Electric drive aerial work vehicle control system and aerial work management system

Abstract

This application provides a control system and management system for an electric aerial work platform, relating to the field of engineering machinery equipment operation. This application controls the platform control unit via a main control unit, enabling the platform control unit to correspondingly control the boom structure to smoothly accelerate / decelerate the work platform until the target boom movement is completed. This application also controls the turntable control unit via the main control unit, enabling the turntable control unit to smoothly accelerate / decelerate the turntable structure until the target turntable movement is completed. Furthermore, this application also controls the travel control unit via the main control unit, enabling the travel control unit to smoothly accelerate / decelerate the drive motor until the target motor speed is reached. Therefore, this application achieves smooth control of the electric aerial work platform, improving its operational coordination during operation, reducing hard collisions and impacts on the moving body, extending its service life, and improving the operator's comfort and safety.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery and equipment control, and more specifically, to an electric-drive aerial work vehicle control system and an aerial work management system. Background Art

[0002] With the continuous development of science and technology, electric-driven aerial work vehicles are widely used in various industries for high-altitude operations, equipment installation, maintenance and other mobile high-altitude operations. However, at present, when the electric-driven aerial work vehicles on the market are performing high-altitude operations, the conventional control system can only achieve mechanical control effects, which leads to large impacts on the start and stop of the machine body, stiff control of the machine body and unstable control output when the electric-driven aerial work vehicles are driving, adjusting the boom movement, adjusting the rotation of the turntable, etc., which can easily cause safety hazards to the operators, affect their operating experience, and reduce the service life of the aerial work vehicles. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide an electric-drive aerial work vehicle control system and an aerial work management system, which can improve the operational coordination of the various component structures of the electric-drive aerial work vehicle during operation, reduce the hard collision and impact of the mobile body, extend the service life of the aerial work vehicle, and improve the operating comfort and safety factor of the operators.

[0004] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0005] In a first aspect, an embodiment of the present application provides a control system for an electric-drive aerial work vehicle, the control system comprising a main control unit, a platform control unit, a turntable control unit, and a travel control unit;

[0006] The main control unit is electrically connected to the platform control unit, and is used to respond to the target boom action input by the operator, generate an operation instruction corresponding to the target boom action, and send the operation instruction to the platform control unit, wherein the platform control unit is used to control the boom structure of the electric-drive aerial work vehicle to drive the work platform to smoothly accelerate / decelerate according to the operation instruction until the boom structure completes the target boom action;

[0007] The main control unit is electrically connected to the turntable control unit, and is used to respond to the target turntable action input by the operator, generate a rotation instruction corresponding to the target turntable action, and send the rotation instruction to the turntable control unit, wherein the turntable control unit is used to control the turntable structure of the electric-driven aerial work vehicle to smoothly accelerate / decelerate according to the rotation instruction until the turntable structure completes the target turntable action;

[0008] The main control unit is electrically connected to the driving control unit, and is used to respond to the target motor speed input by the operator, generate a drive instruction corresponding to the target motor speed, and send the drive instruction to the driving control unit, wherein the driving control unit is used to control the drive motor of the electric-driven aerial work vehicle to smoothly accelerate / decelerate according to the drive instruction until the drive motor reaches the target motor speed.

[0009] In an optional embodiment, the platform control unit includes a platform controller, a platform proportional valve and a plurality of working direction switch valves, the boom structure is formed by a plurality of working arms connected in series, and at least one working direction switch valve is provided at a connection joint between two adjacent working arms, wherein the working direction switch valve is used to adjust the working direction of the boom structure, and the platform proportional valve is used to adjust the working amplitude of the boom structure;

[0010] The platform controller is electrically connected to each of the operation direction switch valves, and is used to control each operation direction switch valve related to the target boom movement to open or close;

[0011] The platform controller is electrically connected to the platform proportional valve, and is used to smoothly increase / decrease the duty cycle of the platform proportional valve according to the real-time current of the platform proportional valve and the target output current included in the operation instruction until the real-time current of the platform proportional valve is consistent with the target output current.

[0012] In an optional embodiment, the platform control unit further includes a first timer;

[0013] The platform controller is electrically connected to the first timer, and is used to trigger the first timer when the operation instruction indicates that a switch valve control operation and a proportional valve control operation need to be performed and the switch valve control operation or the proportional valve control operation has been completed, and execute the remaining control operations corresponding to the operation instruction after the first timing duration corresponding to the first timer is consumed.

[0014] In an optional embodiment, the turntable control unit includes a turntable controller, a turntable proportional valve and a plurality of rotation direction switch valves, wherein the rotation direction switch valve is installed on the turntable structure, wherein the rotation direction switch valve is used to adjust the rotation direction of the turntable structure, and the turntable proportional valve is used to adjust the rotation arc of the turntable structure;

[0015] The turntable controller is electrically connected to each of the rotation direction switch valves, and is used to control each of the rotation direction switch valves related to the target turntable action to open or close;

[0016] The turntable controller is electrically connected to the turntable proportional valve, and is used to smoothly increase / decrease the duty cycle of the turntable proportional valve according to the real-time current of the turntable proportional valve and the target output current included in the rotation instruction, until the real-time current of the turntable proportional valve is consistent with the target output current.

[0017] In an optional embodiment, the turntable control unit further includes a second timer;

[0018] The turntable controller is electrically connected to the second timer, and is used to trigger the second timer when the rotation instruction indicates that a switch valve control operation and a proportional valve control operation need to be executed and the switch valve control operation or the proportional valve control operation has been completed, and execute the remaining control operations corresponding to the rotation instruction after the second timing duration corresponding to the second timer is consumed.

[0019] In an optional embodiment, the control system further includes an information acquisition unit;

[0020] The information collection unit is installed on the electric-driven aerial work vehicle and is used to collect vehicle operation information of the electric-driven aerial work vehicle;

[0021] The information collection unit is electrically connected to the main control unit and is used to transmit the collected vehicle operation information to the main control unit for information sorting.

[0022] In an optional embodiment, the control system further comprises a vehicle positioning unit;

[0023] The vehicle positioning unit is integrated in the main control unit, and is used to locate the position of the carrier body of the electric-drive aerial work vehicle, and the obtained vehicle positioning information is handed over to the main control unit for information sorting.

[0024] In an optional embodiment, the control system further includes a wireless communication unit;

[0025] The wireless communication unit is installed on the electric-drive aerial work vehicle and is electrically connected to the main control unit, and is used to transmit vehicle physical information related to the electric-drive aerial work vehicle sorted out by the main control unit to other electronic devices for display.

[0026] In an optional embodiment, the control system further includes an information transfer device;

[0027] The information transfer device is in communication connection with the wireless communication unit, and is used to receive the vehicle physical information transmitted by the wireless communication unit, and store the received vehicle physical information;

[0028] The information transfer device is communicatively connected to the remote terminal, and is used to transmit the received vehicle physical information to the remote terminal for display, and receive control content for the electric-driven aerial work vehicle from the remote terminal, and transmit the received control content to the main control unit via the wireless communication unit.

[0029] In a second aspect, an embodiment of the present application provides an aerial work management system, the management system comprising an operation management center and at least one electric-driven aerial work vehicle control system as described in any one of the aforementioned embodiments, wherein each electric-driven aerial work vehicle control system controls one electric-driven aerial work vehicle;

[0030] The operation management center is in communication connection with each of the electric-drive aerial work vehicle control systems, and is used to manage and control the operation status of each electric-drive aerial work vehicle control system.

[0031] The beneficial effects of the embodiments of the present application are:

[0032] The present application generates an operation instruction corresponding to the input target boom action through the main control unit, and sends the operation instruction to the platform control unit, so that the platform control unit controls the boom structure of the electric-driven aerial work vehicle to drive the work platform to smoothly accelerate / decelerate according to the operation instruction until the boom structure completes the target boom action. At the same time, the present application also generates a rotation instruction corresponding to the input target turntable action through the main control unit, and sends the rotation instruction to the turntable control unit, so that the turntable control unit controls the turntable structure of the electric-driven aerial work vehicle to smoothly accelerate / decelerate according to the rotation instruction until the turntable structure completes the target turntable action. In addition, the present application also generates a drive instruction corresponding to the input target motor speed through the main control unit, and sends the drive instruction to the travel control unit, so that the travel control unit controls the drive motor of the electric-driven aerial work vehicle to smoothly accelerate / decelerate according to the drive instruction until the drive motor reaches the target motor speed. Therefore, the present application achieves a smooth control effect on the electric-driven aerial work vehicle through the cooperation between the main control unit, the platform control unit, the turntable control unit and the driving control unit, thereby improving the operational coordination of the various component structures of the electric-driven aerial work vehicle during operation, reducing the hard collision and impact of the mobile body, extending the service life of the aerial work vehicle, and improving the operating comfort and safety factor of the operators.

[0033] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 This is one of the system composition diagrams of the electric drive aerial work vehicle control system provided in the embodiment of the present application;

[0036] Figure 2 yes Figure 1 One of the schematic diagrams of the device composition of the platform control unit;

[0037] Figure 3 yes Figure 1 The second schematic diagram of the device composition of the platform control unit;

[0038] Figure 4 for Figure 1 One of the schematic diagrams of the components of the turntable control unit;

[0039] Figure 5 for Figure 1 The second schematic diagram of the components of the turntable control unit;

[0040] Figure 6 The second schematic diagram of the system composition of the electric drive aerial work vehicle control system provided in the embodiment of the present application;

[0041] Figure 7 The third schematic diagram of the system composition of the electric drive aerial work vehicle control system provided in the embodiment of the present application;

[0042] Figure 8 A schematic diagram of the system composition of the aerial work management system provided in an embodiment of the present application.

[0043] Icons: 10-Electric drive aerial work vehicle control system; 20-Remote terminal; 30-Aerial work management system; 110-Main control unit; 120-Platform control unit; 130-Turntable control unit; 140-Driving control unit; 121-Platform controller; 122-Platform proportional valve; 123-Operation direction switch valve; 124-First timer; 131-Turntable controller; 132-Turntable proportional valve; 133-Rotation direction switch valve; 134-Second timer; 150-Information collection unit; 160-Vehicle positioning unit; 170-Wireless communication unit; 180-Information transfer equipment; 31-Operation management center. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0045] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0046] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0047] In the description of the present application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0048] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0049] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0050] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0051] Please refer to Figure 1 , Figure 1 It is one of the system composition diagrams of the electric-driven aerial work vehicle control system 10 provided in the embodiment of the present application. In the embodiment of the present application, the electric-driven aerial work vehicle control system 10 can improve the operation coordination of the various component structures of the electric-driven aerial work vehicle during operation, reduce the hard collision and impact of the mobile body, extend the service life of the aerial work vehicle, and improve the operating comfort and safety factor of the operators. Among them, the electric-driven aerial work vehicle generally includes a boom structure, a turntable structure, a work platform and a bearing body, the turntable structure is installed on the bearing body, the boom structure is installed on the turntable structure, and the work platform is installed on the boom structure. Among them, the bearing body can drive the boom structure, the turntable structure and the work platform to move, the boom structure can be used to drive the work platform to move to a specified working height and / or a specified working position, and the turntable structure can be used to drive the turntable structure and the work platform to perform a rotating operation.

[0052] In the embodiment of the present application, the electric-drive aerial work vehicle control system 10 includes a main control unit 110, a platform control unit 120, a turntable control unit 130 and a driving control unit 140. The platform control unit 120 is used to control the operation status of the boom structure to ensure that the work platform can normally achieve the work task; the turntable control unit 130 is used to control the operation status of the turntable structure; the driving control unit 140 is used to control the driving status of the supporting vehicle body; the main control unit 110 is used to control the operation of the platform control unit 120, the turntable control unit 130 and the driving control unit 140.

[0053] In an embodiment of the present application, the main control unit 110 is electrically connected to the platform control unit 120, and is used to respond to the target boom movement input by the operator, generate an operation instruction corresponding to the target boom movement, and send the operation instruction to the platform control unit 120, so that the platform control unit 120 controls the boom structure of the electric-driven aerial work vehicle according to the operation instruction to drive the work platform to smoothly accelerate / decelerate and move until the boom structure completes the target boom movement.

[0054] Among them, when the platform control unit 120 starts to control the boom structure to perform the target boom action, the boom structure can be controlled to drive the working platform to smoothly accelerate and move, so that the boom structure will not be subjected to large hard collisions and impacts before and after performing the target boom action. When the boom structure is about to complete the target boom action, the platform control unit 120 can also control the boom structure to drive the working platform to smoothly decelerate and move, so that the boom structure will not be subjected to large hard collisions and impacts when completing the target boom action.

[0055] Optionally, see Figure 2 , Figure 2 yes Figure 1 One of the device composition diagrams of the platform control unit 120 in FIG. In this embodiment, the platform control unit 120 may include a platform controller 121, a platform proportional valve 122, and a plurality of operation direction switch valves 123. The boom structure is formed by a plurality of operation arms connected in series, and at least one operation direction switch valve 123 is provided at the connection joint between two adjacent operation arms, wherein the operation direction switch valve 123 is used to adjust the operation direction of the boom structure, and the platform proportional valve 122 is used to adjust the operation amplitude of the boom structure.

[0056] The platform controller 121 is electrically connected to each of the operation direction switch valves 123 , and is used to control each of the operation direction switch valves 123 related to the target boom movement to be opened or closed.

[0057] The platform controller 121 is electrically connected to the platform proportional valve 122, and is used to smoothly increase / decrease the duty cycle of the platform proportional valve 122 according to the real-time current of the platform proportional valve 122 and the target output current corresponding to the target boom action included in the operation instruction, until the real-time current of the platform proportional valve 122 is consistent with the target output current.

[0058] When the boom structure needs to start executing the target boom action, the platform controller 121 will first control the opening of each operating direction switch valve 123 related to the target boom action, and then smoothly increase the duty cycle of the platform proportional valve 122 according to the real-time current of the platform proportional valve 122 and the target output current included in the operating instruction, so that the boom structure gradually tends to the target boom action until the real-time current of the platform proportional valve 122 is consistent with the target output current.

[0059] When the boom structure is consistent with the target boom action, the platform controller 121 will also begin to smoothly reduce the duty cycle of the platform proportional valve 122 until the duty cycle is adjusted to the minimum value (the minimum value of the duty cycle here usually causes the real-time current of the platform proportional valve 122 to be less than the minimum action current of the platform proportional valve 122), and then control the closing of each operating direction switch valve 123 related to the target boom action, so that the boom structure maintains the state of the target boom action.

[0060] In one implementation of this embodiment, the control operation of the platform controller 121 on the platform proportional valve 122 is implemented based on a PID (Proportion-Integral-Differential) control algorithm.

[0061] Optionally, see Figure 3 , Figure 3 yes Figure 1 FIG. 2 is a schematic diagram of the components of the platform control unit 120 in FIG.

[0062] The platform controller 121 is electrically connected to the first timer 124, and is used to trigger the first timer 124 when the operation instruction indicates that the switch valve control operation (the control operation of the operation direction switch valve 123) and the proportional valve control operation (the control operation of the platform proportional valve 122) need to be performed, and the switch valve control operation or the proportional valve control operation has been completed, and after the first timing duration corresponding to the first timer 124 is consumed, the remaining control operation corresponding to the operation instruction is performed. The first timing duration corresponding to the first timer 124 can usually be set within the range of 50ms to 200ms to play a buffering role between the switch valve control operation and the proportional valve control operation.

[0063] In an embodiment of the present application, the main control unit 110 is electrically connected to the turntable control unit 130, and is used to respond to a target turntable action input by an operator, generate a rotation instruction corresponding to the target turntable action, and send the rotation instruction to the turntable control unit 130, so that the turntable control unit 130 controls the turntable structure of the electric-driven aerial work vehicle to smoothly accelerate / decelerate according to the rotation instruction until the turntable structure completes the target turntable action.

[0064] Among them, when the turntable control unit 130 starts to control the turntable structure to perform the target turntable action, it can control the turntable structure to smoothly accelerate the rotation, so that the turntable structure will not be subjected to large hard collisions and impacts before and after performing the target turntable action. When the turntable structure is about to complete the target turntable action, the turntable control unit 130 can also control the turntable structure to smoothly decelerate the rotation, so that the turntable structure will not be subjected to large hard collisions and impacts when completing the target turntable action.

[0065] Optionally, see Figure 4 , Figure 4 yes Figure 1FIG. 1 is a schematic diagram of the components of the turntable control unit 130. In this embodiment, the turntable control unit 130 includes a turntable controller 131, a turntable proportional valve 132, and a plurality of rotation direction switch valves 133, wherein the rotation direction switch valve 133 is installed on the turntable structure, wherein the rotation direction switch valve 133 is used to adjust the rotation direction of the turntable structure, and the turntable proportional valve 132 is used to adjust the rotation arc of the turntable structure.

[0066] The turntable controller 131 is electrically connected to each of the rotation direction switch valves 133 , and is used to control each of the rotation direction switch valves 133 related to the target turntable action to be opened or closed.

[0067] The turntable controller 131 is electrically connected to the turntable proportional valve 132, and is used to smoothly increase / decrease the duty cycle of the turntable proportional valve 132 according to the real-time current of the turntable proportional valve 132 and the target output current included in the rotation instruction, until the real-time current of the turntable proportional valve 132 is consistent with the target output current.

[0068] Among them, when the turntable structure needs to start executing the target turntable action, the turntable controller 131 will first control the rotation direction switch valve 133 related to the target turntable action to open, and then smoothly adjust the duty cycle of the turntable proportional valve 132 according to the real-time current of the turntable proportional valve 132 and the target output current included in the rotation instruction, so that the turntable structure gradually tends to the target turntable action until the real-time current of the turntable proportional valve 132 is consistent with the target output current.

[0069] When the turntable structure is consistent with the target turntable action, the turntable controller 131 will also begin to smoothly reduce the duty cycle of the turntable proportional valve 132 until the duty cycle is adjusted to the minimum value (the minimum value of the duty cycle here usually causes the real-time current of the turntable proportional valve 132 to be less than the minimum action current of the turntable proportional valve 132), and then control the rotation direction switch valve 133 related to the target turntable action to close, so that the turntable structure maintains the state of the target turntable action.

[0070] In one implementation of the present embodiment, the control operation of the turntable controller 131 on the turntable proportional valve 132 is implemented based on a PID (Proportion-Integral-Differential) control algorithm.

[0071] Optionally, see Figure 5 , Figure 5 yes Figure 1FIG. 2 is a schematic diagram of the components of the turntable control unit 130 in FIG.

[0072] The turntable controller 131 is electrically connected to the second timer 134, and is used to trigger the second timer 134 when the rotation instruction indicates that the switch valve control operation (the control operation of the rotation direction switch valve 133) and the proportional valve control operation (the control operation of the turntable proportional valve 132) need to be executed, and the switch valve control operation or the proportional valve control operation has been completed, and after the second timing duration corresponding to the second timer 134 is consumed, the remaining control operation corresponding to the rotation instruction is executed. The second timing duration corresponding to the second timer 134 can usually be set within the range of 50ms to 200ms to play a buffering role between the switch valve control operation and the proportional valve control operation.

[0073] In an embodiment of the present application, the main control unit 110 is electrically connected to the driving control unit 140, and is used to respond to the target motor speed input by the operator, generate a drive instruction corresponding to the target motor speed, and send the drive instruction to the driving control unit 140, so that the driving control unit 140 controls the driving motor of the electric-driven aerial work vehicle to smoothly accelerate / decelerate according to the drive instruction until the driving motor reaches the target motor speed.

[0074] Among them, when the real-time speed of the driving motor of the electric-driven aerial work vehicle is less than the target motor speed, the driving control unit 140 will control the driving motor to smoothly accelerate until the real-time speed reaches the target motor speed; when the real-time speed of the driving motor of the electric-driven aerial work vehicle is greater than the target motor speed, the driving control unit 140 will control the driving motor to smoothly decelerate until the real-time speed reaches the target motor speed. In one implementation of this embodiment, the driving control unit 140 can use a PID control algorithm to implement the speed regulation control function of the driving motor.

[0075] In the embodiment of the present application, the electric-drive aerial work vehicle control system 10 achieves a smooth control effect on the electric-drive aerial work vehicle through the cooperation between the main control unit 110, the platform control unit 120, the turntable control unit 130 and the travel control unit 140, thereby improving the operational coordination of the various component structures of the electric-drive aerial work vehicle during operation, reducing the hard collision and impact of the mobile body, extending the service life of the aerial work vehicle, and improving the operating comfort and safety factor of the operators.

[0076] Optionally, see Figure 6 , Figure 6This is the second schematic diagram of the system composition of the electric-driven aerial work vehicle control system 10 provided in the embodiment of the present application. In the embodiment of the present application, the electric-driven aerial work vehicle control system 10 may further include an information collection unit 150 , a vehicle positioning unit 160 and a wireless communication unit 170 .

[0077] The information collection unit 150 is installed on the electric-driven aerial work vehicle and is used to collect vehicle operation information of the electric-driven aerial work vehicle. The information collection unit 150 is electrically connected to the main control unit 110 and is used to transmit the collected vehicle operation information to the main control unit 110 for information sorting. The vehicle operation information includes the working environment information of each component structure in the electric-driven aerial work vehicle, the operation working hours information of each component structure, the operation status information and fault condition information of each component structure, etc.

[0078] The vehicle positioning unit 160 is integrated into the main control unit 110 and is used to locate the position of the carrier body of the electric-drive aerial work vehicle, and the obtained vehicle positioning information is sent to the main control unit 110 for information sorting.

[0079] The wireless communication unit 170 is installed on the electric-drive aerial work vehicle and is electrically connected to the main control unit 110, and is used to transmit the vehicle physical information related to the electric-drive aerial work vehicle sorted out by the main control unit 110 to other electronic devices for display. The vehicle physical information includes vehicle operation information and vehicle positioning information sorted out by the main control unit 110.

[0080] Optionally, see Figure 7 , Figure 7 This is the third schematic diagram of the system composition of the electric-driven aerial work vehicle control system 10 provided in the embodiment of the present application. In the embodiment of the present application, the electric-driven aerial work vehicle control system 10 may further include an information transfer device 180 .

[0081] The information transfer device 180 is in communication connection with the wireless communication unit 170 , and is used to receive the vehicle physical information transmitted by the wireless communication unit 170 , and store the received vehicle physical information.

[0082] The information transfer device 180 is also connected to the remote terminal 20 for communication, and is used to transmit the received vehicle physical information to the remote terminal 20 for display, and receive the control content for the electric-driven aerial work vehicle from the remote terminal 20, and transmit the received control content to the main control unit 110 via the wireless communication unit 170, so that the main control unit 110 executes according to the control content. Among them, the control content includes remote control instructions for at least one control unit among the platform control unit 120, the turntable control unit 130 and the driving control unit 140, program debugging instructions or program version upgrade instructions for each software function module in the electric-driven aerial work vehicle, and fault diagnosis results of each component structure in the electric-driven aerial work vehicle.

[0083] Optionally, see Figure 8 , Figure 8 : is a schematic diagram of the system composition of the aerial work management system 30 provided in the embodiment of the present application. In the embodiment of the present application, the aerial work management system 30 includes a work management center 31 and at least one of the above-mentioned electric-driven aerial work vehicle control systems 10, wherein each electric-driven aerial work vehicle control system 10 controls one electric-driven aerial work vehicle.

[0084] In this embodiment, the operation management center 31 is in communication connection with each of the electric-driven aerial work vehicle control systems 10 , and is used to manage and control the operation status of each electric-driven aerial work vehicle control system 10 .

[0085] In summary, in an electric-drive aerial work vehicle control system and aerial work management system provided by an embodiment of the present application, the present application generates an operation instruction corresponding to the input target boom action through the main control unit, and sends the operation instruction to the platform control unit, so that the platform control unit controls the boom structure of the electric-drive aerial work vehicle to drive the work platform to smoothly accelerate / decelerate according to the operation instruction until the boom structure completes the target boom action. At the same time, the present application also generates a rotation instruction corresponding to the input target turntable action through the main control unit, and sends the rotation instruction to the turntable control unit, so that the turntable control unit controls the turntable structure of the electric-drive aerial work vehicle to smoothly accelerate / decelerate according to the rotation instruction until the turntable structure completes the target turntable action. In addition, the present application also generates a drive instruction corresponding to the input target motor speed through the main control unit, and sends the drive instruction to the travel control unit, so that the travel control unit controls the drive motor of the electric-drive aerial work vehicle to smoothly accelerate / decelerate according to the drive instruction until the drive motor reaches the target motor speed. Therefore, the present application achieves a smooth control effect on the electric-driven aerial work vehicle through the cooperation between the main control unit, the platform control unit, the turntable control unit and the driving control unit, thereby improving the operational coordination of the various component structures of the electric-driven aerial work vehicle during operation, reducing the hard collision and impact of the mobile body, extending the service life of the aerial work vehicle, and improving the operating comfort and safety factor of the operators.

[0086] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A control system for an electric-driven aerial work vehicle, characterized in that: The control system includes a main control unit, a platform control unit, a turntable control unit and a travel control unit; The main control unit is electrically connected to the platform control unit, and is used to respond to the target boom action input by the operator, generate an operation instruction corresponding to the target boom action, and send the operation instruction to the platform control unit, wherein the platform control unit is used to control the boom structure of the electric-drive aerial work vehicle to drive the work platform to smoothly accelerate / decelerate according to the operation instruction until the boom structure completes the target boom action; The main control unit is electrically connected to the turntable control unit, and is used to respond to the target turntable action input by the operator, generate a rotation instruction corresponding to the target turntable action, and send the rotation instruction to the turntable control unit, wherein the turntable control unit is used to control the turntable structure of the electric-driven aerial work vehicle to smoothly accelerate / decelerate according to the rotation instruction until the turntable structure completes the target turntable action; The main control unit is electrically connected to the driving control unit, and is used to respond to the target motor speed input by the operator, generate a driving instruction corresponding to the target motor speed, and send the driving instruction to the driving control unit, wherein the driving control unit is used to control the driving motor of the electric-driven aerial work vehicle to smoothly accelerate / decelerate according to the driving instruction until the driving motor reaches the target motor speed; The platform control unit includes a platform controller, a platform proportional valve and a plurality of operation direction switch valves. The boom structure is formed by a plurality of operation arms connected in series. At least one operation direction switch valve is provided at the connection joint between two adjacent operation arms. The operation direction switch valve is used to adjust the operation direction of the boom structure. The platform proportional valve is used to adjust the operation amplitude of the boom structure. The platform controller is electrically connected to each of the operation direction switch valves, and is used to control each operation direction switch valve related to the target boom movement to open or close; The platform controller is electrically connected to the platform proportional valve, and is used to smoothly increase / decrease the duty cycle of the platform proportional valve according to the real-time current of the platform proportional valve and the target output current included in the operation instruction until the real-time current of the platform proportional valve is consistent with the target output current.

2. The control system according to claim 1, characterized in that: The platform control unit also includes a first timer; The platform controller is electrically connected to the first timer, and is used to trigger the first timer when the operation instruction indicates that a switch valve control operation and a proportional valve control operation need to be performed and the switch valve control operation or the proportional valve control operation has been completed, and execute the remaining control operations corresponding to the operation instruction after the first timing duration corresponding to the first timer is consumed.

3. The control system according to claim 1, characterized in that: The turntable control unit includes a turntable controller, a turntable proportional valve and a plurality of rotation direction switch valves, wherein the rotation direction switch valve is installed on the turntable structure, wherein the rotation direction switch valve is used to adjust the rotation direction of the turntable structure, and the turntable proportional valve is used to adjust the rotation arc of the turntable structure; The turntable controller is electrically connected to each of the rotation direction switch valves, and is used to control each of the rotation direction switch valves related to the target turntable action to open or close; The turntable controller is electrically connected to the turntable proportional valve and is used to control the turntable proportional valve according to the real-time current and The target output current included in the rotation instruction smoothly increases / decreases the duty cycle of the turntable proportional valve until the real-time current of the turntable proportional valve is consistent with the target output current.

4. The control system according to claim 3, characterized in that: The turntable control unit also includes a second timer; The turntable controller is electrically connected to the second timer, and is used to trigger the second timer when the rotation instruction indicates that a switch valve control operation and a proportional valve control operation need to be executed and the switch valve control operation or the proportional valve control operation has been completed, and execute the remaining control operations corresponding to the rotation instruction after the second timing duration corresponding to the second timer is consumed.

5. The control system according to claim 1, characterized in that: The control system also includes an information acquisition unit; The information collection unit is installed on the electric-driven aerial work vehicle and is used to collect vehicle operation information of the electric-driven aerial work vehicle; The information collection unit is electrically connected to the main control unit and is used to transmit the collected vehicle operation information to the main control unit for information sorting.

6. The control system according to claim 1, characterized in that: The control system also includes a vehicle positioning unit; The vehicle positioning unit is integrated in the main control unit, and is used to locate the position of the carrier body of the electric-drive aerial work vehicle, and the obtained vehicle positioning information is handed over to the main control unit for information sorting.

7. The control system according to any one of claims 1 to 6, characterized in that: The control system further comprises a wireless communication unit; The wireless communication unit is installed on the electric-drive aerial work vehicle and is electrically connected to the main control unit, and is used to transmit vehicle physical information related to the electric-drive aerial work vehicle sorted out by the main control unit to other electronic devices for display.

8. The control system according to claim 7, characterized in that: The control system also includes information transfer equipment; The information transfer device is in communication connection with the wireless communication unit, and is used to receive the vehicle physical information transmitted by the wireless communication unit, and store the received vehicle physical information; The information transfer device is communicatively connected to the remote terminal, and is used to transmit the received vehicle physical information to the remote terminal for display, and receive control content for the electric-driven aerial work vehicle from the remote terminal, and transmit the received control content to the main control unit via the wireless communication unit.

9. A high-altitude operation management system, characterized in that: The management system includes an operation management center and at least one electric-driven aerial work vehicle control system according to any one of claims 1 to 8, wherein each electric-driven aerial work vehicle control system controls one electric-driven aerial work vehicle; The operation management center is in communication connection with each of the electric-drive aerial work vehicle control systems, and is used to manage and control the operation status of each electric-drive aerial work vehicle control system.

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