Overhead working truck, control method, control device and machine readable storage medium

Abstract

The invention provides an overhead working truck, a control method, a control device and a machine readable storage medium. The method comprises the steps that an operation instruction is obtained; under the condition that an operation instruction is received, whether the current inclination angle of the frame, the current load of the working platform, the actual operation range of the overhead working truck and the current oil cylinder pressure of the multiple supporting leg structures meet operation conditions or not is sequentially judged according to a preset sequence; and determining that the current inclination angle, the current load and the actual operation range all meet the operation conditions and each current oil cylinder pressure does not exceed the preset pressure range, and controlling the overhead working truck to operate according to the operation instruction. On the premise that the current inclination angle, the current load, the actual operation range and each current oil cylinder pressure all meet the operation conditions, it is judged that the overhead working truck has enough stability, the judgment precision can be ensured through comprehensive judgment of the four conditions, and therefore unnecessary action limitation is avoided, the operation range of the overhead working truck can be greatly widened, and the working efficiency is improved. And the frequent vehicle moving probability is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerial work, and in particular relates to an aerial work vehicle, a control method, a control device and a machine-readable storage medium. Background Art

[0002] Spider-type aerial work vehicles and other aerial work vehicles are mobile aerial work products widely used in aerial work, equipment inspection and maintenance in various industries. During the operation of the aerial work vehicle, it must be ensured that the stabilizing moment is greater than the tipping moment, that is, the stability is sufficient to avoid tipping due to insufficient stability, resulting in casualties or property losses.

[0003] Aerial work vehicles are generally equipped with overload and anti-rollover systems, and their operating range is limited. Since the anti-rollover system is calculated based on extremely harsh working conditions, some operating postures are still restricted even if the stability of the whole machine has enough margin, which seriously limits the operating range of the aerial work vehicle. These situations include but are not limited to:

[0004] 1) When the platform load is much less than the rated load, the boom system is horizontal (or nearly horizontal) and the current telescopic stroke of the boom system reaches the maximum allowed value, even if the boom system is extended a certain distance, the vehicle still has sufficient stability, but the boom system is generally limited and cannot be extended further;

[0005] 2) The current telescopic stroke of the boom system is small. When the current platform load is close to the rated load, the vehicle still has sufficient stability if the boom system is extended a certain distance, but the allowable platform load cannot be increased;

[0006] 3) The telescopic strokes of the main boom and the flying boom of the boom system have corresponding maximum limits. However, the maximum values ​​of the telescopic strokes of the main boom and the flying boom are set based on the fact that the whole machine still has sufficient stability when both reach the maximum values ​​at the same time. The main boom telescopic stroke cannot be less than the maximum limit, while the flying boom telescopic stroke exceeds the maximum limit (even if there is still sufficient stability at this time). Summary of the invention

[0007] The main purpose of the present invention is to propose an aerial work vehicle, a control method, a control device and a machine-readable storage medium, aiming to solve the technical problem of poor operating flexibility of the aerial work vehicle in the prior art.

[0008] In order to achieve the above object, the present invention provides an aerial work vehicle including a frame, a turntable mounted on the frame, and a plurality of outrigger structures, wherein a boom system and a working platform connected to the boom system are mounted on the turntable, and the aerial work vehicle control method includes:

[0009] Get job instructions;

[0010] Upon receiving an operation instruction, determining in a preset order whether the current inclination angle of the frame, the current load of the working platform, the actual operating range of the aerial work vehicle, and the current oil cylinder pressure of the plurality of outrigger structures meet the operating conditions;

[0011] Determine that the current inclination angle, the current load and the actual operating range all meet the operating conditions, and that each current cylinder pressure does not exceed a preset pressure range, and control the aerial work vehicle to operate according to the operating instructions.

[0012] In an embodiment of the present invention, the determining in a preset order whether the current inclination angle of the frame, the current load of the working platform, the actual operating range of the aerial work vehicle, and the current cylinder pressure of the plurality of outrigger structures meet the operating conditions includes:

[0013] Obtaining the current inclination angle and a preset inclination angle threshold;

[0014] Determining whether the current inclination angle exceeds the preset inclination angle threshold;

[0015] Determine that the current inclination angle does not exceed the preset inclination angle threshold, and obtain the current load and the preset load threshold;

[0016] Determining whether the current load exceeds the preset load threshold;

[0017] Determining that the current load does not exceed the preset load threshold, and obtaining the actual operating range and the preset operating range;

[0018] Determining whether the actual operating range exceeds the preset operating range;

[0019] Determine that the actual operating range does not exceed the preset operating range, and obtain a plurality of current cylinder pressures and the preset pressure ranges;

[0020] Determine whether the current oil cylinder pressures exceed a preset telescopic pressure range.

[0021] In an embodiment of the present invention, the aerial work vehicle control method includes:

[0022] Determining that the current inclination angle exceeds the preset inclination angle threshold, restricting the movement of the aerial work vehicle;

[0023] Determining that the current load exceeds a preset load threshold, and restricting the movement of the aerial work vehicle;

[0024] Determining that the actual operating range exceeds the preset operating range, restricting the movement of the aerial work vehicle;

[0025] It is determined that at least one of the current cylinder pressures does not meet a preset pressure range, and the aerial work vehicle is restricted in its movement.

[0026] In an embodiment of the present invention, the limiting the action of the aerial work vehicle includes:

[0027] The driving and turning movements of the chassis are prohibited, the rotation movement of the turntable is prohibited, the amplitude change and boom extension movements of the boom system are prohibited, and the retraction operation of the boom system and the movement of the working platform are allowed.

[0028] In an embodiment of the present invention, obtaining the actual operating range and the preset operating range includes:

[0029] Obtaining the deployed position of the legs;

[0030] Determine the actual operating range according to the deployment position and the current load,

[0031] The actual operating range includes the actual operating range of the boom and the actual operating range of the turntable, and the preset operating range includes the preset operating range of the boom and the preset operating range of the turntable.

[0032] In an embodiment of the present invention, the leg structure includes a leg, a leg cylinder driving the leg, and a support plate arranged at the bottom of the leg, the leg is hinged to the leg hinge point of the frame, and the obtaining of the multiple current cylinder pressures and the preset pressure range includes:

[0033] Obtaining a preset range of the support reaction force of the outrigger, the cylinder force of the outrigger cylinder, the cylinder force arm from the outrigger hinge point to the cylinder force, the support reaction force arm from the outrigger hinge point to the support plate, and the cylinder diameter cross section of the outrigger cylinder;

[0034] The preset pressure range is calculated based on the preset range of the support reaction force, the cylinder force, the cylinder force arm, the support reaction force arm and the cylinder bore cross section.

[0035] In an embodiment of the present invention, the boom system includes a telescopic main boom and a telescopic flying boom, one end of the telescopic main boom is hinged to the turntable, and the other end is hinged to one end of the telescopic flying boom, and the other end of the telescopic flying boom is hinged to the working platform, and controlling the aerial work vehicle to perform operations according to the operation instructions includes:

[0036] Obtaining the required telescopic stroke of the telescopic main arm and the telescopic flying arm included in the operation instruction;

[0037] Determine that the telescopic stroke requirement does not exceed the maximum telescopic stroke of the telescopic main arm and the telescopic flying arm, and control the aerial work vehicle to perform the operation according to the operation instruction.

[0038] The present invention also provides a control device for an aerial work vehicle, comprising:

[0039] a memory configured to store instructions; and

[0040] The processor is configured to call the instructions from the memory and implement the aerial work vehicle control method as described above when executing the instructions.

[0041] The present invention also provides an aerial work vehicle, which includes the aerial work vehicle control device as described above.

[0042] The present invention also proposes a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the aerial work vehicle control method described above.

[0043] Through the above technical solution, the aerial work vehicle control method provided by the embodiment of the present invention has the following beneficial effects:

[0044] When receiving the operation instruction, the current inclination angle of the frame, the current load of the working platform, the actual operation range of the aerial work vehicle and the current oil cylinder pressure of the multiple leg structures are judged in sequence according to the preset order to see whether they meet the operation conditions. Arranging them in a preset order can reduce the amount of calculation. If one of the conditions is not met, the other conditions will not be judged. It can be directly considered that the stability is insufficient. The control logic is simpler and less prone to errors. The limiting logic of the boom action is simplified, which greatly improves the flexibility of the product, greatly reduces the probability of equipment movement, and reduces the site requirements. It is determined that the current inclination angle, the current load and the actual operation range all meet the operation conditions, and each current oil cylinder pressure does not exceed the preset pressure range. The aerial work vehicle is controlled to operate according to the operation instruction. The above judgment content can be repeated in real time while maintaining the operation state. The safety margin that does not exceed the stability is sufficient, which can improve the accuracy of the tipping judgment, avoid the operation restrictions under the condition of sufficient stability, and increase the operation range (mainly the operation range of the boom system) and the maximum allowable inclination angle of the frame without changing the structure. The product will have a qualitative improvement without changing the cost of the whole machine, greatly improving the competitiveness of the product. The aerial work vehicle can be greatly reduced in the probability of moving the equipment and adjusting the position of the outrigger structure when in use. In the present invention, the aerial work vehicle is judged to have sufficient stability on the premise that the current inclination angle, the current load, the actual operating range and each current cylinder pressure meet the operating conditions. The comprehensive judgment of the four conditions can ensure the judgment accuracy, thereby avoiding unnecessary action restrictions, greatly improving the operating range of the aerial work vehicle and reducing the probability of frequent vehicle movement.

[0045] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to provide an understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0047] Figure 1 is a schematic diagram of a method for controlling an aerial work vehicle according to an embodiment of the present invention;

[0048] Figure 2 It is an intention of the boom operation range for an aerial work vehicle according to one embodiment of the present invention;

[0049] Figure 3 is a schematic diagram of the operating range of a turntable for an aerial work vehicle according to an embodiment of the present invention;

[0050] Figure 4 is a schematic diagram of a structure for an aerial work vehicle according to one embodiment of the present invention;

[0051] Figure 5 It is a schematic diagram of the structure of an aerial work vehicle in one state according to one embodiment of the present invention;

[0052] Figure 6 is a schematic diagram of the structure of an aerial work vehicle in another state according to one embodiment of the present invention;

[0053] Figure 7 is a schematic diagram of the structure of an aerial work vehicle in another state according to an embodiment of the present invention;

[0054] Figure 8 is a schematic diagram of a structure of an aerial work vehicle in another state according to an embodiment of the present invention;

[0055] Fig. 9 is a structural schematic diagram of an outrigger structure used in an aerial work vehicle according to an embodiment of the present invention;

[0056] Fig.10 It is a flow chart of a method for controlling an aerial work vehicle according to one embodiment of the present invention.

[0057] Description of Reference Numerals

[0058] Label Name Label Name

[0059] 1 Leg structure 5 Turntable

[0060] 1.1 Outrigger Cylinder 6 Boom System

[0061] 1.2 Cylinder pressure sensor 6.1 Telescopic main arm

[0062] 1.3 Outriggers 6.1.1 Main arm luffing cylinder

[0063] 1.4 Support plate 6.1.2 Main arm angle detection sensor

[0064] 2 Frame 6.1.3 Main arm travel detection sensor

[0065] 2.1 Outrigger position detection sensor 6.2 Telescopic boom

[0066] 2.2 Inclination sensor 6.2.1 Flying arm angle detection sensor

[0067] 3 Chassis 6.2.2 Flying arm travel detection sensor

[0068] 4 Rotating mechanism 7 Working platform

[0069] 4.1 Rotation angle detection sensor 7.1 Weighing sensor DETAILED DESCRIPTION

[0070] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0071] The following describes the aerial work vehicle control method according to the present invention with reference to the accompanying drawings.

[0072] like Figures 1 to 10 As shown, in an embodiment of the present invention, the aerial work vehicle includes a frame 2, a turntable 5 mounted on the frame 2, and a plurality of leg structures 1. The turntable 5 is mounted with a boom system 6 and a working platform 7 connected to the boom system 6. The control method of the aerial work vehicle includes:

[0073] Step S1, obtaining a job instruction;

[0074] Step S2, upon receiving the operation instruction, determining in a preset order whether the current inclination angle of the frame 2, the current load of the working platform 7, the actual operating range of the aerial work vehicle, and the current cylinder pressure of the multiple outrigger structures 1 meet the operating conditions;

[0075] Step S3, determining that the current inclination angle, current load and actual operating range all meet the operating conditions, and that each current cylinder pressure does not exceed a preset pressure range, and controlling the aerial work vehicle to operate according to the operating instructions.

[0076] The aerial work vehicle in this embodiment may be a spider-type aerial work vehicle, and the frame 2 may be provided with a leg position detection sensor 2.1 for detecting the current unfolded position of the leg structure 1; the frame 2 may be provided with an inclination sensor 2.2 for detecting the current inclination angle of the frame 2; the turntable 5 is connected to the frame 2 via a slewing mechanism 4, and the slewing mechanism 4 may be provided with a slewing angle detection sensor 4.1 for detecting the current slewing angle of the turntable 5; the telescopic main arm 6.1 of the boom system 6 may be provided with a main arm amplitude cylinder 6 for driving the telescopic main arm 6.1 to change its amplitude. 1.1. A main boom angle detection sensor 6.1.2 for detecting the main boom angle and a main boom travel detection sensor 6.1.3 for detecting the telescopic travel of the main boom. The telescopic flying boom 6.2 of the boom system 6 may be provided with a flying boom angle detection sensor 6.2.1 for detecting the flying boom angle and a flying boom travel detection sensor 6.2.2 for detecting the telescopic travel of the flying boom; a weighing sensor 7.1 for detecting the current load may be provided on the working platform 7. All sensors are electrically connected to the aerial work vehicle control device and can transmit detection signals to the aerial work vehicle control device.

[0077] like Figure 5 As shown, the aerial work vehicle in this embodiment includes four leg structures 1, and the four leg structures 1 are all in the storage position. The four leg structures 1 are folded on the frame 2, as shown in FIG. Figure 6 As shown, the four leg structures 1 are all in the unfolded position 1. Figure 7 As shown, the four leg structures 1 are all in the second unfolding position. Figure 8 As shown, the left front outrigger structure 1 is in the second unfolded position, and the other three outrigger structures 1 are in the first unfolded position. In this embodiment, when the aerial work vehicle is operating, each outrigger structure 1 can be in the first unfolded position or the second unfolded position, and none of them can be in the stowed position.

[0078] When receiving the operation instruction, the current inclination angle of the frame 2, the current load of the working platform 7, the actual operation range of the aerial work vehicle and the current oil cylinder pressure of the multiple leg structures 1 are judged in sequence according to the preset order to see whether they meet the operation conditions. Arranging them in a preset order can reduce the amount of calculation. If one of the conditions is not met, the other conditions will not be judged. It can be directly considered that the stability is insufficient. The control logic is simpler and less prone to errors. The limiting logic of the boom action is simplified, which greatly improves the flexibility of the product, greatly reduces the probability of equipment movement, reduces the site requirements, and determines that the current inclination angle, current load and actual operation range all meet the operation conditions, and each current oil cylinder pressure does not exceed the preset pressure range, and controls the aerial work vehicle to operate according to the operation instruction. The above judgment content can be repeated in real time while maintaining the operation state. The safety margin that does not exceed the stability is sufficient, which can improve the accuracy of the tipping judgment, avoid the operation restrictions under the condition of sufficient stability, and increase the operation range (mainly the operation range of the boom system 6) and the maximum allowable inclination angle of the frame 2 without changing the structure. The product will have a qualitative improvement without changing the cost of the whole machine, and greatly improve the competitiveness of the product. The aerial work vehicle can be greatly reduced in the probability of equipment movement when in use, and the probability of adjusting the position of the outrigger structure 1 can be reduced. In this embodiment, the aerial work vehicle is judged to have sufficient stability under the premise that the current inclination angle, current load, actual operating range and each current cylinder pressure meet the operating conditions. The comprehensive judgment of the four conditions can ensure the judgment accuracy, thereby avoiding unnecessary action restrictions, greatly improving the operating range of the aerial work vehicle and reducing the probability of frequent vehicle movement.

[0079] This embodiment allows the aerial work vehicle to operate only when all four conditions are met. This can accurately avoid the situation where the stability of the entire machine is sufficiently surplus but the movement is still restricted. When the current load is much smaller than the rated load, the boom system 6 is horizontal (or close to horizontal) and the current telescopic stroke of the boom system 6 reaches the maximum allowed value, even if the boom system 6 is extended a certain distance at this time, the entire vehicle still has sufficient stability, and the boom system 6 is not restricted from being extended further. The allowed preset load threshold can be increased, and when the current load is close to the rated load, the boom system 6 can be extended a certain distance.

[0080] Specifically, judging in a preset order whether the current inclination angle of the frame 2, the current load of the working platform 7, the actual operating range of the aerial work vehicle, and the current cylinder pressure of the multiple leg structures 1 meet the operating conditions includes:

[0081] Get the current tilt angle and the preset tilt angle threshold;

[0082] Determine whether the current inclination angle exceeds a preset inclination angle threshold;

[0083] Determine that the current inclination angle does not exceed a preset inclination angle threshold, and obtain the current load and the preset load threshold;

[0084] Determine whether the current load exceeds the preset load threshold;

[0085] Determine that the current load does not exceed the preset load threshold, and obtain the actual operating range and the preset operating range;

[0086] Determine whether the actual operating range exceeds the preset operating range;

[0087] Determine that the actual operating range does not exceed the preset operating range, and obtain multiple current cylinder pressures and preset pressure ranges;

[0088] Determine whether the current pressures of multiple cylinders exceed the preset pressure range.

[0089] Under the premise that the operation is allowed only when all four conditions are met, a larger preset inclination angle threshold of the frame 2 can be set, such as 3° (the existing solution is 1°) (the inclination angle of the frame 2 can be 0.5° or 2.5° during actual operation), and at the same time, the preset operating range can be expanded on this basis to increase the operating range of the boom system 6 when the turntable 5 is at different angles. The preset inclination angle threshold can be larger than the allowable value of the existing solution, and the current inclination angle of the frame 2 is detected in real time. If the current inclination angle exceeds the preset inclination angle threshold, the movement of the whole vehicle is restricted. The weighing sensor 7.1 is used to detect the current load of the working platform 7 in real time, and the current load m of the working platform 7 is detected in real time. If m>M, the platform is considered to be overloaded and the movement of the whole vehicle is restricted. By increasing the set operating range, the actual operating range of the equipment can be prevented from exceeding the preset operating range. As a supplementary restriction condition, the safety of the equipment can be increased. The pressures of the four outrigger cylinders 1.1, p1, p2, p3, and p4, are detected in real time. A smaller pressure value pa and a larger pressure value pb (pb>pa) are set as the critical pressures of the pressure values ​​of the four outrigger cylinders 1.1 to prevent the pressure of each outrigger cylinder 1.1 from being too small or too large, that is, the stability of the whole machine is insufficient.

[0090] During operation, the current cylinder pressure of the four outrigger cylinders 1.1 is continuously used for boundary judgment, and the judgment conditions are as follows:

[0091] pa≤p1≤pb; pa≤p2≤pb; pa≤p3≤pb; pa≤p4≤pb;

[0092] If all four inequalities are true, it is determined that the four current cylinder pressures are within the preset pressure range and the whole machine has sufficient stability; if none of the four inequalities are true, it is determined that the safety margin of the whole machine's stability is insufficient at this time and there is a risk of overturning if the whole machine continues to operate.

[0093] In this embodiment, by successively judging the current inclination angle, current load, actual operating range and current cylinder pressure, the control logic can be further simplified. The method of starting from the simple to the complex can avoid subsequent calculations and judgments when it is judged in the early stage that the operating conditions are not met. The control method is simple and can avoid misjudgments.

[0094] It should be noted that the aerial work vehicle control method includes:

[0095] Determine that the current inclination angle exceeds the preset inclination angle threshold, and restrict the movement of the aerial work vehicle;

[0096] Determine that the current load exceeds the preset load threshold and restrict the movement of the aerial work vehicle;

[0097] Determine that the actual operating range exceeds the preset operating range and restrict the movement of the aerial work vehicle;

[0098] It is determined that at least one current cylinder pressure does not meet a preset pressure range, and the aerial work vehicle is restricted in its movement.

[0099] When at least one of the current inclination angle, current load, actual operating range and current cylinder pressure does not meet the operating conditions, the aerial work vehicle will be restricted in its movements. This can avoid the situation where the equipment is not stable when operating, and ensure the operating safety of the aerial work vehicle.

[0100] Specifically, upon receiving an operation instruction, the current inclination angle and a preset inclination angle threshold value may be obtained;

[0101] Determine whether the current inclination angle exceeds a preset inclination angle threshold;

[0102] Determine that the current inclination angle does not exceed a preset inclination angle threshold, and obtain the current load and the preset load threshold;

[0103] Determine that the current inclination angle exceeds the preset inclination angle threshold, and restrict the movement of the aerial work vehicle;

[0104] Determine whether the current load exceeds the preset load threshold;

[0105] Determine that the current load does not exceed the preset load threshold, and obtain the actual operating range and the preset operating range;

[0106] Determine that the current load exceeds the preset load threshold and restrict the movement of the aerial work vehicle;

[0107] Determine whether the actual operating range exceeds the preset operating range;

[0108] Determine that the actual operating range does not exceed the preset operating range, and obtain multiple current cylinder pressures and preset pressure ranges;

[0109] Determine that the actual operating range exceeds the preset operating range and restrict the movement of the aerial work vehicle;

[0110] Determine whether the current pressures of multiple oil cylinders exceed the preset pressure range;

[0111] Determining that at least one current cylinder pressure does not meet a preset pressure range, and restricting the movement of the aerial work vehicle;

[0112] Make sure that the pressure of each current cylinder does not exceed the preset pressure range, and control the aerial work vehicle to operate according to the operating instructions.

[0113] In one embodiment, the boom system 6 includes a telescopic main boom 6.1 and a telescopic flying boom 6.2. One end of the telescopic main boom 6.1 is hinged to a turntable 5, and the other end is hinged to one end of the telescopic flying boom 6.2. The other end of the telescopic flying boom 6.2 is hinged to a working platform 7. In this embodiment, the chassis 3 of the aerial work vehicle can be a crawler chassis 3, and the frame 2 is installed on the chassis 3. The action restriction of the aerial work vehicle includes:

[0114] The driving and turning movements of the chassis 3 are prohibited, the rotation movement of the turntable 5 is prohibited, the amplitude change and boom extension movement of the boom system 6 are prohibited, and the retraction operation of the boom system 6 and the movement of the working platform 7 are allowed. Among them, prohibiting the amplitude change and boom extension movement of the boom system 6 may include prohibiting the amplitude change and boom extension of the telescopic main arm 6.1, and prohibiting all movements of the telescopic flying arm 6.2. In this embodiment, by prohibiting some movements of the chassis 3, the turntable 5 and the boom system 6, and allowing the retraction of the boom system 6 and the movement of the working platform 7, the working platform 7 can be recovered when the aerial work vehicle is not stable, avoiding the situation where the working platform 7 cannot be recovered under unstable working conditions, which affects personnel.

[0115] Specifically, obtaining the actual operating range and the preset operating range includes:

[0116] Get the deployment position of the outrigger 1.3;

[0117] Determine the actual operating range based on the deployment position and current load.

[0118] The actual operating range includes the actual operating range of the boom and the actual operating range of the turntable 5 , and the preset operating range includes the preset operating range of the boom and the preset operating range of the turntable 5 .

[0119] In this embodiment, multiple platform load values ​​can be set, and multiple platform load values ​​correspond to multiple preset operating ranges, which can improve the flexibility and application scenarios of the product. Figure 2 As shown, the intended operating range of the boom is as follows: Figure 3As shown, the dotted line is the maximum range of the existing solution (all four leg structures 1 are in the unfolded position 2), and the solid line is the preset operating range set by the boom system 6 in this embodiment.

[0120] In the embodiment of the present invention, Fig. 9 As shown, the leg structure 1 includes a leg 1.3, a leg cylinder 1.1 driving the leg 1.3, and a support plate 1.4 arranged at the bottom of the leg 1.3. The leg 1.3 is hinged to the leg hinge point of the frame 2. The acquisition of multiple current cylinder pressures and preset pressure ranges includes:

[0121] Obtain the preset range of the support reaction force of the outrigger 1.3, the cylinder force of the outrigger cylinder 1.1, the cylinder force arm from the outrigger hinge point to the cylinder force, the support reaction force arm from the outrigger hinge point to the support plate 1.4, and the cylinder diameter section of the outrigger cylinder 1.1;

[0122] The preset pressure range is calculated based on the preset range of the support reaction force, the cylinder force, the cylinder force arm, the support reaction force arm and the cylinder bore cross section.

[0123] Current cylinder pressure*cylinder diameter cross section=cylinder force;

[0124] Cylinder force*cylinder force arm=support reaction force*support reaction force arm;

[0125] The pressure of each outrigger oil cylinder 1.1 is proportional to the magnitude of the support reaction force of the ground at the support plate 1.4. The thrust of the outrigger oil cylinder 1.1 can be calculated according to the support reaction force of the ground at each support plate 1.4, and then the pressure of each outrigger oil cylinder 1.1 can be calculated to calculate the preset pressure range. In this embodiment, the current oil cylinder pressure of the outrigger oil cylinder 1.1 is detected by the oil cylinder pressure sensor 1.2, which has higher detection accuracy and lower cost.

[0126] In an embodiment of the present invention, controlling the aerial work vehicle to perform operations according to the operation instructions includes:

[0127] Obtaining the required telescopic travel of the telescopic main boom 6.1 and the telescopic flying boom 6.2 in the operation instruction;

[0128] Determine that the telescopic stroke requirement does not exceed the maximum telescopic stroke of the telescopic main arm 6.1 and the telescopic flying arm 6.2, and control the aerial work vehicle to perform operations according to the operation instructions.

[0129] In this embodiment, the maximum telescopic stroke of the telescopic main arm 6.1 is the critical stroke for the telescopic main arm 6.1 to be telescopic, and the maximum telescopic stroke of the telescopic flying arm 6.2 is the critical stroke for the telescopic flying arm 6.2 to be telescopic. As long as it is determined that the current inclination angle, the current load and the actual operating range meet the operating conditions, and each current cylinder pressure does not exceed the preset pressure range, it is determined that the telescopic stroke demand does not exceed the maximum telescopic stroke of the telescopic main arm 6.1 and the telescopic flying arm 6.2, and the aerial work vehicle is controlled to operate according to the operating instructions without limiting the telescopic stroke of the telescopic main arm 6.1 and the telescopic flying arm 6.2, which makes the operation more flexible.

[0130] The present invention also provides a control device for an aerial work vehicle, comprising:

[0131] a memory configured to store instructions; and

[0132] The processor is configured to call instructions from the memory and implement the aerial work vehicle control method as described above when executing the instructions.

[0133] The present invention also provides an aerial work vehicle, which includes the aerial work vehicle control device as described above. The present invention also provides an aerial work vehicle, which includes the aerial work vehicle control device as described above. The specific structure of the aerial work vehicle control device refers to the above embodiment. Since the aerial work vehicle adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here. In one embodiment, the aerial work vehicle can be applied to a spider-type aerial work vehicle.

[0134] The present invention also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the aerial work vehicle control method as described above.

[0135] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0136] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0137] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0138] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control method for an aerial work vehicle, the aerial work vehicle comprising a frame, a turntable mounted on the frame, and a plurality of outrigger structures, the turntable being mounted with a boom system and a working platform connected to the boom system, characterized in that: The aerial work vehicle control method comprises: Get job instructions; Upon receiving an operation instruction, determining in a preset order whether the current inclination angle of the frame, the current load of the working platform, the actual operating range of the aerial work vehicle, and the current oil cylinder pressure of the plurality of outrigger structures meet the operating conditions; Determine that the current inclination angle, the current load and the actual operating range all meet the operating conditions, and that each current cylinder pressure does not exceed a preset pressure range, and control the aerial work vehicle to operate according to the operating instructions.

2. The aerial work vehicle control method according to claim 1, characterized in that: The determining in a preset order whether the current inclination angle of the frame, the current load of the working platform, the actual operating range of the aerial work vehicle, and the current oil cylinder pressure of the plurality of outrigger structures meet the operating conditions includes: Obtaining the current inclination angle and a preset inclination angle threshold; Determining whether the current inclination angle exceeds the preset inclination angle threshold; Determine that the current inclination angle does not exceed the preset inclination angle threshold, and obtain the current load and the preset load threshold; Determining whether the current load exceeds the preset load threshold; Determine that the current load does not exceed the preset load threshold, and obtain the actual operating range and the preset operating range; Determining whether the actual operating range exceeds the preset operating range; Determine that the actual operating range does not exceed the preset operating range, and obtain a plurality of the current cylinder pressures and the preset pressure ranges; Determine whether the current oil cylinder pressures exceed a preset telescopic pressure range.

3. The aerial work vehicle control method according to claim 2, characterized in that: The aerial work vehicle control method comprises: Determining that the current inclination angle exceeds the preset inclination angle threshold, restricting the movement of the aerial work vehicle; Determining that the current load exceeds a preset load threshold, and restricting the movement of the aerial work vehicle; Determining that the actual operating range exceeds the preset operating range, restricting the movement of the aerial work vehicle; It is determined that at least one of the current cylinder pressures does not meet a preset pressure range, and the aerial work vehicle is restricted in its movement.

4. The aerial work vehicle control method according to claim 3, characterized in that: The action restriction of the aerial work vehicle includes: The driving and turning movements of the chassis are prohibited, the rotation movement of the turntable is prohibited, the amplitude change and extension movement of the boom system are prohibited, and the retraction operation of the boom system and the movement of the working platform are allowed.

5. The aerial work vehicle control method according to any one of claims 2 to 4, characterized in that: The obtaining of the actual operating range and the preset operating range comprises: Obtaining the deployed position of the legs; Determine the actual operating range according to the deployment position and the current load, The actual operating range includes the actual operating range of the boom and the actual operating range of the turntable, and the preset operating range includes the preset operating range of the boom and the preset operating range of the turntable.

6. The aerial work vehicle control method according to any one of claims 2 to 4, characterized in that: The leg structure includes a leg, a leg cylinder driving the leg, and a support plate arranged at the bottom of the leg, the leg is hinged to the leg hinge point of the frame, and the obtaining of the multiple current cylinder pressures and the preset pressure ranges includes: Obtaining a preset range of the support reaction force of the outrigger, the cylinder force of the outrigger cylinder, the cylinder force arm from the outrigger hinge point to the cylinder force, the support reaction force arm from the outrigger hinge point to the support plate, and the cylinder diameter cross section of the outrigger cylinder; The preset pressure range is calculated based on the preset range of the support reaction force, the cylinder force, the cylinder force arm, the support reaction force arm and the cylinder bore cross section.

7. The aerial work vehicle control method according to any one of claims 1 to 4, characterized in that: The boom system includes a telescopic main boom and a telescopic flying boom, one end of the telescopic main boom is hinged to the turntable, and the other end is hinged to one end of the telescopic flying boom, and the other end of the telescopic flying boom is hinged to the working platform, and the control of the aerial work vehicle to perform operations according to the operation instructions includes: Obtaining the required telescopic stroke of the telescopic main arm and the telescopic flying arm included in the operation instruction; Determine that the telescopic stroke requirement does not exceed the maximum telescopic stroke of the telescopic main arm and the telescopic flying arm, and control the aerial work vehicle to perform the operation according to the operation instruction.

8. A control device for an aerial work vehicle, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the aerial work vehicle control method according to any one of claims 1 to 7 when executing the instructions.

9. An aerial work vehicle, characterized in that: The aerial work vehicle comprises the aerial work vehicle control device according to claim 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for enabling a machine to execute the aerial work vehicle control method according to any one of claims 1 to 7.

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