Axle balance control system, method, device, platform vehicle, and storage medium

Abstract

The present disclosure provides a vehicle bridge balance control system, method, device, platform vehicle, and storage medium, wherein the control system includes: an angle sensor, a limit switch, a balance execution unit, and a control device; the control device determines the whole machine state of the aerial work platform according to the amplitude angle detected by the angle sensor and the electrical signal sent by the limit switch, sends corresponding control instructions to the balance execution unit based on the whole machine state, determines whether the vehicle bridge balance function is abnormal according to the whole machine state and feedback information, and performs corresponding processing based on the judgment result. The system, method, device, platform vehicle, and storage medium disclosed in the present disclosure can improve the reliability and stability of control; improve the reliability of vehicle operation, prevent safety accidents, and the overall control architecture meets the requirements of the standard.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial work, and in particular to an axle balance control system, method, device, aerial work platform vehicle, and storage medium. Background Art

[0002] Self-propelled aerial work platforms can use their own power to travel short distances at work sites or between sites, and are used to transport workers and equipment to designated heights for operations. The axle balancing system is used to ensure the stability of the aerial work platform during travel, that is, to ensure the stability above the turntable. When the aerial work platform is in the stowage mode, the axle balancing valve is opened when traveling, and the axle is adaptively adjusted on uneven roads (drop less than 150mm) to ensure smooth boarding and comfortable operation for operators. When the aerial work platform is in the operating mode, that is, the boom is raised or extended, the center of the whole machine rises, and when traveling, the axle balancing valve is closed and locked to ensure that when the road surface is uneven with a drop greater than 150mm, the axle balance adjustment will not be triggered, causing the risk of rollover.

[0003] There are two control schemes for the existing axle balance control system: the first is the hydraulic closed leveling of the axle balance, which does not distinguish between the two states of driving in the collection mode and the operating mode, and the axle balance works normally. Since the two states of driving in the collection mode and the operating mode are not distinguished, when the vehicle boom is raised to a higher position and the vehicle is traveling, the risk of the whole machine rolling over increases sharply for poor road conditions; the second is the electronically controlled axle balance, which only relies on the axle balance valve to work alone. The axle balance valve opens when it is powered on and closes when it is powered off. If the axle balance valve has a stuck valve failure, it will be out of the electronic control limit, and this function will be maintained, causing the risk of rolling over when traveling in the operating mode; and the electrical hardware of the existing axle balance control system is not a dual-channel redundant safety device, and does not meet the safety requirements of the CE safety technical specifications. Summary of the invention

[0004] In view of this, a technical problem to be solved by the present invention is to provide an axle balance control system, method, device, aerial work platform vehicle, and storage medium.

[0005] According to a first aspect of the present disclosure, there is provided an axle balance control system, comprising: an angle sensor, a limit switch, a balance execution unit and a control device; the angle sensor is used to detect the amplitude change angle of a boom, wherein the boom is used to lift a work platform; the limit switch is used to detect whether the boom is extended; the control device is electrically connected to the angle sensor, the limit switch and the balance execution unit, respectively, and is used to judge the whole machine state of the aerial work platform according to the amplitude change angle detected by the angle sensor and the electrical signal sent by the limit switch, and send corresponding control instructions to the balance execution unit based on the whole machine state; the balance execution unit is used to perform corresponding operations based on the control instructions, and send feedback information to the control device; the control device is also used to judge whether the axle balance function is abnormal according to the whole machine state and the feedback information, and perform corresponding processing based on the judgment result.

[0006] Optionally, the balancing execution unit includes: a main control valve, a vehicle-car balancing valve, a main control valve feedback pressure sensor and an axle balancing valve feedback pressure sensor; the main control valve and the vehicle-car balancing valve perform corresponding operations based on the control instruction; the feedback signal includes: a first pressure value detected by the main control valve feedback pressure sensor and a second pressure value detected by the axle balancing valve feedback pressure sensor; wherein, the first pressure value is used to characterize whether the main control valve is powered on and opened, and the second pressure value is used to characterize whether the axle balancing valve is powered on and opened.

[0007] Optionally, the control device is used to determine that the whole machine is in a working state when the amplitude variation angle is greater than an angle threshold, or when it is determined according to the electrical signal that the limit switch is triggered, and send a first control signal to the main control valve and the vehicle-car balancing valve to make the main control valve and the vehicle-car balancing valve lose power and close based on the first control signal; the control device is also used to determine whether the first pressure value and the second pressure value are both less than a preset pressure threshold, and if not, it is determined that an abnormality has occurred in the axle balancing function.

[0008] Optionally, the control device is used to determine that the whole machine state is a walking state if the aerial work platform performs a walking action when the amplitude variation angle is less than or equal to the angle threshold and it is determined according to the electrical signal that the limit switch is not triggered, and send a second control signal to the main control valve and the vehicle-car balancing valve to enable the main control valve and the vehicle-car balancing valve to be powered and opened based on the first control signal; the control device is also used to determine whether the first pressure value and the second pressure value are both greater than or equal to the pressure threshold, and if not, determine that an abnormality occurs in the axle balancing function.

[0009] Optionally, it also includes: an alarm device; the control device is electrically connected to the alarm device, and is used to send an alarm signal to the alarm device when it is determined that the axle balancing function is abnormal.

[0010] Optionally, the angle sensor is electrically connected to the control device through two buses, and is used to send two angle signals used to characterize the amplitude variation angle to the control device through the two buses, wherein the bus includes: a CAN bus; the control device is used to verify the two angle signals, and if one or both angle signals fail the verification, it is determined that the angle sensor is faulty.

[0011] Optionally, the limit switch is electrically connected to the control device via two signal lines, and sends two electrical signals to the control device via the two signal lines; the control device is used to verify the two electrical signals, and if one or both electrical signals fail the verification, it is determined that the limit switch is faulty.

[0012] According to a second aspect of the present disclosure, there is provided an aerial work platform vehicle, comprising: the vehicle axle balance control system as described above.

[0013] According to a third aspect of the present disclosure, a vehicle axle balance control method is provided, comprising: obtaining a variable amplitude angle detected by an angle sensor and an electrical signal sent by a limit switch; wherein the angle sensor is used to detect the variable amplitude angle of a boom, and the boom is used to lift a work platform; the limit switch is used to detect whether the boom is extended; judging the overall state of the aerial work platform according to the variable amplitude angle and the electrical signal, and sending a corresponding control instruction to a balance execution unit based on the overall state; wherein the balance execution unit performs corresponding operations based on the control instruction and sends feedback information; judging whether an abnormality occurs in the vehicle axle balance function according to the overall state and the feedback information, and performing corresponding processing based on the judgment result.

[0014] Optionally, the balancing execution unit includes: a main control valve, a vehicle-car balancing valve, a main control valve feedback pressure sensor and an axle balancing valve feedback pressure sensor; the main control valve and the vehicle-car balancing valve perform corresponding operations based on the control instruction; the feedback signal includes: a first pressure value detected by the main control valve feedback pressure sensor and a second pressure value detected by the axle balancing valve feedback pressure sensor; wherein, the first pressure value is used to characterize whether the main control valve is powered on and opened, and the second pressure value is used to characterize whether the axle balancing valve is powered on and opened.

[0015] Optionally, when the amplitude variation angle is greater than an angle threshold, or when it is determined according to the electrical signal that the limit switch is triggered, the whole machine state is determined to be in a working state; a first control signal is sent to the main control valve and the vehicle-car balancing valve to make the main control valve and the vehicle-car balancing valve lose power and close based on the first control signal; and a determination is made as to whether the first pressure value and the second pressure value are both less than a preset pressure threshold, and if not, it is determined that an abnormality occurs in the axle balancing function.

[0016] Optionally, when the amplitude variation angle is less than or equal to the angle threshold and it is determined according to the electrical signal that the limit switch is not triggered, if the aerial work platform performs a walking action, the whole machine state is determined to be a walking state; a second control signal is sent to the main control valve and the vehicle-car balancing valve to enable the main control valve and the vehicle-car balancing valve to be powered and opened based on the first control signal; and it is determined whether the first pressure value and the second pressure value are both greater than or equal to the pressure threshold, and if not, it is determined that an abnormality occurs in the axle balancing function.

[0017] Optionally, when it is determined that the axle balancing function is abnormal, an alarm signal is sent to an alarm device.

[0018] Optionally, the angle sensor sends two angle signals for characterizing the amplitude variation angle through two buses, and the buses include: a CAN bus; the method also includes: verifying the two angle signals, and if one or both angle signals fail the verification, it is determined that the angle sensor is faulty.

[0019] Optionally, the limit switch sends two electrical signals through two signal lines; the method further comprises: verifying the two electrical signals, and if one or both electrical signals fail to pass the verification, determining that the limit switch fails.

[0020] According to a fourth aspect of the present disclosure, a control device for axle balance control is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the method as described above based on instructions stored in the memory.

[0021] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the instructions are executed by a processor as described above.

[0022] The axle balancing control system, method, device, aerial work platform vehicle, and storage medium disclosed in the present invention are characterized in that the control device determines the overall state of the aerial work platform according to the amplitude variation angle detected by the angle sensor and the electrical signal sent by the limit switch, and sends corresponding control instructions to the balancing execution unit based on the overall state; by adding an axle balancing main control valve and using a pressure sensor to determine the execution state of the axle balancing valve and the main control valve, the reliability and stability of the control can be improved; the reliability of the vehicle operation is improved to prevent safety accidents, and the overall control architecture meets the requirements of the standard. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 It is a schematic diagram of the architecture of an embodiment of an axle balance control system according to the present disclosure;

[0025] Figure 2A It is a structural schematic diagram of an aerial work platform vehicle; Figure 2B This is a schematic diagram of the layout of the axle balancing cylinder;

[0026] Figure 3 It is a structural diagram of a balanced execution unit;

[0027] Figure 4 Schematic diagram of the hardware architecture of an embodiment of the axle balance control system according to the present disclosure;

[0028] Figure 5 is a flow chart of an embodiment of the vehicle axle balance control method according to the present disclosure;

[0029] Figure 6 is a flow chart of another embodiment of the axle balance control method according to the present disclosure;

[0030] Figure 7 It is a module schematic diagram of an embodiment of a control device for axle balance control according to the present disclosure. DETAILED DESCRIPTION

[0031] The present disclosure is described more fully below with reference to the accompanying drawings, in which exemplary embodiments of the present disclosure are described. The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0032] like Figure 1 As shown, the present disclosure provides a vehicle bridge balance control system including: an angle sensor 11, a limit switch 12, a balance execution unit 14 and a control device 13. The aerial work platform includes a boom type and a scissor type, such as Figure 2A As shown, the aerial work platform vehicle includes a lower vehicle 1, a work platform 3, and a scissor-type boom 2. The work platform 3 is hinged to the scissor-type boom 2 through a pin. The aerial work platform vehicle can be controlled to move, turn, and change the amplitude up and down through the handle operation device. Figure 2B As shown, the axle balancing execution device includes a swing cylinder 4, which is designed to be bilaterally symmetrical. The swing cylinder 4 is adaptively floated and adjusted within the cylinder stroke according to the height of the tire contacting the ground to ensure the stability of the vehicle.

[0033] The angle sensor 11 may be a variety of angle sensors, used to detect the amplitude change angle of the boom 2, and the boom 2 is used to lift the work platform 1. The limit switch 12 may be a variety of limit switches, used to detect whether the boom 2 is extended. The control device 13 is electrically connected to the angle sensor 11, the limit switch 12 and the balance execution unit 14 respectively, and determines the whole machine state of the aerial work platform according to the amplitude change angle detected by the angle sensor 11 and the electrical signal sent by the limit switch 12, and sends corresponding control instructions to the balance execution unit 14 based on the whole machine state; the whole machine state includes the working state, etc., and the control instructions include power-off or power-on control instructions.

[0034] The balancing execution unit 14 performs corresponding operations based on the control instructions and sends feedback information to the control device 13. The control device 13 determines whether the axle balancing function is abnormal based on the whole machine state and the feedback information, and performs corresponding processing based on the judgment result. For example, when it is determined that the axle balancing function is abnormal, an alarm processing is performed.

[0035] In one embodiment, the angle sensor 11 is electrically connected to the control device 13 via two buses, and is used to send two angle signals for representing the amplitude variation angle to the control device 13 via the two buses, and the buses include a CAN bus, etc. The control device 13 verifies the two angle signals, and determines that the angle sensor 11 is faulty if one or both angle signals fail to pass the verification.

[0036] The limit switch 12 is electrically connected to the control device 13 through two signal lines, and sends two electrical signals to the control device 13 through the two signal lines. The control device 13 verifies the two electrical signals, and determines that the limit switch 12 is faulty if one or both electrical signals fail to pass the verification.

[0037] Both the angle sensor and the limit switch use dual signals, and their hardware safety function parameters meet the requirements of PL=d in the EN13849 standard, meeting the standards for export to mature EU markets. The symbol PL is the performance level, which is found in the standard EN 13849-1:2015. It indicates the capabilities of the safety-related parts of the equipment and product control systems, and is divided into five levels: a, b, c, d, and e based on the probability of dangerous failure per hour. The smaller the failure probability, the higher the level.

[0038] In one embodiment, Figure 3 As shown, the balancing execution unit includes: main control valve A_E6, car-car balancing valve A_E5, main control valve feedback pressure sensor SA_E6 and axle balancing valve feedback pressure sensor SA_E5. The main control valve A_E6 and car-car balancing valve A_E5 perform corresponding operations based on the control instructions. When the main control valve A_E6 is powered on and opened, hydraulic oil enters from port C. At this time, there is pressure at the main control valve feedback pressure sensor SA_E6.

[0039] The axle balancing valve A_E5 can be a two-position four-way valve. When it is powered on and opened, the hydraulic oil flows from the E port to the axle balancing valve A_E5. The large and small chambers of the left and right axle balancing oil cylinders 4 are interconnected. According to the state of the road surface, the axle balancing oil cylinder 4 is adjusted to float. The axle balancing valve feedback pressure sensor SA_E5 has pressure. When the axle balancing valve is in a power-off state, the oil cylinder is locked.

[0040] The feedback signal includes a first pressure value detected by the main control valve feedback pressure sensor SA_E6 and a second pressure value detected by the axle balancing valve feedback pressure sensor SA_E5; the first pressure value is used to indicate whether the main control valve A_E6 is powered on and opened, and the second pressure value is used to indicate whether the axle balancing valve A_E5 is powered on and opened.

[0041] When the amplitude variation angle is greater than the angle threshold, or the limit switch 12 is determined to be triggered according to the electrical signal, the control device 13 determines that the whole machine state is in the working state, and sends a first control signal to the main control valve A_E6 and the car-car balancing valve A_E5, so that the main control valve A_E6 and the car-car balancing valve A_E5 are de-energized and closed based on the first control signal. The control device 13 determines whether the first pressure value and the second pressure value are both less than the preset pressure threshold. If not, it is determined that the axle balancing function is abnormal.

[0042] When the amplitude angle is less than or equal to the angle threshold and it is determined according to the electrical signal that the limit switch 12 is not triggered, if the aerial work platform performs a walking action, the control device 13 determines that the whole machine state is a walking state, and sends a second control signal to the main control valve A_E6 and the car-car balancing valve A_E5, so that the main control valve A_E6 and the car-car balancing valve A_E5 are powered on and opened based on the first control signal. The control device 13 determines whether the first pressure value and the second pressure value are both greater than or equal to the pressure threshold. If not, it is determined that the axle balancing function is abnormal. The control device 13 is electrically connected to the alarm device, and is used to send an alarm signal to the alarm device when it is determined that the axle balancing function is abnormal.

[0043] like Figure 4 As shown in the figure, the input unit part includes a bus signal angle sensor S_E2 and a switch signal limit switch S_E5. The angle sensor S_E2 is used to measure the boom amplitude change angle, and the limit switch S_E5 is used to measure whether the boom is extended. Both the angle sensor S_E2 and the limit switch S_E5 use dual signals, and their hardware safety function parameters meet the evaluation requirements of PL=d.

[0044] The controller part includes the safety type 3 architecture controller L_E1, which is used to perform signal processing and safety logic control. Verify whether the signal of the input unit is correct, confirm the output and shutdown of the execution unit, and judge the working status of the execution unit based on the pressure feedback signal. The execution unit part includes pressure sensors SA_E5 and SA_E6, main control valve A_E6 and axle balancing valve A_E5. The main control valve A_E6 and the axle balancing valve A_E5 are energized at the same time, and the axle balancing can work.

[0045] Figure 5 FIG. 1 is a flow chart of an embodiment of the axle balance control method according to the present disclosure, as shown in FIG. Figure 5 As shown:

[0046] Step 501, obtaining the amplitude change angle detected by the angle sensor and the electrical signal sent by the limit switch. The angle sensor is used to detect the amplitude change angle of the boom, and the boom is used to lift the working platform; the limit switch is used to detect whether the boom is extended.

[0047] Step 502, judging the whole machine state of the aerial work platform according to the amplitude change angle and the electrical signal, and sending corresponding control instructions to the balance execution unit based on the whole machine state. The balance execution unit performs corresponding operations based on the control instructions and sends feedback information;

[0048] Step 503, judging whether the axle balancing function is abnormal according to the whole machine state and feedback information, and performing corresponding processing based on the judgment result.

[0049] In one embodiment, when the amplitude variation angle is greater than an angle threshold, or when the limit switch is determined to be triggered according to an electrical signal, the whole machine state is determined to be in a working state; a first control signal is sent to the main control valve and the vehicle-car balancing valve to make the main control valve and the vehicle-car balancing valve lose power and close based on the first control signal; and a determination is made as to whether the first pressure value and the second pressure value are both less than a preset pressure threshold, and if not, it is determined that an abnormality has occurred in the axle balancing function.

[0050] When the amplitude variation angle is less than or equal to the angle threshold and it is determined according to the electrical signal that the limit switch is not triggered, if the aerial work platform performs a walking action, the whole machine state is determined to be a walking state; a second control signal is sent to the main control valve and the car-car balancing valve, so that the main control valve and the car-car balancing valve are powered on and opened based on the first control signal; it is determined whether the first pressure value and the second pressure value are both greater than or equal to the pressure threshold, if not, it is determined that the axle balancing function is abnormal. When it is determined that the axle balancing function is abnormal, an alarm signal is sent to the alarm device.

[0051] The angle sensor sends two angle signals for representing the amplitude angle through two buses, and verifies the two angle signals. If one or both angle signals fail to pass the verification, it is determined that the angle sensor is faulty. The limit switch sends two electrical signals through two signal lines, and verifies the two electrical signals. If one or both electrical signals fail to pass the verification, it is determined that the limit switch is faulty.

[0052] Figure 6 FIG. 1 is a flow chart of another embodiment of the axle balance control method disclosed in the present invention, wherein the whole machine is judged to be in working state when the arm amplitude change angle is greater than θ (angle threshold). When the axle balance is working, the hydraulic oil circuit pressure reaches at least α (pressure threshold), Figure 6 As shown:

[0053] Step 601 , verify the two bus signals S_E2_CAN1 and S_E2_CAN2 of the input bus type signal angle sensor S_E2 to determine whether the verification is correct. If yes, proceed to step 603 , if not, proceed to step 602 .

[0054] Step 602: If the verification is wrong, an alarm is issued that the angle sensor S_E2 is faulty.

[0055] Step 603 , verify the two switch signals S_E5_I1 and S_E5_I2 of the boom extension detection switch S_E5 to determine whether the verification is correct. If so, proceed to step 605 ; if not, proceed to step 604 .

[0056] Step 604: If the verification is wrong, an alarm limit switch S_E5 is faulty.

[0057] Step 605 , determining whether the detection angle of the angle sensor S_E2 is greater than θ or the limit switch S_E5 is triggered, if yes, proceeding to step 606 , if no, proceeding to step 607 .

[0058] Step 606 , the main control valve A_E6 and the axle balancing valve A_E5 are closed.

[0059] On the basis that all input unit signals are correct, it is determined whether the whole machine is in the working state. When the angle sensor S_E2 is greater than θ or the limit switch S_E5 is triggered, it indicates that the whole machine is in the working state. In the working state, the main control valve A_E6 and the axle balance valve A_E5 are both in the power-off state.

[0060] Step 608, determine whether the pressure value measured by SA_E6 or SA_E5 is greater than α, if yes, go to step 610, if no, return.

[0061] The whole machine is in operation, and the pressure values ​​measured by the main control valve feedback pressure sensor SA_E6 and the axle balance valve feedback pressure sensor SA_E5 should be less than α. If it is greater than α, it indicates that the axle balance function is abnormal. The alarm prompts the operator to check the axle balance status.

[0062] Step 607, determine whether to perform walking action, if yes, go to step 609, if not, go to step 606.

[0063] Step 609 , the main control valve A_E6 and the axle balancing valve A_E5 are opened.

[0064] Step 611, determine whether the pressure value measured by SA_E6 or SA_E5 is greater than α, if not, go to step 610, if yes, return.

[0065] In the non-working state, if the walking action is performed, the main control valve A_E6 and the axle balance valve A_E5 are powered on and opened. At this time, the pressure values ​​measured by the main control valve feedback pressure sensor SA_E6 and the axle balance valve feedback pressure sensor SA_E5 should be greater than α. If it is less than α, it indicates that the axle balance function is abnormal. The alarm prompts the operator to check the axle balance status.

[0066] Figure 7 FIG. 2 is a schematic diagram of a module of another embodiment of a control device for axle balance control according to the present disclosure. Figure 7 As shown, the device may include a memory 71, a processor 72, a communication interface 73 and a bus 74. The memory 71 is used to store instructions, the processor 72 is coupled to the memory 71, and the processor 72 is configured to execute the above-mentioned vehicle axle balance control method based on the instructions stored in the memory 71.

[0067] The memory 71 may be a high-speed RAM memory, a non-volatile memory, etc., or a memory array. The memory 71 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules. The processor 72 may be a central processing unit CPU, or an application specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the axle balance control method disclosed in the present invention.

[0068] In one embodiment, the present disclosure provides a computer-readable storage medium storing computer instructions, which implement the axle balance control method in any of the above embodiments when executed by a processor.

[0069] In one embodiment, the present disclosure provides an aerial work platform vehicle, comprising the axle balance control system as in any of the above embodiments.

[0070] The axle balancing control system, method, device, aerial work platform vehicle, and storage medium in the above-mentioned embodiments, the control device determines the overall state of the aerial work platform according to the amplitude adjustment angle detected by the angle sensor and the electrical signal sent by the limit switch, and sends corresponding control instructions to the balancing execution unit based on the overall state of the machine; in the collection mode, the axle balancing valve is opened when the whole machine is moving; in the operation mode, the axle balancing valve is directly locked; by adding an axle balancing main control valve and using a pressure sensor to determine the execution state of the axle balancing valve and the main control valve, the reliability and stability of the control can be improved; the reliability of the vehicle operation is improved to prevent safety accidents, and the overall control architecture meets the requirements of the standard.

[0071] The method and system of the present disclosure may be implemented in many ways. For example, the method and system of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0072] The description of the present disclosure is given for the purpose of illustration and description, and is not intended to be exhaustive or to limit the present disclosure to the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure, and to enable those of ordinary skill in the art to understand the present disclosure and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A vehicle axle balance control system, comprising: Angle sensor, limit switch, balancing actuator and control device; The angle sensor is used to detect the amplitude change angle of the boom; wherein the boom is used to lift the working platform; The limit switch is used to detect whether the arm is extended; The control device is electrically connected to the angle sensor, the limit switch and the balance execution unit respectively, and is used to judge the whole machine state of the aerial work platform according to the amplitude change angle detected by the angle sensor and the electrical signal sent by the limit switch, and send corresponding control instructions to the balance execution unit based on the whole machine state, and the control instructions include power-off or power-on control instructions; The balancing execution unit is used to perform corresponding operations based on the control instructions and send feedback information to the control device; The control device is also used to determine whether an abnormality occurs in the axle balancing function according to the whole machine state and the feedback information, and perform corresponding processing based on the determination result.

2. The axle balance control system according to claim 1, wherein: The balancing execution unit includes: a main control valve, a car-car balancing valve, a main control valve feedback pressure sensor and an axle balancing valve feedback pressure sensor; The main control valve and the car-sedan balancing valve perform corresponding operations based on the control instruction; Among them, the feedback information includes: a first pressure value detected by the main control valve feedback pressure sensor and a second pressure value detected by the axle balancing valve feedback pressure sensor; the first pressure value is used to indicate whether the main control valve is powered on and opened, and the second pressure value is used to indicate whether the axle balancing valve is powered on and opened.

3. The axle balance control system according to claim 2, wherein: The control device is used for determining that the whole machine state is in the working state when the amplitude variation angle is greater than the angle threshold or when it is determined according to the electrical signal that the limit switch is triggered, and sending a first control signal to the main control valve and the car-car balancing valve, so that the main control valve and the car-car balancing valve lose power and close based on the first control signal; The control device is further used to determine whether the first pressure value and the second pressure value are both less than a preset pressure threshold value, and if not, determine that an abnormality occurs in the axle balancing function.

4. The axle balance control system according to claim 3, wherein: The control device is used for, when the amplitude variation angle is less than or equal to the angle threshold and it is determined according to the electrical signal that the limit switch is not triggered, if the aerial work platform performs a walking action, determining that the whole machine state is a walking state, and sending a second control signal to the main control valve and the car-car balancing valve, so that the main control valve and the car-car balancing valve are powered on and opened based on the first control signal; The control device is further used to determine whether the first pressure value and the second pressure value are both greater than or equal to the pressure threshold, and if not, determine that an abnormality occurs in the axle balancing function.

5. The axle balance control system according to claim 4, further comprising: Alarm device; The control device is electrically connected to the alarm device, and is used to send an alarm signal to the alarm device when it is determined that the axle balancing function is abnormal.

6. The axle balance control system according to claim 1, wherein: The angle sensor is electrically connected to the control device via two buses, and is used to send two angle signals for characterizing the amplitude variation angle to the control device via the two buses, wherein the buses include: a CAN bus; The control device is used to verify the two angle signals. If one or both angle signals fail to pass the verification, it is determined that the angle sensor fails.

7. The axle balance control system according to claim 1, wherein: The limit switch is electrically connected to the control device via two signal lines, and is used to send two electrical signals to the control device via the two signal lines; The control device is used to verify the two electrical signals. If one or both electrical signals fail to pass the verification, it is determined that the limit switch fails.

8. An aerial work platform vehicle, comprising: An axle balance control system as claimed in any one of claims 1 to 7.

9. A vehicle bridge balance control method, comprising: Obtaining the amplitude angle detected by the angle sensor and the electrical signal sent by the limit switch; Wherein, the angle sensor is used to detect the amplitude change angle of the boom, and the boom is used to lift the working platform; the limit switch is used to detect whether the boom is extended; Determine the whole machine state of the aerial work platform according to the amplitude variation angle and the electrical signal, and send a corresponding control instruction to the balancing execution unit based on the whole machine state; Wherein, the balancing execution unit performs corresponding operations based on the control instruction and sends feedback information; It is determined whether the axle balancing function is abnormal according to the whole machine state and the feedback information, and corresponding processing is performed based on the determination result.

10. The method of claim 9, wherein: The balancing execution unit includes: a main control valve, a car-car balancing valve, a main control valve feedback pressure sensor and an axle balancing valve feedback pressure sensor; the main control valve and the car-car balancing valve perform corresponding operations based on the control instruction; The feedback information includes: a first pressure value detected by the main control valve feedback pressure sensor and a second pressure value detected by the axle balancing valve feedback pressure sensor; wherein the first pressure value is used to indicate whether the main control valve is powered on and opened, and the second pressure value is used to indicate whether the axle balancing valve is powered on and opened.

11. The method of claim 10, wherein: When the amplitude variation angle is greater than an angle threshold, or when it is determined according to the electrical signal that the limit switch is triggered, determining that the whole machine state is a working state; Sending a first control signal to the main control valve and the car-seat balancing valve, so that the main control valve and the car-seat balancing valve lose power and close based on the first control signal; It is determined whether the first pressure value and the second pressure value are both less than a preset pressure threshold value; if not, it is determined that an abnormality occurs in the axle balancing function.

12. The method of claim 11, wherein: When the amplitude variation angle is less than or equal to the angle threshold and it is determined according to the electrical signal that the limit switch is not triggered, if the aerial work platform performs a walking action, then the whole machine state is determined to be a walking state; Sending a second control signal to the main control valve and the car-seat balancing valve, so that the main control valve and the car-seat balancing valve are powered on and opened based on the first control signal; It is determined whether the first pressure value and the second pressure value are both greater than or equal to the pressure threshold; if not, it is determined that an abnormality occurs in the axle balancing function.

13. The method of claim 12, further comprising: When it is determined that the axle balancing function is abnormal, an alarm signal is sent to the alarm device.

14. The method of claim 9, wherein: The angle sensor sends two angle signals for characterizing the amplitude variation angle via two buses, wherein the buses include a CAN bus; the method further includes: The two angle signals are verified, and if one or both angle signals fail the verification, it is determined that the angle sensor is faulty.

15. The method of claim 9, wherein: The limit switch sends two electrical signals through two signal lines; the method also includes: The two electrical signals are verified, and if one or both electrical signals fail the verification, it is determined that the limit switch is faulty.

16. A control device for axle balance control, comprising: Memory; and a processor coupled to the memory, the processor being configured to execute the method according to any one of claims 9 to 15 based on instructions stored in the memory. 17 . A computer-readable storage medium storing computer instructions, wherein the instructions are executed by a processor to perform the method according to claim 9 .

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