Aerial work platform and work platform buffer control method and device thereof

Abstract

The invention discloses an aerial work platform and a work platform buffering control method and device thereof, the work platform is connected with a buffering device, and the method comprises the steps that motion state information and load information of the work platform are obtained; determining the current working condition of the working platform according to the motion state information and the load information, wherein the working condition of the working platform comprises an impact working condition, a stable working condition, a starting working condition, a stopping working condition and a sudden stop working condition; determining target damping of the buffer device based on a preset composite damping calculation model according to the current working condition, the load information and the motion state information; determining a target travel proportion of the buffer device according to the current working condition and the load information; and the damping force and the stroke length of the buffer device are adjusted according to the target damping and the target stroke proportion. The damping and stroke of the working platform buffering device can be adjusted in a self-adaptive and cooperative mode, and therefore impact and shaking can be remarkably reduced under various dynamic working conditions.

Description

Technical Field

[0001] This application relates to the field of aerial work technology, specifically to an aerial work platform and its buffer control method and device. Background Technology

[0002] Aerial work platforms are widely used in construction, equipment installation, and other fields. During operation, the starting, running, and stopping of the platform generate impacts and vibrations, which not only affect operator comfort but also threaten the structural safety and operational efficiency of the equipment. Current technology often uses fixed hydraulic or spring-type shock absorbers. The parameters of these structures are fixed and cannot be dynamically adjusted according to the real-time operating conditions of the platform. They cannot meet the shock absorption requirements of different operating states, resulting in poor overall shock absorption. Summary of the Invention

[0003] The purpose of this application is to provide an aerial work platform and its buffer control method, device, and machine-readable storage medium to solve the problem that the overall shock absorption effect of the existing shock absorption control methods for work platforms is poor.

[0004] To achieve the above objectives, the first aspect of this application provides a method for buffer control of a work platform, wherein the work platform is connected to a buffer device, the buffer device being used to suppress vibration, impact, and shaking of the work platform under various working conditions, and the method includes: Obtain motion status and load information of the work platform; The current operating conditions of the work platform are determined based on motion status information and load information. The operating conditions of the work platform include impact conditions, stable conditions, start-up conditions, stop conditions, and emergency stop conditions. Based on the current operating conditions, load information, and motion status information, the target damping of the buffer device is determined based on a preset composite damping calculation model. Determine the target stroke ratio of the buffer device based on the current operating conditions and load information; Based on the target damping and target stroke ratios, the damping force and stroke length of the buffer device are adjusted respectively. This application enables adaptive and coordinated adjustment of the damping and stroke of the work platform buffer device, thereby significantly reducing impact and sway under various dynamic working conditions, while taking into account operational comfort, equipment stability, and system safety.

[0005] In this embodiment of the application, the preset composite damping calculation model satisfies the following formula: Final_Damping=w1×Base_Damping+w2×Dynamic_Compensation+w3×Safety_Margin; Where Final_Damping is the target damping, w1 is the base damping weight, Base_Damping is the base damping, w2 is the dynamic compensation weight, Dynamic_Compensation is the dynamic compensation value, w3 is the safety weight, and Safety_Margin is the preset safety threshold. Based on the current operating conditions, load information, and motion state information, the target damping of the buffer device is determined according to a preset composite damping calculation model, including: Determine the base damping based on the load information; The dynamic compensation value is determined based on the preset dynamic compensation strategy and motion status information corresponding to the current working condition. The basic damping weight, dynamic compensation weight, and safety weight are determined based on the preset weight setting strategy corresponding to the current working condition. The target damping is determined by using a pre-set composite damping calculation model based on the basic damping, dynamic compensation value, basic damping weight, dynamic compensation weight, and safety weight.

[0006] In this embodiment of the application, the load information includes the current load and the rated load. Determining the base damping based on the load information includes: The load factor is determined based on the percentage of the current load to the rated load. When the load rate is in a preset high load range, the basic damping is determined based on the first calculation rule, which includes a nonlinear compensation term that is proportional to the difference between the load rate and the preset first threshold. When the load rate is within the preset medium load range, the basic damping is determined based on the second calculation rule, in which the basic damping is linearly proportional to the load rate. When the load rate is in the preset low load range, the basic damping is determined based on the third calculation rule. In the third calculation rule, the basic damping is in a second linear proportional relationship with the load rate. The proportional coefficient of the second linear proportional relationship is less than the proportional coefficient of the first linear proportional relationship.

[0007] In this embodiment of the application, the dynamic compensation value is determined based on the preset dynamic compensation strategy and motion state information corresponding to the current working condition, including: When the current working condition is an impact condition, the dynamic compensation value is determined according to the first functional relationship, which is the sum of the proportional derivative term based on motion state information and the feedforward term based on load information. When the current working condition is the start-up condition, the dynamic compensation value is determined according to the second functional relationship, which is the sum of the proportional differential term based on motion state information and the transition term that decays over time. When the current working condition is a stopped working condition, the dynamic compensation value is determined according to the third functional relationship, which is the sum of the proportional differential term based on motion state information and the feedforward term based on load information; Under the condition that the current working condition is stable, the dynamic compensation value is determined according to the fourth functional relationship, which is a proportional term based on motion state information.

[0008] In this embodiment of the application, the basic damping weight, dynamic compensation weight, and safety weight are determined according to a preset weight setting strategy corresponding to the current working condition, including: Under the condition that the current working condition is an emergency stop condition, the basic damping weight and dynamic compensation weight are set to 0, and the safety weight is set to 1; Under the current working conditions of impact, stable, start-up, or stop, the basic damping weight and dynamic compensation weight are determined based on the platform acceleration in the motion state information, and the safety weight is set to 0. The basic damping weight is negatively correlated with the platform acceleration, and the dynamic compensation weight is positively correlated with the platform acceleration.

[0009] In this embodiment of the application, the load information includes the current load and the rated load. Based on the current operating conditions and the load information, determining the target stroke ratio of the buffer device includes: The load factor is determined based on the percentage of the current load to the rated load. The base stroke ratio is determined based on the load rate, and the base stroke ratio is directly proportional to the load rate. When the current working condition is an impact condition or a stop condition, the target stroke ratio is determined based on the sum of the basic stroke ratio and the dynamic increment. The dynamic increment is positively correlated with the absolute value of the platform acceleration in the motion state information. When the current working condition is the start-up condition, the target stroke ratio is determined by the product of the basic stroke ratio and the preset first stroke ratio coefficient, and the target stroke ratio is reduced to the basic stroke ratio within the preset transition time. Under the condition that the current working condition is stable, the target stroke ratio is determined by the product of the basic stroke ratio and the preset second stroke ratio coefficient, where the preset second stroke ratio coefficient is less than the preset first stroke ratio coefficient. When the current operating condition is an emergency stop, the target stroke ratio is determined to be the preset maximum stroke ratio.

[0010] In this embodiment, the motion state information includes velocity changes, platform acceleration, and rate of change of acceleration; the load information includes load fluctuation rate. Determining the current operating condition of the work platform based on the motion state information and load information includes: If the absolute value of the platform acceleration is greater than the first acceleration threshold, or the rate of change of acceleration is greater than the preset rate of change threshold, the current working condition is determined to be an impact condition. If the absolute value of the platform acceleration is less than the second acceleration threshold and the load volatility is less than the preset volatility threshold, the current operating condition is determined to be a stable operating condition. When the speed changes from 0 to positive speed and the platform acceleration is greater than the preset start-up acceleration threshold, the current working condition is determined to be the start-up condition. If the speed changes from positive speed to 0 and the platform acceleration is less than the preset stop acceleration threshold, the current working condition is determined to be a stop condition. If the platform acceleration is less than the preset emergency stop acceleration threshold, or if an emergency stop switch signal is received, the current working condition is determined to be an emergency stop condition.

[0011] A second aspect of this application provides a device for buffer control of a work platform, the device comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the aforementioned method of job platform buffer control.

[0012] A third aspect of this application provides an aerial work platform, comprising: a work platform, the work platform being connected to a buffer device, the buffer device being used to suppress vibration, impact and sway of the work platform under various working conditions; and the aforementioned work platform buffer control device.

[0013] The fourth aspect of this application provides a machine-readable storage medium on which a program or instruction is stored, and when the program or instruction is executed by a processor, the above-described method for operating platform buffer control is implemented.

[0014] The above technical solution first acquires the motion state and load information of the work platform. Then, based on the motion state and load information, it determines the current working condition of the work platform, including impact, stable, start-up, stop, and emergency stop conditions. Next, based on the current working condition, load, and motion state information, it determines the target damping of the buffer device using a preset composite damping calculation model. Simultaneously, based on the current working condition and load information, it determines the target stroke ratio of the buffer device. Finally, based on the target damping and target stroke ratio, it adjusts the damping force and stroke length of the buffer device respectively. This application enables adaptive and coordinated adjustment of the damping and stroke of the work platform buffer device, thereby significantly reducing impact and sway under various dynamic working conditions while simultaneously ensuring operational comfort, equipment stability, and system safety.

[0015] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 A flowchart illustrating a method for buffer control of a work platform provided in an embodiment of this application; Figure 2 This is a structural block diagram of a work platform buffer control device provided in an embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0018] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0019] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0020] Figure 1 This is a flowchart illustrating a method for buffer control of a work platform provided in an embodiment of this application. Figure 1As shown in the figure, this application provides a method for buffer control of a work platform. The work platform is connected to a buffer device, which is used to suppress the vibration, impact and shaking generated by the work platform under various working conditions. Taking the application of this method to the processor of the work platform as an example, the method may include the following steps.

[0021] Step 101: Obtain the motion status information and load information of the work platform.

[0022] Step 102: Determine the current working condition of the work platform based on the motion status information and load information. The working conditions of the work platform include impact condition, stable condition, start-up condition, stop condition and emergency stop condition.

[0023] Step 103: Determine the target damping of the buffer device based on the current working conditions, load information and motion state information, using a preset composite damping calculation model.

[0024] Step 104: Determine the target stroke ratio of the buffer device based on the current operating conditions and load information.

[0025] Step 105: Adjust the damping force and stroke length of the buffer device according to the target damping and target stroke ratio.

[0026] In this embodiment, the working platform and the buffer device are connected. The buffer device is a mechanical mechanism that performs the buffering function, including a hydraulic shock absorber, an electro-hydraulic proportional valve, and a servo hydraulic cylinder. The hydraulic shock absorber is the core damping component of the buffer device, the electro-hydraulic proportional valve is used to adjust the damping, and the servo hydraulic cylinder is used to adjust the stroke. The hydraulic shock absorber of the buffer device can be installed at the hinge point between the platform and the boom. The electro-hydraulic proportional valve is integrated into the hydraulic system's oil circuit, and the servo hydraulic cylinder is connected in parallel with the shock absorber to jointly adjust the buffering effect.

[0027] It is understandable that motion status information is data reflecting the real-time motion characteristics of the work platform, including speed changes, platform acceleration, and rate of change of acceleration, which can be collected by an inertial measurement unit (IMU); load information is data reflecting the load-bearing status of the platform, including the current load and rated load, which can be collected by a load sensor.

[0028] In one example, during the acquisition of motion and load information, the raw data collected by the sensors can be preprocessed. This preprocessing includes adaptive Kalman filtering, dynamic zero-point calibration, temperature and pressure compensation, and normalization to eliminate interference and ensure data accuracy. Specifically, firstly, adaptive Kalman filtering fuses accelerometer and gyroscope data to filter out high-frequency noise such as wind and engine vibration. Then, dynamic zero-point calibration is triggered under preset conditions to correct sensor drift. These preset conditions can be an acceleration standard deviation < 0.01g and an angular velocity < 0.1° / s when the work platform is stationary. Next, temperature and pressure compensation eliminates the influence of environmental factors on the load data, ensuring data accuracy. Finally, the data is normalized to unify the data format.

[0029] This application embodiment classifies the working platform into multiple working conditions based on the typical state of the working platform during operation. The working conditions of the working platform include impact condition, stable condition, starting condition, stopping condition, and emergency stop condition. Among them, the impact condition corresponds to the state of sudden impact of the working platform, the stable condition corresponds to the state of stable operation of the working platform, the starting condition corresponds to the state of the working platform from a stationary state to a moving state, the stopping condition corresponds to the state of the working platform from a moving state to a stationary state, and the emergency stop condition corresponds to the state of emergency braking of the working platform.

[0030] Target damping refers to the required damping force of the hydraulic shock absorber in the buffer device. The damping value of the hydraulic shock absorber directly affects the magnitude of the working platform's motion resistance. The damping coefficient is adjusted by changing the hydraulic oil flow rate through an electro-hydraulic proportional valve. Target stroke ratio refers to the ratio of the target working stroke to the maximum stroke of the hydraulic cylinder in the buffer device, determining the size of the system's buffer space. The stroke ratio can be adjusted by changing the piston position using a servo hydraulic cylinder or a proportional directional valve. The target working stroke of the hydraulic cylinder is the product of the target stroke ratio and the maximum stroke.

[0031] In this embodiment, the stroke and damping work together to manage impact energy. The stroke provides buffer space; by adjusting the stroke, the compression and flow space of the hydraulic oil can be changed, thereby affecting the energy absorption efficiency and the system response speed. The damping provides buffering force; by adjusting the damping, the rate of energy dissipation can be controlled. The synergistic effect of the two can achieve better buffering performance.

[0032] Specifically, during the buffer control of the work platform, motion status and load information are collected in real time through a sensor network distributed at key locations on the work platform. Then, the processor fuses and analyzes the collected data, accurately identifying the current working condition based on a preset working condition judgment logic. Next, based on the identified working condition, load information, and motion status information, a preset composite damping calculation model is used to accurately calculate the target damping of the buffer device. Simultaneously, based on the current working condition and load information, the target stroke ratio of the buffer device is determined according to a predetermined strategy. Finally, the calculated target damping value and target stroke ratio are converted into control commands to drive actuators such as electro-hydraulic proportional valves and servo hydraulic cylinders, achieving synchronous adjustment of damping force and stroke length to achieve the best buffering effect.

[0033] Thus, this embodiment achieves a shift from passive response to active adaptation in the buffer system through multi-source information fusion and intelligent decision-making. The coordinated control of damping and stroke enables the system to automatically adjust to its optimal operating state under different working conditions, significantly improving the stability of platform operation.

[0034] The above technical solution first acquires the motion state and load information of the work platform. Then, based on the motion state and load information, it determines the current working condition of the work platform, including impact, stable, start-up, stop, and emergency stop conditions. Next, based on the current working condition, load, and motion state information, it determines the target damping of the buffer device using a preset composite damping calculation model. Simultaneously, based on the current working condition and load information, it determines the target stroke ratio of the buffer device. Finally, based on the target damping and target stroke ratio, it adjusts the damping force and stroke length of the buffer device. This application enables adaptive and coordinated adjustment of the damping and stroke of the work platform buffer device, thereby significantly reducing impact and sway under various dynamic working conditions while simultaneously ensuring operational comfort, equipment stability, and system safety.

[0035] In this embodiment of the application, the preset composite damping calculation model can satisfy the following formula: Final_Damping=w1×Base_Damping+w2×Dynamic_Compensation+w3×Safety_Margin; Where Final_Damping is the target damping, w1 is the base damping weight, Base_Damping is the base damping, w2 is the dynamic compensation weight, Dynamic_Compensation is the dynamic compensation value, w3 is the safety weight, and Safety_Margin is the preset safety threshold. Based on the current operating conditions, load information, and motion state information, the target damping of the buffer device is determined using a preset composite damping calculation model, which may include: Determine the base damping based on the load information; The dynamic compensation value is determined based on the preset dynamic compensation strategy and motion status information corresponding to the current working condition. The basic damping weight, dynamic compensation weight, and safety weight are determined based on the preset weight setting strategy corresponding to the current working condition. The target damping is determined by using a pre-set composite damping calculation model based on the basic damping, dynamic compensation value, basic damping weight, dynamic compensation weight, and safety weight.

[0036] It can be understood that the base damping is a damping benchmark value determined based on the load rate, reflecting the basic requirements of the load for buffering; the dynamic compensation value is a fine-tuning value based on the operating conditions and motion state, used to offset fluctuations in operating conditions, such as shocks and start-up jitter; the preset safety threshold is a preset, sufficiently large damping value, calibrated by the platform hardware limits, serving as a safety backup for the system, and is directly activated when extreme or dangerous operating conditions are detected; the base damping weight, dynamic compensation weight, and safety weight are coefficients used to balance the contributions of the base damping, dynamic compensation, and preset safety threshold, and smooth switching between different control modes is achieved by adjusting the weights.

[0037] In this embodiment, the total damping is decomposed into three components with clear physical meaning, and a reasonable weight allocation mechanism is designed to construct a composite damping calculation model to meet the buffer control requirements of the operating platform under different working conditions. Under normal working conditions, precise control is achieved by balancing the basic damping and dynamic compensation; under emergency working conditions, safety is prioritized by switching weight coefficients. In this way, both the accuracy of control and the reliability of the system are guaranteed.

[0038] In this embodiment of the application, the load information includes the current load and the rated load. Determining the base damping based on the load information may include: The load factor is determined based on the percentage of the current load to the rated load. When the load rate is in a preset high load range, the basic damping is determined based on the first calculation rule, which includes a nonlinear compensation term that is proportional to the difference between the load rate and the preset first threshold. When the load rate is within the preset medium load range, the basic damping is determined based on the second calculation rule, in which the basic damping is linearly proportional to the load rate. When the load rate is in the preset low load range, the basic damping is determined based on the third calculation rule. In the third calculation rule, the basic damping is in a second linear proportional relationship with the load rate. The proportional coefficient of the second linear proportional relationship is less than the proportional coefficient of the first linear proportional relationship.

[0039] It is understood that the load rate is the percentage of the current load to the rated load, reflecting the actual load-bearing capacity of the platform. In this embodiment, the load rate range, divided according to the impact of the load on the buffer, includes a high load range, a medium load range, and a low load range. Furthermore, differentiated basic damping calculation strategies are adopted for the mechanical characteristics of different load ranges. The division of load ranges can be based on actual needs. For example, in the high load range (load rate > 80%), corresponding to heavy loads, the work platform is prone to large swaying; in the medium load range (30% ≤ load rate ≤ 80%), corresponding to normal loads, the damping requirement is stable; and in the low load range (load rate < 30%), corresponding to light loads, over-damping can easily lead to hysteresis.

[0040] In one example, when the current load rate is in a high load range, the basic damping is determined based on a first calculation rule. This first calculation rule includes a nonlinear compensation term proportional to the difference between the load rate and a preset first threshold. Thus, by actively strengthening the damping through nonlinear compensation, it is possible to cope with greater inertial forces and potential impact risks under heavy loads. Combining the above-mentioned load range division, the first calculation rule is: Base_Damping = Base0 + k1 × (load rate - 80%); Base0 is the preset initial damping (e.g., 200N) corresponding to an 80% load rate. s / m), k1 is the preset nonlinear compensation coefficient (e.g., 5N) (s / m / %). Taking a load factor of 90% as an example, Base_Damping = 200 + 5 × (90 - 80) = 250N s / m.

[0041] In another example, when the load rate is within a preset medium load range, the base damping is determined based on a second calculation rule. This second calculation rule states that the base damping has a first linear proportional relationship with the load rate, thus employing a standard linear relationship to balance performance and energy consumption. Combining the above load range division, the second calculation rule is as follows: Base_Damping = k2 × load rate; Where k2 is the first linear coefficient (e.g., 2.5N) (s / m / %). Taking a load factor of 60% as an example, Base_Damping = 2.5 × 60 = 150N. s / m.

[0042] In another example, when the load rate is within a preset low load range, the base damping is determined based on a third calculation rule. In this rule, the base damping exhibits a second linear proportionality to the load rate. The scaling factor for this second linear proportionality is smaller than that for the first linear proportionality. This smaller scaling factor avoids excessive system rigidity and insufficient buffering flexibility, thereby improving response speed and operational comfort. Combined with the aforementioned load range division, the third calculation rule is as follows: Base_Damping = k3 × load rate; Where k3 is the second linear coefficient (e.g., 1.5N) (s / m / %, k3 < k2). Taking a load factor of 20% as an example, Base_Damping = 1.5 × 20 = 30N s / m.

[0043] It is understandable that the above preset data can be calibrated based on data such as the actual load level of the operating platform.

[0044] Thus, by employing piecewise linear and nonlinear calculations of foundation damping, the calculated foundation damping more closely matches actual physical requirements, providing a reasonable buffer foundation under light, normal, and heavy loads. Nonlinear compensation in the high-load range effectively prevents insufficient buffering caused by excessive load, improving the stability and safety of the equipment under extreme conditions. Different proportional coefficients are used in different load ranges, optimizing system performance across the entire load range and balancing comfort under light loads with stability under heavy loads.

[0045] In this embodiment of the application, determining the dynamic compensation value based on the preset dynamic compensation strategy and motion state information corresponding to the current working condition may include: When the current working condition is an impact condition, the dynamic compensation value is determined according to the first functional relationship, which is the sum of the proportional derivative term based on motion state information and the feedforward term based on load information. When the current working condition is the start-up condition, the dynamic compensation value is determined according to the second functional relationship, which is the sum of the proportional differential term based on motion state information and the transition term that decays over time. When the current working condition is a stopped working condition, the dynamic compensation value is determined according to the third functional relationship, which is the sum of the proportional differential term based on motion state information and the feedforward term based on load information; Under the condition that the current working condition is stable, the dynamic compensation value is determined according to the fourth functional relationship, which is a proportional term based on motion state information.

[0046] As can be understood, the proportional-derivative (PD) term refers to the output of a PD control algorithm based on acceleration and its rate of change. It includes both proportional and derivative terms. The proportional term reduces the current motion state deviation, while the derivative term predicts future trends and suppresses them in advance. The combined use of PD terms can effectively suppress vibration and shock. The feedforward term refers to the compensation quantity based on load changes. Feedforward control does not depend on the generation of errors and can improve the system's response speed and suppression capability to known disturbances. The transient term refers to a control quantity that gradually decays over time, used to achieve a smooth transition in the process, such as the gradual change characteristics in a soft-start process.

[0047] In this embodiment, based on the physical characteristics of different dynamic processes, the main control contradictions and system characteristics under different operating conditions can be identified, and the most suitable combination of control algorithms can be selected to calculate dynamic compensation, so as to achieve fast, stable and precise adjustment.

[0048] Under the current operating condition of impact, the dynamic compensation value is determined according to the first functional relationship, which is the sum of the proportional derivative term based on motion state information and the feedforward term based on load information. The first functional relationship is: Dynamic_Compensation=1.8×(Kp×e+Ki×∫edt+Kd×de / dt)+0.15×ΔLoad; Where Kp, Ki, and Kd are preset PID gains (e.g., Kp=2, Ki=0.5, Kd=1), e is the acceleration deviation, which is the difference between the collected platform acceleration and the preset target acceleration, ∫edt is the integral term of the acceleration deviation, used to suppress static errors, de / dt is the derivative of the acceleration deviation with respect to time, and ΔLoad is the difference between the current load and the load of the previous cycle. Thus, under impact conditions, the dynamic compensation value is determined by combining the overall PID gain compensation and load change compensation.

[0049] Given that the current operating condition is the startup condition, the dynamic compensation value is determined according to the second functional relationship. The second functional relationship is the sum of the proportional derivative term based on motion state information and the transition term that decays over time. The second functional relationship is as follows: Dynamic_Compensation=0.3×(Kp×e+Ki×∫edt+Kd×de / dt)+0.7×(1-e^(-t / 0.5))×Target; Where t is the startup duration, e^(-t / 0.5) is the exponential decay term (1 when t=0, approximately 0.135 when t=1s), and Target = Base_Damping × 1.2. Thus, under startup conditions, the dynamic compensation value is determined by combining the overall PID gain compensation and the basic damping compensation.

[0050] When the current operating condition is a stopped condition, the dynamic compensation value is determined according to the third functional relationship, which is the sum of the proportional derivative term based on motion state information and the feedforward term based on load information. The third functional relationship is: Dynamic_Compensation=0.8×(Kp×e+Ki×∫edt+Kd×de / dt)+0.3×min(1,t / 3)+0.1×Load; Wherein, min(1,t / 3) is a linear growth term (0 when t=0, 1 when t≥3s), and Load is the current load; thus, under the stop condition, the dynamic compensation value is determined by combining the overall PID gain compensation and the load change compensation.

[0051] Under the condition that the current operating condition is stable, the dynamic compensation value is determined according to the fourth functional relationship, which is a proportional term based on motion state information. The fourth functional relationship is as follows: Dynamic_Compensation=0.6×Kp×e; Where Kp is the preset PID gain and e is the acceleration deviation. Thus, under stable operating conditions, determining the dynamic compensation value solely through PID proportional control helps avoid over-adjustment that could negatively impact stability.

[0052] When the current operating condition is an emergency stop, the target damping is directly set to the preset safety threshold. This preset safety threshold is then set as the maximum damping value of the buffer device, which is determined based on system hardware and actual testing. Thus, by directly setting the target damping to the maximum damping value of the buffer device, determined by system hardware and actual testing, the extreme kinetic energy generated by emergency braking can be absorbed quickly and with the highest priority through maximizing damping force. This suppresses platform impact and swaying in the shortest possible time, thereby maximizing the safety of the equipment structure and personnel.

[0053] The dynamic compensation strategy in this embodiment provides performance improvements in several aspects: the control algorithm, which is specific to the operating conditions, enables the system to be precisely optimized for the characteristics of different dynamic processes, resulting in high control efficiency and excellent performance; the combination of proportional-derivative control and feedforward control ensures system stability and improves the response speed to known disturbances; the transition term design under startup conditions achieves true soft start through gradual control characteristics, greatly improving operational comfort; and the simplified proportional control under stable operating conditions reduces unnecessary control actions and improves system energy efficiency.

[0054] In this embodiment of the application, determining the basic damping weight, dynamic compensation weight, and safety weight according to the preset weight setting strategy corresponding to the current working condition may include: Under the condition that the current working condition is an emergency stop condition, the basic damping weight and dynamic compensation weight are set to 0, and the safety weight is set to 1; Under the current working conditions of impact, stable, start-up, or stop, the basic damping weight and dynamic compensation weight are determined based on the platform acceleration in the motion state information, and the safety weight is set to 0. The basic damping weight is negatively correlated with the platform acceleration, and the dynamic compensation weight is positively correlated with the platform acceleration.

[0055] It is understandable that the basic damping weight is used to reflect the contribution ratio of the basic damping to the target damping. The larger the weight, the stronger the dominance of the basic damping. The dynamic compensation weight is used to reflect the contribution ratio of the dynamic compensation value to the target damping. The larger the weight, the stronger the dynamic adaptation capability. The safety weight is used to reflect the priority of the safety threshold and only takes effect in emergency stop conditions (w3=1) to ensure maximum safety redundancy in emergency situations.

[0056] In this embodiment, the weighting coefficient is set mainly based on the control rights allocation of operating condition priority. In extreme dangerous situations, such as emergency stop, safety is the top priority, so the maximum safety backup is directly adopted. Under normal operating conditions, the weights of steady-state response and dynamic response are intelligently allocated according to the intensity of motion. In this way, it can be ensured that the system can make the most appropriate response under any circumstances.

[0057] Specifically, when the current operating condition is an emergency stop, maximum damping is needed for rapid braking to prevent the accident from escalating. Therefore, w1=0, w2=0, w3=1, and the target damping = Safety_Margin, which is the maximum system damping. When the current operating condition is any of the following: impact, smooth operation, start-up, or stop (not an emergency stop), the safety threshold is not applied (w3=0), the sum of w1 and w2 is 1, and w1 is negatively correlated with platform acceleration; the greater the acceleration, the stronger the limitation of the basic damping, requiring w1 to be reduced. w2 is positively correlated with platform acceleration; the greater the acceleration, the stronger the need for dynamic compensation, requiring w2 to be increased. For example: W1 = 0.7 - 0.4(abs(a) / 5); W2 = 0.3 + 0.4(abs(a) / 5); Where a is the platform acceleration and abs() is the absolute value function.

[0058] Thus, the weight setting under emergency stop conditions enables a hard switch of control, ensuring the highest priority and absolute reliability of the safety response; under normal operating conditions, the correlation between weight and acceleration allows the system to adaptively adjust control. When the motion is gentle, the system relies more on the robust basic model; when the motion is intense, the system relies more on agile dynamic compensation, thereby optimizing control performance across the entire operating range; the smooth change of weight coefficients in this embodiment avoids abrupt changes in control mode, improving system stability and comfort.

[0059] In this embodiment of the application, the load information includes the current load and the rated load. Determining the target stroke ratio of the buffer device based on the current operating conditions and load information may include: The load factor is determined based on the percentage of the current load to the rated load. The base stroke ratio is determined based on the load rate, and the base stroke ratio is directly proportional to the load rate. When the current working condition is an impact condition or a stop condition, the target stroke ratio is determined based on the sum of the basic stroke ratio and the dynamic increment. The dynamic increment is positively correlated with the absolute value of the platform acceleration in the motion state information. When the current working condition is the start-up condition, the target stroke ratio is determined by the product of the basic stroke ratio and the preset first stroke ratio coefficient, and the target stroke ratio is reduced to the basic stroke ratio within the preset transition time. Under the condition that the current working condition is stable, the target stroke ratio is determined by the product of the basic stroke ratio and the preset second stroke ratio coefficient, where the preset second stroke ratio coefficient is less than the preset first stroke ratio coefficient. When the current operating condition is an emergency stop, the target stroke ratio is determined to be the preset maximum stroke ratio.

[0060] As can be understood, dynamic increments are temporary increases in stroke during impact or stop conditions to absorb additional kinetic energy. Dynamic increments are positively correlated with the absolute value of the platform's acceleration; the greater the acceleration, the larger the increment. Preset proportional coefficients are scaling factors used to scale the base stroke ratio under specific operating conditions, including a first proportional coefficient used for starting conditions and a second proportional coefficient used for stable conditions. The base stroke ratio is a stroke reference determined by the load rate; the higher the load rate, the larger the base stroke ratio, requiring a larger stroke to absorb energy. The preset maximum stroke ratio is 100%, corresponding to the full stroke of the hydraulic cylinder, used to maximize energy absorption during emergency stops.

[0061] Specifically, first, the base stroke ratio is determined based on the load rate. The base stroke ratio is directly proportional to the load rate; for example, the base stroke ratio equals the load rate. Then, the target stroke ratio is determined by combining the current operating conditions and the base stroke ratio.

[0062] When the current operating condition is an impact condition or a stop condition, the target stroke ratio is determined based on the sum of the basic stroke ratio and the dynamic increment. The dynamic increment is positively correlated with the absolute value of the platform acceleration in the motion state information. In this embodiment, the target stroke ratio under impact and stop conditions is: S = 0.7 × S0 + 0.1 × (ABS(a) / a_max); where a is the platform acceleration, a_max is the emergency stop acceleration, S0 is the basic stroke ratio, and S is the target stroke ratio.

[0063] When the current operating condition is the start-up condition, the target stroke ratio is determined by multiplying the base stroke ratio by a preset first stroke coefficient, and then reduced to the base stroke ratio within a preset transition time. In this embodiment, the target stroke ratio for starting buffer control under the start-up condition is: S = S0 × 1.2; then it linearly decreases to S0 within a preset transition time (e.g., 2s); for example, when S0 = 60%, the initial S = 72%, and it decreases to 60% after 2s, thereby avoiding start-up spikes.

[0064] When the current operating condition is stable, the target stroke ratio is determined by multiplying the basic stroke ratio by a preset second stroke coefficient, where the preset second stroke coefficient is less than the preset first stroke coefficient. In this embodiment, the target stroke ratio under stable operating conditions is: S = S0 × 0.7, where the stroke coefficient 0.7 is less than the stroke coefficient 1.2 under startup conditions, in order to shorten the stroke and improve the response speed.

[0065] When the current operating condition is an emergency stop, the target stroke ratio is determined to be the preset maximum stroke ratio. The emergency stop operation utilizes the full stroke to maximize energy absorption and protect equipment and personnel.

[0066] In the above implementation, the stroke is precisely matched with the energy absorption demand under impact and stop conditions to improve impact energy absorption efficiency; under starting conditions, an increase followed by a decrease is adopted to avoid vibration; under stable conditions, the stroke is shortened to avoid lag; and under emergency stop conditions, the full stroke is used, providing sufficient safety redundancy and reducing accident risk. Thus, the strategy of determining different target stroke ratios for different conditions has the advantage of precisely matching the energy absorption capacity of the buffer device with the kinetic energy requirements of each condition—impact, stable, starting, stop, and emergency stop—while also considering operational comfort, system response speed, and emergency stop safety redundancy, and reducing mechanical losses.

[0067] In this embodiment, the motion state information includes velocity changes, platform acceleration, and rate of change of acceleration; the load information includes load fluctuation rate. Determining the current operating condition of the work platform based on the motion state information and load information may include: If the absolute value of the platform acceleration is greater than the first acceleration threshold, or the rate of change of acceleration is greater than the preset rate of change threshold, the current working condition is determined to be an impact condition. If the absolute value of the platform acceleration is less than the second acceleration threshold and the load volatility is less than the preset volatility threshold, the current operating condition is determined to be a stable operating condition. When the speed changes from 0 to positive speed and the platform acceleration is greater than the preset start-up acceleration threshold, the current working condition is determined to be the start-up condition. If the speed changes from positive speed to 0 and the platform acceleration is less than the preset stop acceleration threshold, the current working condition is determined to be a stop condition. If the platform acceleration is less than the preset emergency stop acceleration threshold, or if an emergency stop switch signal is received, the current working condition is determined to be an emergency stop condition.

[0068] It can be understood that the first acceleration threshold is the acceleration judgment standard for impact conditions; exceeding this value indicates an impact. The preset rate of change threshold is the acceleration change rate judgment standard for impact conditions, reflecting the suddenness of the impact. The second acceleration threshold is the upper limit of acceleration for stable conditions; below this value and with stable load, it is judged as stable. The preset fluctuation rate threshold is the upper limit of load fluctuation for stable conditions, reflecting whether the load is stable. The preset start acceleration threshold, stop acceleration threshold, and emergency stop acceleration threshold are the acceleration judgment standards for start-up, stop-up, and emergency stop, respectively. In the stop and emergency stop situations, the acceleration is negative, and the corresponding threshold is also negative, i.e., deceleration. All of the above thresholds can be calibrated according to the platform model, actual working condition testing, and parameter calibration to adapt to the dynamic characteristics of different equipment. For example, if the first acceleration threshold is 2.5 m / s², the preset rate of change threshold is 10 m / s³, the second acceleration threshold is 0.5 m / s², the preset fluctuation rate threshold is 10%, the preset start-up acceleration threshold is 0.1 m / s², the preset stop acceleration threshold is -1.0 m / s², and the preset emergency stop acceleration threshold is -3.0 m / s², then the determination for each operating condition is as follows: Impact condition determination: If the absolute value of the platform acceleration is greater than 2.5 m / s² or the rate of change of acceleration is greater than 10 m / s³, it is determined to be an impact condition, such as a sudden shaking of the platform caused by strong winds.

[0069] Determination of stable operating conditions: If the absolute value of the platform acceleration is <0.5m / s² and the load fluctuation rate is <10%, it is determined to be a stable operating condition, such as the platform being stationary or rising at a constant speed.

[0070] Start-up condition determination: If the speed changes from 0 to positive speed and the platform acceleration is greater than 0.1 m / s², it is determined to be a start-up condition, such as when the operator triggers the ascent command.

[0071] Stop condition determination: If the speed changes from positive speed to 0 and the platform acceleration is < -1.0m / s², it is determined to be a stop condition, such as when the operator releases the ascending command.

[0072] Emergency stop condition determination: If the platform acceleration is less than -3.0 m / s² or an emergency stop switch signal is received, it is determined to be an emergency stop condition, such as sudden loss of control or the operator pressing the emergency stop button.

[0073] In this way, by jointly determining the current operating condition of the work platform through multiple parameters, the fault tolerance of the system is improved, and misjudgment caused by the failure or interference of a single sensor is avoided; and by using clear threshold conditions, the system can identify and respond to changes in operating conditions in the early stages, thereby improving the timeliness of control.

[0074] Figure 2 This is a structural block diagram of a work platform buffer control device provided in an embodiment of this application. Figure 2 As shown in the illustration, this application also provides a device for controlling the buffer of a work platform, the device comprising: Memory 210 is configured to store instructions; The processor 220 is configured to retrieve instructions from the memory 210 and, when executing the instructions, to implement the job platform buffer control method described in the above embodiments.

[0075] This application also provides an aerial work platform, including: a work platform, the work platform being connected to a buffer device, the buffer device being used to suppress vibration, impact and sway of the work platform under various working conditions; and a device for buffer control of the work platform in the above embodiments.

[0076] Specifically, the aerial work platform is used to carry personnel and materials; the buffer device is installed at the hinge point between the work platform and the boom of the aerial work platform to reduce the impact and shaking generated when the work platform stops or starts. The buffer device includes hydraulic shock absorbers, electro-hydraulic proportional valves, servo hydraulic cylinders and other actuators; the control device is connected to the sensors and actuators through wiring harnesses to form a complete intelligent control system.

[0077] In summary, this application provides a comprehensive, high-performance work platform solution that enables aerial work platforms to have intelligent buffering capabilities, automatically adjusting buffering parameters according to real-time working conditions, significantly improving operational comfort, equipment stability, and operational safety.

[0078] This application also provides a machine-readable storage medium on which a program or instruction is stored, and when the program or instruction is executed by a processor, it implements the job platform buffer control method described in the above embodiments.

[0079] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0080] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0081] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0082] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0083] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0084] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0085] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0086] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0087] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A buffer control method for a work platform, characterized in that, The work platform is connected to a buffer device, which is used to suppress vibration, impact, and shaking of the work platform under various working conditions. The method includes: Obtain the motion status information and load information of the work platform; The current operating condition of the work platform is determined based on the motion state information and the load information. The operating conditions of the work platform include impact condition, stable condition, start-up condition, stop condition and emergency stop condition. Based on the current operating conditions, the load information, and the motion state information, the target damping of the buffer device is determined using a preset composite damping calculation model. Based on the current operating conditions and the load information, determine the target stroke ratio of the buffer device; Adjust the damping force and stroke length of the buffer device according to the target damping and target stroke ratio.

2. The work platform buffer control method according to claim 1, characterized in that, The preset composite damping calculation model satisfies the following formula: Final_Damping=w1×Base_Damping+w2×Dynamic_Compensation+w3×Safety_Margin; Where Final_Damping is the target damping, w1 is the base damping weight, Base_Damping is the base damping, w2 is the dynamic compensation weight, Dynamic_Compensation is the dynamic compensation value, w3 is the safety weight, and Safety_Margin is the preset safety threshold. The step of determining the target damping of the buffer device based on the current operating conditions, the load information, and the motion state information, using a preset composite damping calculation model, includes: Determine the basic damping based on the load information; The dynamic compensation value is determined based on the preset dynamic compensation strategy corresponding to the current working condition and the motion state information. The basic damping weight, dynamic compensation weight, and safety weight are determined according to the preset weight setting strategy corresponding to the current working condition. The target damping is determined by the preset composite damping calculation model based on the basic damping, dynamic compensation value, basic damping weight, dynamic compensation weight, and safety weight.

3. The work platform buffer control method according to claim 2, characterized in that, The load information includes the current load and the rated load. Determining the base damping based on the load information includes: The load rate is determined based on the percentage of the current load to the rated load; When the load rate is in a preset high load range, the basic damping is determined based on a first calculation rule, which includes a nonlinear compensation term that is proportional to the difference between the load rate and a preset first threshold. When the load rate is within a preset medium load range, the basic damping is determined based on a second calculation rule, wherein the basic damping is linearly proportional to the load rate in the second calculation rule. When the load rate is in a preset low load range, the basic damping is determined based on a third calculation rule. In the third calculation rule, the basic damping has a second linear proportional relationship with the load rate, and the proportional coefficient of the second linear proportional relationship is less than the proportional coefficient of the first linear proportional relationship.

4. The work platform buffer control method according to claim 2, characterized in that, The step of determining the dynamic compensation value based on the preset dynamic compensation strategy corresponding to the current working condition and the motion state information includes: When the current working condition is the impact condition, the dynamic compensation value is determined according to the first functional relationship, which is the sum of the proportional derivative term based on the motion state information and the feedforward term based on the load information; When the current working condition is the starting condition, the dynamic compensation value is determined according to the second functional relationship, which is the sum of the proportional derivative term based on the motion state information and the transition term that decays over time; When the current working condition is the stopped working condition, the dynamic compensation value is determined according to the third functional relationship, which is the sum of the proportional derivative term based on the motion state information and the feedforward term based on the load information; When the current working condition is the stable working condition, the dynamic compensation value is determined according to the fourth functional relationship, which is a proportional term based on the motion state information.

5. The work platform buffer control method according to claim 2, characterized in that, The step of determining the basic damping weight, dynamic compensation weight, and safety weight according to the preset weight setting strategy corresponding to the current working condition includes: When the current operating condition is the emergency stop condition, the basic damping weight and the dynamic compensation weight are set to 0, and the safety weight is set to 1. When the current operating condition is the impact condition, the stable condition, the start-up condition, or the stop condition, the basic damping weight and the dynamic compensation weight are determined based on the platform acceleration in the motion state information, and the safety weight is set to 0. The basic damping weight is negatively correlated with the platform acceleration, and the dynamic compensation weight is positively correlated with the platform acceleration.

6. The work platform buffer control method according to claim 1, characterized in that, The load information includes the current load and the rated load. Determining the target stroke ratio of the buffer device based on the current operating conditions and the load information includes: The load rate is determined based on the percentage of the current load to the rated load; The base stroke ratio is determined based on the load rate, and the base stroke ratio is directly proportional to the load rate. When the current working condition is the impact condition or the stop condition, the target stroke ratio is determined according to the sum of the basic stroke ratio and the dynamic increment, and the dynamic increment is positively correlated with the absolute value of the platform acceleration in the motion state information; When the current working condition is the start-up condition, the target stroke ratio is determined based on the product of the basic stroke ratio and the preset first stroke coefficient, and the target stroke ratio is reduced to the basic stroke ratio within a preset transition period. When the current working condition is the stable working condition, the target stroke ratio is determined by the product of the basic stroke ratio and the preset second stroke ratio coefficient, wherein the preset second stroke ratio coefficient is less than the preset first stroke ratio coefficient. When the current operating condition is the emergency stop condition, the target stroke ratio is determined to be the preset maximum stroke ratio.

7. The work platform buffer control method according to claim 1, characterized in that, The motion status information includes velocity changes, platform acceleration, and rate of acceleration change; the load information includes load fluctuation rate; and determining the current operating condition of the work platform based on the motion status information and the load information includes: If the absolute value of the platform acceleration is greater than a first acceleration threshold, or the rate of change of acceleration is greater than a preset rate of change threshold, the current working condition is determined to be the impact condition. If the absolute value of the platform acceleration is less than the second acceleration threshold and the load volatility is less than the preset volatility threshold, the current operating condition is determined to be the stable operating condition. When the speed change is from 0 to positive speed and the platform acceleration is greater than a preset start-up acceleration threshold, the current working condition is determined to be the start-up condition. If the speed change is from positive speed to 0 and the platform acceleration is less than a preset stop acceleration threshold, the current working condition is determined to be the stop working condition. If the platform acceleration is less than a preset emergency stop acceleration threshold, or if an emergency stop switch signal is received, the current operating condition is determined to be the emergency stop condition.

8. A buffer control device for a work platform, characterized in that, The device includes: The memory is configured to store instructions; and The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the job platform buffer control method according to any one of claims 1 to 7.

9. An aerial work platform, characterized in that, include: A working platform, which is connected to a buffer device, which is used to suppress the vibration, impact and shaking of the working platform under various working conditions; as well as The work platform buffer control device according to claim 8.

10. A machine-readable storage medium on which a program or instructions are stored, characterized in that, When the program or the instructions are executed by the processor, the job platform buffer control method according to any one of claims 1 to 7 is implemented.

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