Control Method, Device and Aerial Work Platform for Aerial Work

Abstract

The present invention relates to the field of construction machinery, and provides a control method, a device and an aerial work platform for an aerial work platform. The method includes: obtaining the current lifting angle and the current lifting pressure of the aerial work platform; determining the target lifting height limit value of the aerial work platform from a plurality of preset lifting height limit values based on the current lifting angle and the current lifting pressure; generating a lifting termination instruction when it is determined that the current lifting height of the aerial work platform reaches the target lifting height limit value; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting. The present invention can achieve different lifting heights according to the load state of the aerial work platform, thereby realizing the full utilization of the stroke of the lifting cylinder, avoiding the waste of the structural functions of the aerial work platform, and being able to meet various different lifting height requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly to a control method and device for an aerial work platform and an aerial work platform. Background Art

[0002] An aerial work platform is a product for mobile aerial work such as high-altitude work, equipment installation, and maintenance in various industries. Related products of aerial work platforms mainly include: scissor aerial work platforms, trailer-mounted aerial work platforms, articulated boom aerial work platforms, straight boom aerial work platforms, aluminum alloy aerial work platforms, telescopic cylinder aerial work platforms, spider aerial work platforms, etc. The scissor aerial work platform is a special-purpose equipment for high-altitude work with wide applications. Its scissor mechanical structure makes the lifting platform have high stability after lifting, and the wide working platform and high load-bearing capacity enable a larger high-altitude working range.

[0003] However, the maximum lifting height of the existing scissor aerial work platform is a fixed value determined according to the safety load, which makes the scissor aerial work platform unable to fully utilize the stroke of the lifting cylinder, resulting in a waste of structural functions and an inability to meet the requirements for the lifting height. Summary of the Invention

[0004] In view of the problems existing in the prior art, the present invention provides a control method and device for an aerial work platform and an aerial work platform.

[0005] The present invention provides a control method for an aerial work platform, including:

[0006] Obtaining the current lifting angle and current lifting pressure of the aerial work platform;

[0007] Determining a target lifting height limit value of the aerial work platform from a plurality of preset lifting height limit values based on the current lifting angle and the current lifting pressure;

[0008] When it is determined that the current lifting height of the aerial work platform reaches the target lifting height limit value, generating a lifting termination instruction; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting.

[0009] According to the control method for an aerial work platform provided by the present invention, the determination that the current lifting height of the aerial work platform reaches the target lifting height limit value includes:

[0010] If the target lifting height limit value is the maximum value among the plurality of lifting height limit values, when it is determined that a trigger signal of a travel switch is received, it is determined that the current lifting height reaches the target lifting height limit value;

[0011] If the target lifting height limit value is less than the maximum value among the multiple lifting height limit values, when it is determined that the current lifting angle reaches the target preset angle, it is determined that the current lifting height reaches the target lifting height limit value.

[0012] According to the aerial work platform control method provided by the present invention, the determining the target lifting height limit value of the aerial work platform from a preset plurality of lifting height limit values based on the current lifting angle and the current lifting pressure includes:

[0013] Determining the current load rate of the aerial work platform based on each rated load based on the current lifting angle and the current lifting pressure; wherein, the rated load corresponds to the lifting height limit value one by one;

[0014] Determining the target lifting height limit value based on the current load rate.

[0015] According to the aerial work platform control method provided by the present invention, the determining the current load rate of the aerial work platform based on each rated load based on the current lifting angle and the current lifting pressure includes:

[0016] Determining the current load rate of the aerial work platform based on the rated load based on the current lifting pressure and the lifting pressure limit value corresponding to the rated load; wherein, the lifting pressure limit value corresponding to the rated load is determined based on the current lifting angle and the lifting pressure calibration result corresponding to the rated load.

[0017] According to the aerial work platform control method provided by the present invention, the lifting pressure calibration result corresponding to the rated load is obtained through the following steps:

[0018] When the load of the aerial work platform is the rated load and no load, respectively obtaining the lifting angle measurement value and the lifting pressure measurement value of the aerial work platform;

[0019] Based on the lifting angle measurement value and the lifting pressure measurement value, determining the lifting pressure calibration result corresponding to the rated load.

[0020] According to the aerial work platform control method provided by the present invention, the determining the target lifting height limit value based on the current load rate includes:

[0021] If the current load rate is less than or equal to the preset load rate, determining the rated load corresponding to the current load rate as the candidate load;

[0022] Determining the target lifting height limit value based on the lifting height limit values corresponding to each candidate load.

[0023] The present invention also provides a control device for an aerial work platform, comprising:

[0024] A data acquisition module for acquiring the current lifting angle and the current lifting pressure of the aerial work platform;

[0025] A first data processing module for determining the target lifting height limit of the aerial work platform from a plurality of preset lifting height limits based on the current lifting angle and the current lifting pressure;

[0026] A second data processing module for generating a lifting termination instruction when it is determined that the current lifting height of the aerial work platform reaches the target lifting height limit; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting.

[0027] The present invention also provides an aerial work platform, comprising: an angle detection device, a pressure detection device and a controller;

[0028] The angle detection device is used to detect the current lifting angle of the aerial work platform;

[0029] The pressure detection device is used to detect the current lifting pressure of the aerial work platform;

[0030] The controller is used to determine the target lifting height limit of the aerial work platform from a plurality of preset lifting height limits based on the current lifting angle and the current lifting pressure; and is also used to generate a lifting termination instruction when it is determined that the current lifting height of the aerial work platform reaches the target lifting height limit; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting.

[0031] The present invention also provides an electronic device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein when the processor executes the program, the control method of the aerial work platform as described in any one of the above is implemented.

[0032] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the control method of the aerial work platform as described in any one of the above is implemented.

[0033] The high-altitude work platform control method, device and high-altitude work platform provided by the present invention determine the target lifting height limit of the high-altitude work platform from a plurality of preset lifting height limits based on the current lifting angle and the current lifting pressure of the high-altitude work platform, and generate a lifting termination instruction when it is determined that the current lifting height of the high-altitude work platform reaches the target lifting height limit, so as to control the high-altitude work platform to stop lifting. It can achieve different lifting heights according to the load state of the high-altitude work platform, thus making full use of the stroke of the lifting cylinder, avoiding the waste of the structural functions of the high-altitude work platform, and being able to meet various different lifting height requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a schematic flow chart of the high-altitude work platform control method provided by the present invention;

[0036] Figure 2 It is a schematic diagram of the load curve generated during the lifting process of the high-altitude work platform provided by the present invention;

[0037] Figure 3 It is a schematic diagram of the load curve generated during the lowering process of the high-altitude work platform provided by the present invention;

[0038] Figure 4 It is a schematic structural diagram of the high-altitude work platform control device provided by the present invention;

[0039] Figure 5 It is a schematic structural diagram of the high-altitude work platform provided by the present invention;

[0040] Figure 6 It is a schematic structural diagram of the scissor-type high-altitude work platform provided by the present invention;

[0041] Figure 7 It is a schematic structural diagram of the A-A plane of the workbench provided by the present invention;

[0042] Figure 8 It is a schematic structural diagram of the electronic device provided by the present invention;

[0043] Reference numerals:

[0044] 401: Data acquisition module; 402: First data processing module; 403: Second data processing module; 501: Angle detection device; 502: Pressure detection device; 503: Controller; 601: Chassis; 602: ECU; 603: Alarm; 604: Fork; 605: Workbench; 606: Handle bracket; 607: PCU (Power-Control Unit); 608: First angle sensor; 609: Proximity switch; 610: Lifting cylinder; 611: Third angle sensor; 612: Pressure sensor; 701: Second angle sensor; 801: Processor; 802: Communication interface; 803: Memory; 804: Communication bus. Detailed implementation manners

[0045] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without any creative efforts shall fall within the protection scope of the present invention.

[0046] The following combines Figures 1 to 3 to describe the control method of the aerial work platform of the present invention. The control method of the aerial work platform of the present invention is executed by electronic devices such as a controller or the hardware and / or software therein. The controller can be the controller of the aerial work platform itself, such as the ECU (Electronic Control Unit) of the aerial work platform, or a newly added controller. As Figure 1 shown, the control method of the aerial work platform of the present invention includes:

[0047] S101. Obtain the current lifting angle and the current lifting pressure of the aerial work platform.

[0048] Specifically, the aerial work platform is such as a scissor aerial work platform. The current lifting angle of the aerial work platform is the lifting angle of the aerial work platform at the current moment. The lifting angle can be the angle of the fork of the aerial work platform; the current lifting pressure of the height work platform is the lifting pressure of the aerial work platform at the current moment. The lifting pressure can be the cylinder pressure of the lifting cylinder of the aerial work platform. During the lifting process of the aerial work platform, the lifting angle of the aerial work platform can be detected in real time by an angle sensor arranged on the fork of the aerial work platform, and the lifting pressure of the aerial work platform can be detected in real time by a pressure detection device. The pressure detection device can be a pressure sensor.

[0049] S102. Determine the target lifting height limit of the aerial work platform from a plurality of preset lifting height limits based on the current lifting angle and the current lifting pressure.

[0050] Specifically, the lifting height limit is the maximum safe lifting height. The target lifting height limit is the maximum safe lifting height that the aerial work platform can reach according to the load at the current moment. The plurality of lifting height limits can be pre-calibrated and stored in the controller, and different lifting height limits can correspond to different rated loads.

[0051] The specific method of determining the target lifting height limit of the aerial work platform from a plurality of preset lifting height limits based on the current lifting angle and the current lifting pressure can be set according to actual needs. For example, the lifting pressure value range corresponding to different lifting height limits can be determined based on the current lifting angle, the current lifting pressure is matched with each lifting pressure value range, and the target lifting height limit is determined according to the matching result. Among them, the lifting pressure value range corresponding to different lifting height limits can be calibrated based on the corresponding rated load or set manually. It is also possible to determine the current load rate of the aerial work platform based on each rated load based on the current lifting angle and the current lifting pressure, and determine the target lifting height limit based on the current load rate.

[0052] S103. When it is determined that the current lifting height of the aerial work platform reaches the target lifting height limit, generate a lifting termination instruction; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting.

[0053] Specifically, the current lifting height of the aerial work platform is the lifting height of the aerial work platform at the current moment. When the current lifting height reaches the target lifting height limit, a lifting termination instruction is generated to control the aerial work platform to stop lifting through the lifting termination instruction, ensuring the personal safety of the operator; at the same time, an alarm can also be given through the alarm device to prompt the operator that lifting cannot continue. Among them, the alarm can be cancelled after receiving the lowering instruction.

[0054] The specific way for the current lifting height of the aerial work platform to reach the target lifting height limit can be set according to actual requirements. For example, an angle sensor installed on the fork of the aerial work platform can be used to detect the lifting angle of the aerial work platform in real time. If the lifting angle of the aerial work platform reaches a preset angle, a lifting termination instruction is generated. Here, the lifting height corresponding to the preset angle is the same as the target lifting height limit. The preset angles corresponding to each lifting height limit can be pre-calibrated and stored in the controller for easy calling at any time. During the calibration of the preset angle, when the aerial work platform is lifted to the corresponding lifting height limit, multiple sets of lifting angles can be collected, and the preset angle can be determined based on these multiple sets of lifting angles. For example, the average value of the multiple sets of lifting angles can be taken. A travel switch can also be set. The lifting height corresponding to the travel switch is the same as the target lifting height limit. The travel switch can be triggered by a trigger point set on the limit block. For example, when the aerial work platform is lifted to the target lifting height limit, the trigger point on the limit block triggers the travel switch. When the controller detects the trigger signal of the travel switch, it determines that the current lifting height of the aerial work platform has reached the target lifting height limit and generates a lifting termination instruction.

[0055] It can be understood that for some of the lifting height limits, the detection can be carried out through the lifting angle of the aerial work platform, and for the remaining lifting height limits, the detection can be carried out through the travel switch.

[0056] The maximum lifting height of the existing scissor-type aerial work platform is a fixed value determined according to the safety load, which makes the scissor-type aerial work platform unable to fully utilize the stroke of the lifting cylinder, resulting in a waste of structural functions and an inability to meet the requirements of the lifting height.

[0057] In the embodiment of the present invention, by obtaining the current lifting angle and the current lifting pressure of the aerial work platform, the target lifting height limit of the aerial work platform is determined from a preset plurality of lifting height limits based on the current lifting angle and the current lifting pressure, and a lifting termination instruction is generated when it is determined that the current lifting height of the aerial work platform has reached the target lifting height limit to control the aerial work platform to stop lifting. Different lifting heights can be realized according to the load state of the aerial work platform, thus fully utilizing the stroke of the lifting cylinder, avoiding the waste of the structural functions of the aerial work platform, and being able to meet various different lifting height requirements.

[0058] At the same time, the embodiment of the present invention can determine the target lifting height limit according to the load state of the aerial work platform to limit the lifting height of the aerial work platform according to the target lifting height limit. During the lifting process of the aerial work platform, no matter how the load state changes, the aerial work platform can be within the safe height, ensuring the safety of the operator and the aerial work platform.

[0059] Based on the above embodiments, determining that the current lifting height of the aerial work platform reaches the target lifting height limit value includes:

[0060] If the target lifting height limit value is the maximum value among multiple lifting height limit values, when it is determined that a trigger signal of the travel switch is received, it is determined that the current lifting height reaches the target lifting height limit value;

[0061] If the target lifting height limit value is less than the maximum value among multiple lifting height limit values, when it is determined that the current lifting angle reaches a target preset angle, it is determined that the current lifting height reaches the target lifting height limit value.

[0062] Specifically, the lifting height corresponding to the travel switch is the same as the maximum value among multiple lifting height limit values. During the lifting process of the aerial work platform, if it is determined that the target lifting height limit value is the maximum value among multiple lifting height limit values, then when a trigger signal of the travel switch is received, it is determined that the aerial work platform is lifted to the target lifting height limit value, and a lifting termination instruction is generated. Through mechanical hard triggering, the accuracy and effectiveness of the control result can be effectively ensured, and the safety of the operator and the aerial work platform is further improved.

[0063] When the lifting height corresponding to the travel switch is less than the maximum value among multiple lifting height limit values, when it is determined that the current lifting angle reaches the target preset angle, it is determined that the aerial work platform is lifted to the target lifting height limit value, and a lifting termination instruction is generated. This can effectively reduce the usage amount of the travel switch, thereby reducing the structural complexity and the overall cost of the aerial work platform, and can achieve the control of multiple different lifting heights. Among them, for each lifting height limit value other than the maximum value among multiple lifting height limit values, there is a corresponding preset angle, and the target preset angle is the preset angle corresponding to the target lifting height limit value.

[0064] In the embodiment of the present invention, when the target lifting height limit value is the maximum value among multiple lifting height limit values, when it is determined that a trigger signal of the travel switch is received, it is determined that the current lifting height reaches the target lifting height limit value; otherwise, when it is determined that the current lifting angle reaches the target preset angle, it is determined that the current lifting height reaches the target lifting height limit value. This can, while ensuring the safety of the operator and the aerial work platform, effectively reduce the structural complexity and the overall cost of the aerial work platform, and achieve the control of multiple different lifting heights.

[0065] Based on any of the above embodiments, determining the target lifting height limit value of the aerial work platform from a preset multiple lifting height limit values based on the current lifting angle and the current lifting pressure includes:

[0066] Determine the current load rate of the aerial work platform based on each rated load according to the current lifting angle and the current lifting pressure; wherein, the rated load corresponds one-to-one with the lifting height limit value;

[0067] Determine the target lifting height limit value based on the current load rate.

[0068] Specifically, the current load rate is the load rate at the current moment. The load rate of the aerial work platform based on this rated load is the ratio of the load of the aerial work platform to this rated load. The rated load corresponds one-to-one with the lifting height limit value, that is, different lifting height limit values correspond to different rated loads. The specific method for determining the current load rate of the aerial work platform based on each rated load according to the current lifting angle and the current lifting pressure can be set according to actual needs. For example, the limit values of the lifting pressure corresponding to this rated load at the current lifting angle, such as the upper limit value and the lower limit value, can be determined based on the current lifting angle, and the current load rate of the aerial work platform based on the corresponding rated load can be determined based on the current lifting pressure and the limit values of the lifting pressure corresponding to this rated load at the current lifting angle; wherein, the limit values of the lifting pressure corresponding to this rated load at the current lifting angle can be obtained through pre-calibration.

[0069] After obtaining the current load rate of the aerial work platform based on each rated load, the target lifting height limit value can be determined based on each current load rate. For example, the rated loads corresponding to each current load rate less than or equal to the preset load rate can be obtained as candidate loads, and the target lifting height limit value can be determined based on the lifting height limit values corresponding to each candidate load. For example, the maximum value among the lifting height limit values corresponding to each candidate load can be used as the target lifting height limit value.

[0070] It can be understood that the rated loads can also be sorted in ascending order, and the current load rate of the aerial work platform can be calculated sequentially starting from the smallest rated load. If the load rate requirement is met, the lifting height limit value corresponding to the corresponding rated load is used as the target lifting height limit value. If the load rate requirement is not met, the current load rate of the aerial work platform is calculated based on the next rated load until the current load rate meets the load rate requirement. If the current load rate calculated based on the maximum rated load still does not meet the load rate requirement, the aerial work platform is controlled not to execute the lifting instruction.

[0071] In the embodiment of the present invention, the current load rate of the aerial work platform based on each rated load is determined according to the current lifting angle and the current lifting pressure, and the target lifting height limit value is determined based on each current load rate, which can effectively ensure the accuracy of the determination result of the maximum lifting height of the aerial work platform under the current load, thereby effectively improving the lifting height of the aerial work platform while ensuring the safety of the operator and the aerial work platform.

[0072] Based on any of the above embodiments, determining the current load rate of the aerial work platform based on each rated load according to the current lifting angle and the current lifting pressure includes:

[0073] Determining the current load rate of the aerial work platform based on the rated load according to the current lifting pressure and the lifting pressure limit value corresponding to the rated load; wherein, the lifting pressure limit value corresponding to the rated load is determined based on the current lifting angle and the lifting pressure calibration result corresponding to the rated load.

[0074] Specifically, the lifting pressure calibration result corresponding to the rated load may be a set of limit values of the lifting pressure corresponding to the rated load at different lifting angles. Based on the current lifting angle, the limit value of the lifting pressure corresponding to the rated load at the current lifting angle can be determined. The limit value of the lifting pressure may include an upper limit value and a lower limit value. After obtaining the lifting pressure calibration result corresponding to the rated load, the current load rate of the aerial work platform based on the rated load can be determined according to the current lifting pressure and the lifting pressure limit value corresponding to the rated load. For example, the current load rate = (current lifting pressure - lower limit value) / (upper limit value - lower limit value). Among them, the lifting pressure calibration results corresponding to each rated load can be pre-calibrated and stored in the controller for easy call at any time.

[0075] In the embodiment of the present invention, the lifting pressure limit value corresponding to the rated load is determined based on the current lifting angle and the lifting pressure calibration result corresponding to the rated load, and the current load rate of the aerial work platform based on the rated load is determined according to the current lifting pressure and the lifting pressure limit value corresponding to the rated load. The calculation process is simple and efficient, which can effectively ensure the real-time performance of the current load rate determination result, thereby reducing the risk of overloading and lifting of the aerial work platform caused by calculation delay, and further ensuring the safety of the operator and the aerial work platform.

[0076] Based on any of the above embodiments, the lifting pressure calibration result corresponding to the rated load is obtained through the following steps:

[0077] When the load of the aerial work platform is the rated load and no load, respectively obtain the measured value of the lifting angle and the measured value of the lifting pressure of the aerial work platform;

[0078] Based on the measured value of the lifting angle and the measured value of the lifting pressure, determine the lifting pressure calibration result corresponding to the rated load.

[0079] Specifically, when the load of the aerial work platform is the rated load and no-load, during the lifting and / or lowering process of the aerial work platform, the lifting angle and lifting pressure of the aerial work platform are respectively detected to obtain the measured value of the lifting angle and the measured value of the lifting pressure of the aerial work platform. For example, when the load of the aerial work platform is the rated load, within the range of 0 to the maximum lifting height limit, multiple groups of first data are collected at a preset frequency. Each group of first data includes the first lifting pressure and the first lifting angle; when the load of the aerial work platform is no-load, within the range of 0 to the maximum lifting height limit, multiple groups of second data are collected at a preset frequency. Each group of second data includes the second lifting pressure and the second lifting angle.

[0080] The specific method for determining the calibration result of the lifting pressure corresponding to the rated load based on the measured value of the lifting angle and the measured value of the lifting pressure can be set according to actual requirements. For example, the calibration result of the lifting pressure corresponding to the rated load can be determined based on the second data and the first data corresponding to the rated load. That is, the first lifting pressure corresponding to the lifting angle to be calibrated and the second lifting pressure corresponding to the lifting angle to be calibrated are respectively used as the upper limit value and the lower limit value of the lifting pressure corresponding to the lifting angle to be calibrated, so as to obtain a set of limit values of the lifting pressure corresponding to the rated load at different lifting angles, that is, to obtain the calibration result of the lifting pressure corresponding to the rated load.

[0081] In addition, a first load curve can be generated based on multiple groups of first data corresponding to the rated load, and a second load curve can be generated based on multiple groups of second data. Among them, the abscissa of the first load curve and the second load curve can be the lifting angle, and the ordinate can be the lifting pressure. The lifting pressure corresponding to the lifting angle to be calibrated in the first load curve and the lifting pressure corresponding to the lifting angle to be calibrated in the second load curve are respectively used as the upper limit value and the lower limit value of the lifting pressure corresponding to the lifting angle to be calibrated, so as to obtain a set of limit values of the lifting pressure corresponding to the rated load at different lifting angles, that is, to obtain the calibration result of the lifting pressure corresponding to the rated load. Taking the aerial work platform including two lifting height limits, namely the first lifting height limit and the second lifting height limit (the first lifting height limit is less than the second lifting height limit) as an example, the rated load corresponding to the first lifting height limit can be defined as full load, and the rated load corresponding to the second lifting height can be defined as light load. The load curve generated during the lifting process of the aerial work platform is as Figure 2 shown Figure 2Among them, the "fully loaded - lifting" load curve is used to characterize the corresponding relationship between the lifting pressure and the lifting angle during the lifting process when the load of the aerial work platform is fully loaded. The "lightly loaded - lifting" load curve is used to characterize the corresponding relationship between the lifting pressure and the lifting angle during the lifting process when the load of the aerial work platform is lightly loaded. The "no - load - lifting" load curve is used to characterize the corresponding relationship between the lifting pressure and the lifting angle during the lifting process when the load of the aerial work platform is no - load. The load curve generated during the descent of the aerial work platform is as Figure 3 shown Figure 3 Among them, the "fully loaded - descending" load curve is used to characterize the corresponding relationship between the lifting pressure and the lifting angle during the descent process when the load of the aerial work platform is fully loaded. The "lightly loaded - descending" load curve is used to characterize the corresponding relationship between the lifting pressure and the lifting angle during the descent process when the load of the aerial work platform is lightly loaded. The "no - load - descending" load curve is used to characterize the corresponding relationship between the lifting pressure and the lifting angle during the descent process when the load of the aerial work platform is no - load.

[0082] Among them, the calibration results of the lifting pressure corresponding to each rated load can be stored in the controller in the form of a data table or in the form of a load curve. When stored in the controller in the form of a data table, a data table can be constructed for each rated load to store the limit values of the lifting pressure corresponding to different lifting angles under this rated load. When stored in the controller in the form of a load curve, the second load curve and the first load curves corresponding to each rated load can be stored in the controller.

[0083] It can be understood that the measured values of the lifting angle and the lifting pressure can be corrected first, and the calibration result of the lifting pressure corresponding to this rated load can be determined based on the corrected measured values of the lifting angle and the lifting pressure to ensure the accuracy of the calibration result.

[0084] In the embodiment of the present invention, when the load of the aerial work platform is the rated load and no - load, the measured values of the lifting angle and the lifting pressure of the aerial work platform are obtained respectively, and the calibration result of the lifting pressure corresponding to this rated load is determined based on the measured values of the lifting angle and the lifting pressure, which can effectively ensure the accuracy of the calibration result of the lifting pressure, and further can effectively improve the accuracy and effectiveness of the determination result of the target lifting height limit value, while meeting the lifting height requirement, further improving the safety of the operator and the aerial work platform.

[0085] Based on any of the above - mentioned embodiments, determining the target lifting height limit value based on the current load rate includes:

[0086] If the current load rate is less than or equal to the preset load rate, determine the rated load corresponding to the current load rate as the candidate load;

[0087] Determine the target lifting height limit value based on the lifting height limit values corresponding to each of the candidate loads.

[0088] Specifically, the magnitude of the preset load rate can be set according to actual requirements. For example, it can be set to 110%. When the current load rate is less than or equal to the preset load rate, the rated load corresponding to the current load rate is determined as the candidate load.

[0089] The specific method for determining the target lifting height limit value based on the lifting height limit values corresponding to each candidate load can be set according to actual requirements. For example, the maximum value among the lifting height limit values corresponding to each candidate load can be used as the target lifting height limit value, so as to effectively meet the lifting height requirements while ensuring the safety of the operator and the aerial work platform.

[0090] In the embodiment of the present invention, when the current load rate is less than or equal to the preset load rate, the rated load corresponding to the current load rate is determined as the candidate load, and the target lifting height limit value is determined based on the lifting height limit values corresponding to each candidate load, which can effectively meet the lifting height requirements while ensuring the safety of the operator and the aerial work platform.

[0091] Based on any of the above embodiments, it further includes:

[0092] Obtain the tilt angles of the aerial work platform in each preset direction;

[0093] Determine the yaw amount of the aerial work platform in the preset direction based on the tilt angle;

[0094] When it is determined that the preset conditions are met based on the yaw amounts in each of the preset directions, generate the lifting termination instruction.

[0095] Specifically, the preset direction can be set according to actual requirements. For example, it can include the length direction and the width direction. The tilt angle in the length direction can be detected by a first angle sensor arranged in the length direction of the workbench, and the tilt angle in the width direction can be detected by a second angle sensor arranged in the width direction of the workbench.

[0096] The yaw amount of the aerial work platform in the length direction can be determined based on the tilt angle of the aerial work platform in the length direction, and the yaw amount of the aerial work platform in the width direction can be determined based on the tilt angle of the aerial work platform in the width direction.

[0097] The preset conditions can be set according to actual requirements. For example, when the yaw amount in the length direction is greater than the first preset yaw and / or the yaw amount in the width direction is greater than the second preset yaw, it is determined that the preset conditions are met, and a lifting termination instruction is generated. At the same time, an alarm can also be given through an alarm device to prompt the operator of the tipping risk. Among them, the alarm can be cancelled after receiving a lowering instruction. Among them, the first preset yaw and the second preset yaw can be determined according to the lifting height. For example, both the first preset yaw and the second preset yaw can be 5‰ of the target lifting height limit value.

[0098] It can be understood that the yaw amount of the aerial work platform in each preset direction can also be displayed in real time on the control panel.

[0099] In the embodiment of the present invention, by obtaining the inclination angles of the aerial work platform in each preset direction, determining the yaw amount of the aerial work platform in the preset direction based on the inclination angles, and generating a lifting termination instruction when the preset conditions are met based on the yaw amounts in each preset direction, the risk of tipping of the aerial work platform can be further reduced, thereby improving the safety of the operator and the aerial work platform.

[0100] Based on any of the above embodiments, the determining the yaw amount of the aerial work platform in the preset direction based on the inclination angle includes:

[0101] Obtaining the dimension information of the aerial work platform in the direction corresponding to the inclination angle; wherein, the dimension information is determined based on the extension signals of the aerial work platform in each preset direction;

[0102] Based on the dimension information and the inclination angle, determining the yaw amount of the aerial work platform in the direction corresponding to the inclination angle.

[0103] Specifically, when determining the yaw amount of the aerial work platform in the preset direction, first determine the dimension information of the aerial work platform in the corresponding direction, for example, the length information and the width information. Among them, the dimension information of the aerial work platform in each preset direction can be determined based on the extension signals of the aerial work platform in the corresponding direction.

[0104] The extension signal is used to determine whether the extension platform of the aerial work platform in the corresponding direction extends or retracts. The detection method of the extension signal can be set according to actual requirements. For example, the extension control signal of the aerial work platform can be determined by a controller, or it can be determined by a proximity switch. When determined by a proximity switch, a proximity switch can be set in the direction where the aerial work platform has an extension platform. When there is no signal from the proximity switch, it indicates that the extension platform extends, and when there is a signal from the proximity switch, it indicates that the extension platform retracts.

[0105] When determining the size information of the aerial work platform in the corresponding direction when the extension platform extends based on the extension signal, the size information of the aerial work platform in the corresponding direction is the sum of the fixed size of the aerial work platform in the corresponding direction and the size of the extended extension platform; when determining the size information of the aerial work platform in the corresponding direction when the extension platform retracts based on the extension signal, the size information of the aerial work platform in the corresponding direction is the fixed size of the aerial work platform in the corresponding direction.

[0106] After determining the size information of the aerial work platform in each preset direction, the yaw amount in the preset direction can be determined based on the size information in the preset direction and the tilt angle in the preset direction. For example, the yaw amount in the length direction is determined based on the size information in the length direction and the tilt angle in the length direction, and the yaw amount in the width direction is determined based on the size information in the width direction and the tilt angle in the width direction. As an optional implementation manner, the yaw amount δ of the aerial work platform in the length direction is shown in Equation (1), and the yaw amount λ in the width direction is shown in Equation (2):

[0107] δ = 2 * L * Sin 2 (β / 2) (1)

[0108] λ = 2 * W * Sin 2 (θ / 2) (2)

[0109] In the formula, L and W are the size information of the aerial work platform in the length direction and the width direction respectively; β and θ are the tilt angles of the aerial work platform in the length direction and the width direction respectively.

[0110] Based on the extension signal of the aerial work platform in each preset direction, the embodiment of the present invention determines the size information of the aerial work platform in the direction corresponding to the tilt angle, and determines the yaw amount of the aerial work platform in the direction corresponding to the tilt angle based on the size information and the tilt angle, which can effectively ensure the accuracy of the determined result of the yaw amount, and further improve the effectiveness of the generated lifting termination instruction, and can effectively ensure the safety of the operator and the aerial work platform while preventing mis-termination of lifting.

[0111] The following describes the aerial work platform control device provided by the present invention. The aerial work platform control device described below can be correspondingly referred to the aerial work platform control method described above. As Figure 4 shown, the aerial work platform control device of the present invention includes:

[0112] A data acquisition module 401, configured to acquire the current lifting angle and the current lifting pressure of the aerial work platform;

[0113] The first data processing module 402 is configured to determine the target lifting height limit of the aerial work platform from a plurality of preset lifting height limits based on the current lifting angle and the current lifting pressure;

[0114] The second data processing module 403 is configured to generate a lifting termination instruction when it is determined that the current lifting height of the aerial work platform reaches the target lifting height limit; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting.

[0115] Based on the above embodiments, the second data processing module 403 is specifically configured to:

[0116] If the target lifting height limit is the maximum value among the plurality of lifting height limits, when it is determined that a trigger signal of a travel switch is received, it is determined that the current lifting height reaches the target lifting height limit;

[0117] If the target lifting height limit is less than the maximum value among the plurality of lifting height limits, when it is determined that the current lifting angle reaches a target preset angle, it is determined that the current lifting height reaches the target lifting height limit.

[0118] Based on any of the above embodiments, the first data processing module 402 is specifically configured to:

[0119] Determine the current load rate of the aerial work platform based on each rated load based on the current lifting angle and the current lifting pressure; wherein, the rated load corresponds to the lifting height limit one by one;

[0120] Determine the target lifting height limit based on the current load rate.

[0121] Based on any of the above embodiments, the first data processing module 402 is specifically configured to:

[0122] Determine the current load rate of the aerial work platform based on the current lifting pressure and the lifting pressure limit corresponding to the rated load; wherein, the lifting pressure limit corresponding to the rated load is determined based on the current lifting angle and the lifting pressure calibration result corresponding to the rated load.

[0123] Based on any of the above embodiments, it further includes a calibration module, and the calibration module is configured to:

[0124] When the load of the aerial work platform is the rated load and no-load, respectively obtain the measured value of the lifting angle and the measured value of the lifting pressure of the aerial work platform;

[0125] Based on the measured lifting angle value and the measured lifting pressure value, determine the calibration result of the lifting pressure corresponding to the rated load.

[0126] Based on any of the above embodiments, the first data processing module 402 is specifically configured to:

[0127] If the current load rate is less than or equal to the preset load rate, determine the rated load corresponding to the current load rate as the candidate load;

[0128] Based on the lifting height limits corresponding to each of the candidate loads, determine the target lifting height limit.

[0129] Based on any of the above embodiments, an embodiment of the present invention further provides an aerial work platform, as Figure 5 shown, the aerial work platform of the present invention includes: an angle detection device 501, a pressure detection device 502, and a controller 503;

[0130] The angle detection device 501 is used to detect the current lifting angle of the aerial work platform;

[0131] The pressure detection device 502 is used to detect the current lifting pressure of the aerial work platform;

[0132] The controller 503 is configured to determine the target lifting height limit of the aerial work platform from a plurality of preset lifting height limits based on the current lifting angle and the current lifting pressure; and is further configured to generate a lifting termination instruction when the current lifting height of the aerial work platform reaches the target lifting height limit; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting.

[0133] Specifically, the aerial work platform is such as a scissor-type aerial work platform.

[0134] Hereinafter, taking a scissor-type aerial work platform as an example, the specific implementation process of the control method of the aerial work platform of the present invention will be described in detail.

[0135] The structural schematic diagram of the scissor-type aerial work platform is as Figure 6As shown in the figure, it includes a chassis 601, on which an ECU 602, an alarm 603 and a fork frame 604 are provided. The ECU 602 and the alarm 603 are arranged inside the hydraulic tank of the chassis 601. The first fixed end of the fork frame 604 is hinged to the chassis 601 lug through a pin shaft, and the first sliding end of the fork frame 604 is slidably connected to the first guide rail on the chassis 601 through a first slider. The fork frame 604 is also connected to a workbench 605. The second fixed end of the fork frame 604 is restricted in the card slot of the workbench 605 through a baffle on the workbench 605, and the second sliding end of the fork frame 604 is slidably connected to the second guide rail on the workbench 605 through a second slider. A handle bracket 606 is provided on the workbench 605, and a PCU 607 is provided on the handle bracket 606. A first angle sensor 608 and a proximity switch 609 are provided in the length direction of the workbench 605. The first angle sensor 608 is used to detect the tilt angle of the workbench 605 in the length direction, and the proximity switch 609 is used to detect the extension signal of the workbench 605 in the length direction. A second angle sensor 701 is provided in the width direction of the workbench 605, which is used to detect the tilt angle of the workbench 605 in the width direction. The installation position of the second angle sensor 701 is as Figure 7 shown. A lifting oil cylinder 610 and a third angle sensor 611 are provided on the fork frame 604. The lifting oil cylinder 610 is installed on the first inner arm weldment and the third inner arm weldment of the fork frame 604, is hinged to the fork frame 604 through a pin shaft, and controls the lifting and lowering of the fork frame 604 through the telescoping of the lifting oil cylinder 610. The third angle sensor 611 is arranged inside the first inner arm weldment of the fork frame 604 and is used to detect the lifting angle of the fork frame 604. A pressure sensor 612 is provided on the lifting oil cylinder 610, which is used to detect the oil cylinder pressure. A travel switch and a limit block are also provided on the upper top plate bracket of the chassis 601. A trigger point is provided on the limit block, and the trigger point is used to trigger the travel switch when the lifting height of the workbench 605 reaches the maximum value among multiple lifting height limits.

[0136] The working process of the scissor-type aerial work platform is as follows:

[0137] The operator sends a lifting instruction to the ECU 602 through the PCU 607.

[0138] The lifting angle of the fork support 604 is collected by the third angle sensor 611, and the oil cylinder pressure is collected by the pressure sensor 612. The lifting angle and the oil cylinder pressure are transmitted to the ECU 602. The ECU 602 determines the current load rate of the aerial work platform based on the rated loads according to the lifting angle collected by the third angle sensor 611 and the oil cylinder pressure collected by the pressure sensor 612, and determines the target lifting height limit value based on the current load rate. If the current load rate calculated based on the maximum rated load is greater than the preset load rate, the lifting instruction is not executed, and an alarm is given through the alarm 603. If the target lifting height limit value is the maximum value among multiple lifting height limit values, the lifting oil cylinder 610 is controlled to execute the lifting instruction. When the lifting height of the workbench 605 reaches the target lifting height limit value, the trigger point on the limit block triggers the travel switch. When the ECU 602 receives the trigger signal of the travel switch, a lifting termination instruction is generated to control the lifting oil cylinder 610 to stop executing the lifting instruction, and an alarm is given through the alarm 603. After executing the lowering instruction, the alarm stops. If the target lifting height limit value is less than the maximum value among multiple lifting height limit values, the lifting oil cylinder 610 is controlled to execute the lifting instruction. When the ECU 602 determines that the lifting angle collected by the third angle sensor 611 reaches the preset angle corresponding to the target lifting height limit value, the lifting oil cylinder 610 is controlled to stop executing the lifting instruction, and an alarm is given through the alarm 603. After executing the lowering instruction, the alarm stops.

[0139] During the lifting process, the tilting angles of the workbench 605 in the length direction and the width direction are respectively collected by the first angle sensor 608 and the second angle sensor 701. The ECU 602 determines whether the extension platform on the workbench 605 extends by detecting whether there is a signal from the proximity switch 609, and further determines the dimension of the workbench 605 in the length direction. The ECU 602 determines the yaw amount of the workbench 605 in the length direction according to the tilting angle and the dimension of the workbench 605 in the length direction, and determines the yaw amount of the workbench 605 in the width direction according to the tilting angle and the dimension of the workbench 605 in the width direction. When the yaw amount of the workbench 605 in the length direction and the yaw amount in the width direction are both less than the preset yaw, the lifting and lowering instructions sent by the PCU 607 can be normally executed. Otherwise, the ECU 602 generates a lifting termination instruction to control the lifting oil cylinder 610 to stop executing the lifting instruction, and an alarm is given through the alarm 603. After executing the lowering instruction, the alarm stops.

[0140] Figure 8 An example of a schematic physical structure diagram of an electronic device is shown in Figure 8As shown in the figure, the electronic device may include: a processor 801, a communications interface 802, a memory 803, and a communication bus 804. Among them, the processor 801, the communications interface 802, and the memory 803 complete communication with each other through the communication bus 804. The processor 801 may call logical instructions in the memory 803 to execute a control method for an aerial work platform. The method includes: obtaining the current lifting angle and the current lifting pressure of the aerial work platform;

[0141] Determining a target lifting height limit value of the aerial work platform from a plurality of preset lifting height limit values based on the current lifting angle and the current lifting pressure;

[0142] When it is determined that the current lifting height of the aerial work platform reaches the target lifting height limit value, generating a lifting termination instruction; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting.

[0143] In addition, when the logical instructions in the above-mentioned memory 803 are implemented in the form of software function units and sold or used as an independent product, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes.

[0144] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the control method for an aerial work platform provided by the above-mentioned various methods. The method includes: obtaining the current lifting angle and the current lifting pressure of the aerial work platform;

[0145] Determining a target lifting height limit value of the aerial work platform from a plurality of preset lifting height limit values based on the current lifting angle and the current lifting pressure;

[0146] When it is determined that the current lifting height of the aerial work platform reaches the target lifting height limit value, a lifting termination instruction is generated; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting.

[0147] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the aerial work platform control method provided above. The method includes: obtaining the current lifting angle and the current lifting pressure of the aerial work platform;

[0148] Based on the current lifting angle and the current lifting pressure, determine the target lifting height limit value of the aerial work platform from a plurality of preset lifting height limit values;

[0149] When it is determined that the current lifting height of the aerial work platform reaches the target lifting height limit value, a lifting termination instruction is generated; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting.

[0150] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0151] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0152] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. A control method for an aerial work platform, characterized in that, it includes: Obtain the current lifting angle and current lifting pressure of the aerial work platform; Determine the target lifting height limit value of the aerial work platform from a plurality of preset lifting height limit values based on the current lifting angle and the current lifting pressure; When it is determined that the current lifting height of the aerial work platform reaches the target lifting height limit value, generate a lifting termination instruction; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting; The determining the target lifting height limit value of the aerial work platform from a plurality of preset lifting height limit values based on the current lifting angle and the current lifting pressure includes: Determine the current load rate of the aerial work platform based on each rated load based on the current lifting angle and the current lifting pressure; wherein, the rated load corresponds to the lifting height limit value one by one; Determine the target lifting height limit value based on the current load rate.

2. The control method for an aerial work platform according to claim 1, characterized in that, The determining that the current lifting height of the aerial work platform reaches the target lifting height limit value includes: If the target lifting height limit value is the maximum value among the plurality of lifting height limit values, when it is determined that a trigger signal of a travel switch is received, determine that the current lifting height reaches the target lifting height limit value; If the target lifting height limit value is less than the maximum value among the plurality of lifting height limit values, when it is determined that the current lifting angle reaches a target preset angle, determine that the current lifting height reaches the target lifting height limit value.

3. The control method for an aerial work platform according to claim 1, characterized in that, The determining the current load rate of the aerial work platform based on each rated load based on the current lifting angle and the current lifting pressure includes: Determine the current load rate of the aerial work platform based on the rated load based on the current lifting pressure and the lifting pressure limit value corresponding to the rated load; wherein, the lifting pressure limit value corresponding to the rated load is determined based on the current lifting angle and the lifting pressure calibration result corresponding to the rated load.

4. The control method for an aerial work platform according to claim 3, characterized in that, The lifting pressure calibration result corresponding to the rated load is obtained through the following steps: When the load of the aerial work platform is the rated load and no load, respectively obtain the lifting angle measurement value and the lifting pressure measurement value of the aerial work platform; Based on the lifting angle measurement value and the lifting pressure measurement value, determine the lifting pressure calibration result corresponding to the rated load.

5. The control method for an aerial work platform according to claim 1, characterized in that, The determining the target lifting height limit value based on the current load rate includes: If the current load rate is less than or equal to a preset load rate, determine that the rated load corresponding to the current load rate is a candidate load; Determine the target lifting height limit value based on the lifting height limit values corresponding to each candidate load.

6. A control device for an aerial work platform, characterized in that, it includes: a data acquisition module for acquiring the current lifting angle and the current lifting pressure of the aerial work platform; a first data processing module for determining the target lifting height limit value of the aerial work platform from a plurality of preset lifting height limit values based on the current lifting angle and the current lifting pressure; a second data processing module for generating a lifting termination instruction when it is determined that the current lifting height of the aerial work platform reaches the target lifting height limit value; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting; The determining the target lifting height limit value of the aerial work platform from a plurality of preset lifting height limit values based on the current lifting angle and the current lifting pressure includes: determining the current load rate of the aerial work platform based on each rated load based on the current lifting angle and the current lifting pressure; wherein, the rated load corresponds to the lifting height limit value one by one; determining the target lifting height limit value based on the current load rate.

7. An aerial work platform, characterized in that, it includes: an angle detection device, a pressure detection device and a controller; the angle detection device is used to detect the current lifting angle of the aerial work platform; the pressure detection device is used to detect the current lifting pressure of the aerial work platform; the controller is used to determine the target lifting height limit value of the aerial work platform from a plurality of preset lifting height limit values based on the current lifting angle and the current lifting pressure; and is also used to generate a lifting termination instruction when it is determined that the current lifting height of the aerial work platform reaches the target lifting height limit value; wherein, the lifting termination instruction is used to control the aerial work platform to stop lifting; The determining the target lifting height limit value of the aerial work platform from a plurality of preset lifting height limit values based on the current lifting angle and the current lifting pressure includes: determining the current load rate of the aerial work platform based on each rated load based on the current lifting angle and the current lifting pressure; wherein, the rated load corresponds to the lifting height limit value one by one; determining the target lifting height limit value based on the current load rate.

8. An electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, when the processor executes the program, it implements the aerial work platform control method according to any one of claims 1 to 5.

9. A non-transitory computer-readable storage medium, on which a computer program is stored, characterized in that, when the computer program is executed by a processor, it implements the aerial work platform control method according to any one of claims 1 to 5.

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