically the first left floating pressure and the first right floating pressure can be 0 bar, but in actual situations, the actual values ​​can fluctuate to a certain extent within the normal range, and the above normal range can be between 0 bar and the second threshold. When the first left floating pressure or the first right floating pressure is higher than the second threshold for more than the first preset judgment time, it indicates an abnormality and a safety control action needs to be executed.

[0120] When the above-mentioned vehicle has not fallen into a pit, the working pressure of the floating cylinders on the left and right sides can be measured by the floating pressure detection sensor arranged near the connection between the floating function control valve and the floating cylinder, wherein a left floating pressure detection sensor is arranged near the connection between the floating function control valve and the left floating cylinder, and a right floating pressure detection sensor is arranged near the connection between the floating function control valve and the right floating cylinder.

[0121] The second threshold value can be set according to actual conditions. The second threshold value can be set between 30 and 50 bar, and specifically, the second threshold value can be 40 bar.

[0122] The first preset judgment time mentioned above can be set according to actual conditions.

[0123] In some implementations, before obtaining the second tilt angle, the method further includes:

[0124] Obtaining a second floating pressure, where the second floating pressure is the working pressure of the single-side floating cylinder corresponding to the corresponding single-side floating switch triggered after the vehicle falls into a pit;

[0125] When the second floating pressure is less than the third threshold value and the duration is greater than the second preset judgment time, a safety control action is executed.

[0126] In this embodiment, the unilateral floating pressure corresponding to the unilateral floating switch triggered after the vehicle falls into a pit is detected, and it is determined whether the pressure value is within the normal range. When the pressure value is abnormal, a safety control action is performed. By safely detecting the floating pressure, the safety of the floating function can be guaranteed.

[0127] The above-mentioned second floating pressure can be the working pressure of the left floating cylinder corresponding to the left floating switch triggered after the vehicle falls into a pit; it can also be the working pressure of the right floating cylinder corresponding to the right floating switch triggered after the vehicle falls into a pit.

[0128] The above-mentioned second floating pressure, under normal circumstances, after the vehicle falls into a pit, the floating cylinder on the corresponding side extends and supports the vehicle. In theory, the floating pressure on the corresponding side can be the maximum working pressure of the floating cylinder, but in actual situations, the actual value can fluctuate to a certain extent within the normal range, and the above-mentioned normal range can be between the third threshold and the maximum working pressure of the floating cylinder. When the second floating pressure is lower than the third threshold for more than the second preset judgment time, it indicates that an abnormality has occurred, the floating cylinder cannot play a reliable supporting role, and a safety control action needs to be executed.

[0129] The third threshold value can be set according to actual conditions. When the maximum working pressure of the floating oil cylinder is 240 bar, the third threshold value can be set between 190 bar and 210 bar. Specifically, the third threshold value can be 200 bar.

[0130] The second preset judgment time mentioned above can be set according to actual conditions.

[0131] In some embodiments, when the scissor platform of the aerial work platform is raised to the working height, during the walking action, the floating control function of the equipment needs to perform floating control according to the control logic to ensure the reliable and stable operation of the whole vehicle under this working condition. Specifically, when there is no pit fall, the first left floating pressure and the first right floating pressure are obtained to determine whether they are within the normal range. If they are not within the normal range, a safety control action is performed and the first tilt angle is obtained; after falling into the pit, the second floating pressure is obtained to determine whether it is within the normal range. If it is not within the normal range, a safety control action is performed and the second tilt angle is obtained, and then the first change angle is obtained to determine the wheel drop state. When the wheel drop state is the left front wheel drop state or the right front wheel drop state, a floating action is performed, and when the wheel drop state is an unknown drop state, a safety control action is performed.

[0132] In some embodiments, when the scissor platform of the aerial work platform is not raised, the floating cylinder can float freely according to the road conditions, crossing obstacles and potholes, so that the entire vehicle has better off-road performance.

[0133] The floating safety control method provided in the embodiment of the present application may be executed by the floating safety control device 200. In the embodiment of the present application, the floating safety control device 200 executing the floating safety control method is taken as an example to illustrate the floating safety control device 200 provided in the embodiment of the present application.

[0134] See also Figure 2 , is a schematic diagram of the structure of a floating safety control device 200 provided in an embodiment of the present application. Figure 2 As shown, the floating safety control device 200 includes:

[0135] A first acquisition module 201 is used to acquire a first tilt angle, where the first tilt angle is the tilt angle of the vehicle frame when the vehicle does not fall into a pit;

[0136] The second acquisition module 202 is used to acquire a second tilt angle, which is the tilt angle of the vehicle frame after the vehicle falls into a pit; wherein the corresponding single-side floating switch is triggered after the vehicle falls into the pit, and the single-side floating switch includes a left floating switch and a right floating switch;

[0137] A third acquisition module 203 is used to acquire a first change angle, where the first change angle is a difference between the first tilt angle and the second tilt angle;

[0138] The execution module 204 is used to execute a floating action or a safety control action according to the first change angle; the floating action is used to control the action of the single-sided floating cylinder corresponding to the corresponding single-sided floating switch triggered after the vehicle falls into a pit, and the safety control action is used to limit the action of the floating cylinder.

[0139] In some implementations, the execution module 204 may be specifically configured to:

[0140] Determining the wheel falling state of the vehicle according to triggering the corresponding single-side floating switch and the first change angle after the vehicle falls into the pit;

[0141] According to the wheel drop status of the vehicle, a floating action or a safety control action is performed.

[0142] In some embodiments, the tilt angle of the frame when it is in a horizontal state is zero degrees, the tilt angle of the frame when it is higher on the left and lower on the right is a positive angle, and the tilt angle of the frame when it is lower on the left and higher on the right is a negative angle; the first change angle is the difference between the second tilt angle and the first tilt angle;

[0143] The execution module 204 may be specifically used for:

[0144] When the left floating switch is triggered and the first change angle is less than zero and the absolute value of the first change angle is greater than a first threshold, determining that the wheel drop state of the vehicle is a left front wheel drop state;

[0145] When the right floating switch is triggered and the first change angle is greater than zero, and the absolute value of the first change angle is greater than a first threshold, determining that the wheel drop state of the vehicle is a right front wheel drop state;

[0146] When the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state, the wheel falling state of the vehicle is determined to be an unknown falling state.

[0147] In some implementations, the execution module 204 may be specifically configured to:

[0148] When the wheel falls off in the left front wheel falling state, the left floating cylinder corresponding to the left floating switch triggering is controlled to move;

[0149] When the wheel falls off in the right front wheel falling state, the right floating cylinder corresponding to the triggering of the right floating switch is controlled to move;

[0150] When the wheel fall state is an unknown fall state, a safety control action is performed.

[0151] In some implementations, the first acquisition module 201 may also be used to:

[0152] Obtaining a first left floating pressure and a first right floating pressure, where the first left floating pressure and the first right floating pressure are the working pressures of the floating cylinders on the left and right sides when the vehicle does not fall into a pit;

[0153] When the first left floating pressure or the first right floating pressure is greater than the second threshold value and the duration is greater than the first preset judgment time, a safety control action is executed.

[0154] In some implementations, the second acquisition module 202 may also be used to:

[0155] Obtaining a second floating pressure, where the second floating pressure is the working pressure of the single-side floating cylinder corresponding to the corresponding single-side floating switch triggered after the vehicle falls into a pit;

[0156] When the second floating pressure is less than the third threshold value and the duration is greater than the second preset judgment time, a safety control action is executed.

[0157] Since the floating safety control device 200 adopts all the technical solutions of the floating safety control method of the above embodiment, it at least has all the beneficial effects brought by the technical solutions of the above embodiment, which will not be described in detail here.

[0158] Figure 3 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0159] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0160] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0161] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 302 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory.

[0162] In some embodiments, the memory 302 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0163] The processor 301 implements any one of the floating safety control methods in the above embodiments by reading and executing computer program instructions stored in the memory 302 .

[0164] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 3 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0165] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0166] Bus 310 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0167] The electronic device can execute the floating safety control method in the embodiment of the present application, thereby realizing the combination Figure 1 and Figure 2 Described is a floating safety control method and device.

[0168] An embodiment of the present application may provide an aerial work platform, which includes the above-mentioned electronic device.

[0169] In addition, in combination with the floating safety control method in the above embodiments, the present application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the floating safety control methods in the above embodiments is implemented.

[0170] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0171] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0172] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0173] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box 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, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0174] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A floating safety control method, characterized in that: include: Acquire a first tilt angle, where the first tilt angle is a tilt angle of the vehicle frame when the vehicle does not fall into a pit; Acquire a second tilt angle, where the second tilt angle is the tilt angle of the vehicle frame after the vehicle falls into the pit; wherein the corresponding single-side floating switch is triggered after the vehicle falls into the pit, and the single-side floating switch includes a left floating switch and a right floating switch; Acquire a first change angle, where the first change angle is a difference between the first tilt angle and the second tilt angle; According to the first change angle, a floating action or a safety control action is performed; the floating action is used to control and trigger the single-sided floating cylinder action corresponding to the corresponding single-sided floating switch after the vehicle falls into a pit, and the safety control action is used to limit the floating cylinder action.

2. The floating safety control method according to claim 1, characterized in that: The performing a floating action or a safety control action according to the first change angle includes: Determining the wheel falling state of the vehicle according to triggering the corresponding single-side floating switch after the vehicle falls into the pit and the first change angle; According to the wheel falling state of the vehicle, the floating action is performed or the safety control action is performed.

3. The floating safety control method according to claim 2, characterized in that: When the frame is in a horizontal state, the inclination angle of the frame is zero degrees, when the left side of the frame is higher than the right side of the frame, the inclination angle of the frame is a positive angle, and when the left side of the frame is lower than the right side of the frame, the inclination angle of the frame is a negative angle; the first change angle is a first difference obtained by subtracting the first inclination angle from the second inclination angle; The method of determining the wheel falling state of the vehicle according to triggering the corresponding single-side floating switch after the vehicle falls into a pit and the first change angle includes: When the left floating switch is triggered, and when the first change angle is less than zero, and the absolute value of the first change angle is greater than a first threshold, determining that the wheel falling state of the vehicle is a left front wheel falling state; When the right floating switch is triggered, and when the first change angle is greater than zero, and the absolute value of the first change angle is greater than a first threshold, determining that the wheel falling state of the vehicle is a right front wheel falling state; In the case that the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state, the wheel falling state of the vehicle is determined to be an unknown falling state.

4. The floating safety control method according to claim 3, characterized in that: The performing of a floating action or a safety control action according to the wheel falling state includes: When the wheel falling state is the left front wheel falling state, controlling the left floating cylinder corresponding to the triggering of the left floating switch to act; When the wheel falling state is the right front wheel falling state, controlling the right floating cylinder corresponding to the triggering of the right floating switch to act; When the wheel falling state is the unknown falling state, the safety control action is performed.

5. The floating safety control method according to claim 1, characterized in that: Before obtaining the first tilt angle, the method further includes: Obtaining a first left floating pressure and a first right floating pressure, wherein the first left floating pressure and the first right floating pressure are the working pressures of the floating cylinders on the left and right sides when the vehicle does not fall into a pit; When the first left floating pressure or the first right floating pressure is greater than a second threshold value and the duration is greater than a first preset judgment time, the safety control action is executed.

6. The floating safety control method according to claim 1 or 5, characterized in that: Before obtaining the second tilt angle, the method further includes: Acquire a second floating pressure, where the second floating pressure is the working pressure of the single-side floating cylinder corresponding to the single-side floating switch triggered after the vehicle falls into a pit; When the second floating pressure is less than a third threshold value and the duration is greater than a second preset judgment time, the safety control action is executed.

7. A floating safety control device, characterized in that: include: A first acquisition module is used to acquire a first tilt angle, where the first tilt angle is a tilt angle of the vehicle frame when the vehicle does not fall into a pit; A second acquisition module is used to acquire a second tilt angle, where the second tilt angle is the tilt angle of the vehicle frame after the vehicle falls into a pit; wherein the corresponding single-side floating switch is triggered after the vehicle falls into the pit, and the single-side floating switch includes a left floating switch and a right floating switch; A third acquisition module is used to acquire a first change angle, where the first change angle is a difference between the first tilt angle and the second tilt angle; An execution module is used to perform a floating action or a safety control action according to the first change angle; the floating action is used to control and trigger the single-sided floating cylinder action corresponding to the corresponding single-sided floating switch after the vehicle falls into a pit, and the safety control action is used to limit the floating cylinder action.

8. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the floating safety control method according to any one of claims 1 to 6 are implemented.

9. An aerial work platform, characterized in that: Comprising the electronic device as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the floating safety control method according to any one of claims 1 to 6.

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