Control Method, Device and Aerial Work Platform of Aerial Work Platform

Abstract

The present invention relates to the field of construction machinery, and provides a control method, device and aerial work platform for an aerial work platform. The method includes: obtaining a work mode instruction and a lifting instruction of the aerial work platform; if the work mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, when it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform meets a first preset range and the lifting angle of the aerial work platform reaches a preset angle, a lifting termination instruction is generated; when it is determined that the lifting pressure corresponding to the current lifting angle meets a second preset range and the lifting height of the aerial work platform reaches a second preset height, a lifting termination instruction is generated; wherein, the preset angle corresponds to a first preset height, and the first preset height is less than the second preset height. The present invention can effectively reduce the risk of tipping during two-person operation, and ensure the safety of the operator and the aerial work platform.

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] Scissor aerial work platforms have developed rapidly in recent years due to their unique scissor mechanical structure with high stability, high load capacity, and high efficiency.

[0003] Traditional scissor aerial work platforms usually only limit the load and lifting height. When two people are working, as the lifting height of the aerial work platform increases, the risk of tipping over becomes higher and higher, and the safety of the operators and the aerial work platform cannot be guaranteed. 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 a work mode instruction and a lifting instruction of the aerial work platform;

[0007] If the work mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, when it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies a first preset range and the lifting angle of the aerial work platform reaches a preset angle, a lifting termination instruction is generated; when it is determined that the lifting pressure corresponding to the current lifting angle satisfies a second preset range and the lifting height of the aerial work platform reaches a second preset height, the lifting termination instruction is generated; the lifting termination instruction is used to control the aerial work platform to stop lifting; wherein, the preset angle corresponds to a first preset height, and the first preset height is less than the second preset height.

[0008] According to the control method for an aerial work platform provided by the present invention, it further includes:

[0009] If the work mode instruction is a single-person mode instruction and the lifting instruction is the lifting instruction, when it is determined that the lifting pressure corresponding to the current lifting angle satisfies a third preset range and the lifting height of the aerial work platform reaches a third preset height, the lifting termination instruction is generated.

[0010] According to the control method for an aerial work platform provided by the present invention, the determining that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies a first preset range includes:

[0011] Determine the current load rate of the aerial work platform based on the lifting pressure corresponding to the current lifting angle and the first preset range;

[0012] When the current load rate is less than or equal to the preset load rate, determine that the lifting pressure corresponding to the current lifting angle satisfies the first preset range.

[0013] According to the aerial work platform control method provided by the present invention, it is determined that the lifting height of the aerial work platform reaches the second preset height through the following steps:

[0014] When receiving the trigger signal of the travel switch, determine that the lifting height of the aerial work platform reaches the second preset height; wherein, the lifting height corresponding to the travel switch is the same as the second preset height.

[0015] According to the aerial work platform control method provided by the present invention, obtain the tilt angles of the aerial work platform in each preset direction;

[0016] Based on the tilt angles, determine the yaw amount of the aerial work platform in the preset direction;

[0017] 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.

[0018] According to the aerial work platform control method provided by the present invention, the determining the yaw amount of the aerial work platform in the preset direction based on the tilt angles includes:

[0019] Obtain the dimension information of the aerial work platform in the direction corresponding to the tilt angle; wherein, the dimension information is determined based on the extension signals of the aerial work platform in each of the preset directions;

[0020] Based on the dimension information and the tilt angle, determine the yaw amount of the aerial work platform in the direction corresponding to the tilt angle.

[0021] The present invention also provides an aerial work platform control device, including:

[0022] A data acquisition module, configured to acquire the working mode instruction and the lifting instruction of the aerial work platform;

[0023] A data processing module, configured to generate a lifting termination instruction when the working mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, and it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies a first preset range and the lifting angle of the aerial work platform reaches a preset angle; and to generate the lifting termination instruction when it is determined that the lifting pressure corresponding to the current lifting angle satisfies a second preset range and the lifting height of the aerial work platform reaches a second preset height; the lifting termination instruction is used to control the aerial work platform to stop lifting; wherein, the preset angle corresponds to a first preset height, and the first preset height is less than the second preset height.

[0024] The present invention also provides an aerial work platform, comprising: an angle detection device, a pressure detection device and a controller;

[0025] The angle detection device is configured to detect the lifting angle of the aerial work platform;

[0026] The pressure detection device is configured to detect the lifting pressure of the aerial work platform;

[0027] The controller is configured to obtain the working mode instruction and the lifting instruction of the aerial work platform; and is further configured to generate a lifting termination instruction when the working mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, and it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies a first preset range and the lifting angle of the aerial work platform reaches a preset angle; and to generate the lifting termination instruction when it is determined that the lifting pressure corresponding to the current lifting angle satisfies a second preset range and the lifting height of the aerial work platform reaches a second preset height; the lifting termination instruction is used to control the aerial work platform to stop lifting; wherein, the preset angle corresponds to a first preset height, and the first preset height is less than the second preset height.

[0028] 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, and when the processor executes the program, it implements the aerial work platform control method as described in any one of the above.

[0029] 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, it implements the aerial work platform control method as described in any one of the above.

[0030] The high-altitude work platform control method, device and high-altitude work platform provided by the present invention obtain the working mode instruction and the lifting instruction of the high-altitude work platform. When the working mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, it is determined that when the lifting pressure corresponding to the current lifting angle of the high-altitude work platform satisfies the first preset range and the lifting angle of the high-altitude work platform reaches the preset angle, or when the lifting pressure corresponding to the current lifting angle of the high-altitude work platform satisfies the second preset range and the lifting height of the high-altitude work platform reaches the second preset height, a lifting termination instruction is generated to control the high-altitude work platform to stop lifting. It can limit the lifting height differently according to the different loads of the high-altitude work platform during two-person operation, thereby effectively reducing the risk of tipping during two-person operation, and further ensuring the safety of the operator and the high-altitude work platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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 drawings in the following description 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.

[0032] Figure 1 is a schematic flow chart of the high-altitude work platform control method provided by the present invention;

[0033] Figure 2 is a schematic load curve diagram generated during the lifting process of the high-altitude work platform provided by the present invention;

[0034] Figure 3 is a schematic load curve diagram generated during the lowering process of the high-altitude work platform provided by the present invention;

[0035] Figure 4 is a schematic structural diagram of the high-altitude work platform control device provided by the present invention;

[0036] Figure 5 is a schematic structural diagram of the high-altitude work platform provided by the present invention;

[0037] Figure 6 is a schematic structural diagram of the scissor-type high-altitude work platform provided by the present invention;

[0038] Figure 7 is a schematic structural diagram of the A-A plane of the workbench provided by the present invention;

[0039] Figure 8 is a schematic structural diagram of the electronic device provided by the present invention;

[0040] Reference numerals:

[0041] 401: Data acquisition module; 402: Data processing module; 501: Angle detection device; 502: Pressure detection device; 503: Controller; 601: Chassis; 602: ECU; 603: Alarm; 604: Fork frame; 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

[0042] 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 creative efforts shall fall within the protection scope of the present invention.

[0043] The following will be combined with 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:

[0044] S101. Obtain the working mode instruction and the lifting instruction of the aerial work platform.

[0045] Specifically, the aerial work platform is, for example, a scissor-type aerial work platform. The working mode instruction of the aerial work platform can be a two-person mode instruction or a single-person mode instruction. The two-person mode is applicable to the scenario of two-person operation, and the single-person mode is applicable to the scenario of single-person operation. The lifting instruction can include a lifting instruction and a lowering instruction. The lifting instruction is an instruction for controlling the aerial work platform to perform a lifting action, and the lowering instruction is an instruction for controlling the aerial work platform to perform a lowering action.

[0046] Among them, the operator can select the working mode of the aerial work platform and input the lifting instruction through the control panel. For example, the operator can simultaneously press the enable key and the lifting key on the control panel to select the lifting instruction; long press the lifting key (for example, press for 3 seconds) to switch between the two-person mode and the single-person mode.

[0047] S102. If the working mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, when it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies the first preset range and the lifting angle of the aerial work platform reaches the preset angle, a lifting termination instruction is generated; when it is determined that the lifting pressure corresponding to the current lifting angle satisfies the second preset range and the lifting height of the aerial work platform reaches the second preset height, the lifting termination instruction is generated; the lifting termination instruction is used to control the aerial work platform to stop lifting; wherein, the preset angle corresponds to the first preset height, and the first preset height is less than the second preset height.

[0048] Specifically, when the working mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, 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 detection device, and the lifting pressure of the aerial work platform can be detected in real time by a pressure detection device. For example, for a scissor-type aerial work platform, the lifting angle of the aerial work platform can be detected in real time by an angle sensor arranged on the crossbeam; the lifting pressure can be the cylinder pressure of the lifting cylinder, and the pressure detection device can be a pressure sensor. The current lifting angle is the lifting angle of the aerial work platform at the current moment. The lifting pressure corresponding to the current lifting angle is the lifting pressure at the current lifting angle, that is, the lifting pressure detected at the current moment.

[0049] The first preset range and the second preset range are the preset value intervals of the lifting pressure at the current lifting angle in the two-person mode, which can be obtained by calibration in advance or set manually. The specific method for determining that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies the first preset range or the second preset range can be set according to actual needs. For example, when the lifting pressure corresponding to the current lifting angle is within the first preset range or the second preset range, it can be determined that the lifting pressure corresponding to the current lifting angle satisfies the first preset range or the second preset range; it is also possible to determine the current load rate of the aerial work platform based on the first preset range or the current load rate based on the second preset range according to the lifting pressure corresponding to the current lifting angle. When the current load rate based on the first preset range is less than or equal to the preset load rate, the lifting pressure corresponding to the current lifting angle satisfies the first preset range. When the current load rate based on the second preset range is less than or equal to the preset load rate, the lifting pressure corresponding to the current lifting angle satisfies the second preset range.

[0050] The preset angle can be denoted as the first preset angle, the lifting height corresponding to the first preset angle can be used as the first preset height, and the first preset height and the second preset height can be set in advance. For example, they can be set according to the equipment performance of the aerial work platform. The first preset height is less than the second preset height.

[0051] The first preset height corresponds to the first preset range, and the second preset height corresponds to the second preset range. The lifting pressure corresponding to the second preset range is less than the lifting pressure corresponding to the first preset range. If the lifting pressure corresponding to the current lifting angle satisfies the first preset range, when the controller determines that the lifting angle of the aerial work platform reaches the first preset angle, a lifting termination instruction is generated. If the lifting pressure corresponding to the current lifting angle satisfies the second preset range, when the controller determines that the lifting height of the aerial work platform reaches the second preset height, 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.

[0052] It should be noted that if the lifting pressure corresponding to the current lifting angle satisfies both the first preset range and the second preset range, when the controller determines that the lifting height of the aerial work platform reaches the second preset height, a lifting termination instruction is generated. If the lifting pressure corresponding to the current lifting angle does not satisfy the first preset range, the lifting instruction is not executed.

[0053] The specific method for determining that the lifting height of the aerial work platform reaches the second preset height can be set according to actual needs. For example, when it is determined that the lifting angle of the aerial work platform reaches the second preset angle, it can be determined that the lifting height of the aerial work platform reaches the second preset height, where the second preset height is the lifting height corresponding to the second preset angle. Or a first travel switch can be set, and the lifting height corresponding to the first travel switch is the second preset height. When the trigger signal of the first travel switch is received, it is determined that the lifting height of the aerial work platform reaches the second preset height. Among them, the first 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 second preset height, the trigger point on the limit block triggers the first travel switch.

[0054] The first preset angle and the second preset angle can be pre-calibrated and stored in the controller for easy calling at any time. The specific method for calibrating the first preset angle and the second preset angle can be set according to actual needs. For example, when the aerial work platform is lifted to the first preset height, multiple sets of lifting angles are collected, and the first preset angle is determined based on the multiple sets of lifting angles. For example, the average of the multiple sets of lifting angles is taken. When the aerial work platform is lifted to the second preset height, multiple sets of lifting angles are collected, and the second preset angle is determined based on the multiple sets of lifting angles. For example, the average of the multiple sets of lifting angles is taken.

[0055] Traditional scissor-type aerial work platforms usually only limit the load capacity and lifting height. When two people are working, as the lifting height of the aerial work platform increases, the risk of tipping over becomes higher and higher, and the safety of the operators and the aerial work platform cannot be guaranteed.

[0056] In the embodiments of the present invention, by obtaining the working mode instruction and the lifting instruction of the aerial work platform, when the working mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies the first preset range and the lifting angle of the aerial work platform reaches the preset angle, or, when the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies the second preset range and the lifting height of the aerial work platform reaches the second preset height, a lifting termination instruction is generated to control the aerial work platform to stop lifting, which can limit the lifting height differently according to the different loads of the aerial work platform during two-person operation, thereby effectively reducing the risk of tipping over during two-person operation, and further ensuring the safety of the operators and the aerial work platform.

[0057] At the same time, in the embodiments of the present invention, by limiting the lifting height differently according to the different loads of the aerial work platform, the cylinder stroke can be fully utilized, and the applicability of the aerial work platform to different application scenarios is improved.

[0058] In addition, in the embodiments of the present invention, when the lifting pressure corresponding to the current lifting angle satisfies the first preset range, by determining that the lifting angle of the aerial work platform reaches the preset angle to generate a lifting termination instruction to control the aerial work platform to stop lifting, the usage amount of the travel switch can be effectively reduced, and further the structural complexity and the overall cost of the aerial work platform are reduced.

[0059] Based on the above embodiments, it further includes:

[0060] If the working mode instruction is a single-person mode instruction and the lifting instruction is the lifting instruction, when it is determined that the lifting pressure corresponding to the current lifting angle satisfies the third preset range and the lifting height of the aerial work platform reaches the third preset height, the lifting termination instruction is generated.

[0061] Specifically, the third preset range is the preset value range of the lifting pressure at the current lifting angle in the single-person mode, which can be obtained by calibration in advance or set manually.

[0062] During the lifting process of the aerial work platform, if the lifting pressure corresponding to the current lifting angle satisfies the third preset range, when it is detected that the lifting height of the aerial work platform reaches the third preset height, a lifting termination instruction is generated. The third preset height can be set in advance, for example, set according to the equipment performance of the aerial work platform.

[0063] The specific method for determining that the lifting height of the aerial work platform reaches the third preset height can be set according to actual requirements. For example, when it is determined that the lifting angle of the aerial work platform reaches the third preset angle, it can be determined that the lifting height of the aerial work platform reaches the third preset height, where the third preset height is the lifting height corresponding to the third preset angle, and the third preset angle can be pre-calibrated and stored in the controller for easy calling at any time; the specific method for calibrating the third preset angle can be set according to actual requirements. For example, when the aerial work platform is lifted to the third preset height, multiple sets of lifting angles can be collected, and the third preset angle can be determined based on the multiple sets of lifting angles. For example, the average of the multiple sets of lifting angles can be taken.

[0064] A second travel switch can also be set. The lifting height corresponding to the second travel switch is the third preset height. When the trigger signal of the second travel switch is received, it is determined that the lifting height of the aerial work platform reaches the third preset height; the second travel switch and the first travel switch can use the same travel switch to reduce the usage amount of the travel switch; the second travel switch can also use a different travel switch from the first travel switch to meet the requirements for the lifting height of the aerial work platform in different working modes. When the second travel switch and the first travel switch use the same travel switch, the third preset height is the same as the second preset height; when the second travel switch and the first travel switch use different travel switches, two trigger points can be set on the limit block, and the two trigger points are respectively used to trigger the first travel switch and the second travel switch to ensure the reliability of the trigger result.

[0065] In the embodiment of the present invention, when the work mode instruction is a single-person mode instruction and the lifting instruction is a lifting instruction, when it is determined that the lifting pressure corresponding to the current lifting angle meets the third preset range and the lifting height of the aerial work platform reaches the third preset height, a lifting termination instruction is generated, which can realize the switching between the single-person mode and the double-person mode, and further improve the applicability of the aerial work platform to different application scenarios.

[0066] Based on any of the above embodiments, determining that the lifting pressure corresponding to the current lifting angle of the aerial work platform meets the first preset range includes:

[0067] Determining the current load rate of the aerial work platform based on the lifting pressure corresponding to the current lifting angle and the first preset range;

[0068] If the current load rate is less than or equal to the preset load rate, it is determined that the lifting pressure corresponding to the current lifting angle meets the first preset range.

[0069] Specifically, the current load rate refers to the load rate at the current moment. The specific method for determining the current load rate of the aerial work platform based on the lifting pressure corresponding to the current lifting angle and the first preset range can be set according to actual needs. For example, the upper limit value of the lifting pressure corresponding to the current lifting angle can be determined based on the first preset range, and the current load rate of the aerial work platform can be determined based on the lifting pressure corresponding to the current lifting angle and the upper limit value. For example, the current load rate = (the lifting pressure corresponding to the current lifting angle - the lower limit value) / (the upper limit value - the lower limit value), where the lower limit value is the lower limit value of the lifting pressure corresponding to the current lifting angle, which can be the lifting pressure corresponding to the current lifting angle when the aerial work platform is in the no-load state, and the lower limit value can be pre-calibrated and stored in the controller.

[0070] The size of the preset load rate can be set according to actual needs. For example, it can be set to 110%. When the current load rate is less than or equal to the preset load rate, it is determined that the lifting pressure corresponding to the current lifting angle meets the first preset range. When the lifting angle of the aerial work platform reaches the preset angle, a lifting termination instruction is generated.

[0071] It can be understood that the current load rate of the aerial work platform can also be determined based on the lifting pressure corresponding to the current lifting angle and the second preset range. If the current load rate is less than or equal to the preset load rate, it is determined that the lifting pressure corresponding to the current lifting angle meets the second preset range; the current load rate of the aerial work platform can also be determined based on the lifting pressure corresponding to the current lifting angle and the third preset range. If the current load rate is less than or equal to the preset load rate, it is determined that the lifting pressure corresponding to the current lifting angle meets the third preset range.

[0072] In the embodiment of the present invention, the current load rate of the aerial work platform is determined based on the lifting pressure corresponding to the current lifting angle and the first preset range. If the current load rate is less than or equal to the preset load rate, it is determined that the lifting pressure corresponding to the current lifting angle meets the first preset range, 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.

[0073] Based on any of the above embodiments, the lifting height of the aerial work platform reaching the second preset height is determined through the following steps:

[0074] When a trigger signal of the travel switch is received, it is determined that the lifting height of the aerial work platform reaches the second preset height; wherein, the lifting height corresponding to the travel switch is the same as the second preset height.

[0075] Specifically, a travel switch can be set, and the lifting height corresponding to the travel switch is the same as the second preset height. Thus, during the lifting process of the aerial work platform, if it is determined that the lifting pressure corresponding to the current lifting angle satisfies the second preset range, when the trigger signal of the travel switch is received, it is determined that the aerial work platform has been lifted to the second preset height, and a lifting termination instruction is generated.

[0076] When the trigger signal corresponding to the travel switch is received in the embodiment of the present invention, it is determined that the lifting height of the aerial work platform reaches the second preset height. 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.

[0077] Based on any of the above embodiments, it further includes:

[0078] Obtain the inclination angles of the aerial work platform in each preset direction;

[0079] Determine the yaw amount of the aerial work platform in the preset direction based on the inclination angle;

[0080] 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.

[0081] Specifically, the preset direction can be set according to actual needs. For example, it can include the length direction and the width direction. The inclination angle in the length direction can be detected by a first angle sensor arranged in the length direction of the workbench, and the inclination angle in the width direction can be detected by a second angle sensor arranged in the width direction of the workbench.

[0082] The yaw amount of the aerial work platform in the length direction can be determined based on the inclination 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 inclination angle of the aerial work platform in the width direction.

[0083] 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 issued 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, if the lifting pressure corresponding to the current lifting angle satisfies the first preset range, the first preset yaw and the second preset yaw are determined based on the first preset height. For example, the first preset yaw and the second preset yaw can both be 5‰ of the first preset height. If the lifting pressure corresponding to the current lifting angle satisfies the second preset range, the first preset yaw and the second preset yaw are determined based on the second preset height. For example, the first preset yaw and the second preset yaw can both be 5‰ of the second preset height.

[0084] 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.

[0085] In the embodiment of the present invention, by obtaining the tilt 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 tilt 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.

[0086] Based on any of the above embodiments, the determining the yaw amount of the aerial work platform in the preset direction based on the tilt angle includes:

[0087] Obtaining the dimension information of the aerial work platform in the direction corresponding to the tilt angle; wherein, the dimension information is determined based on the extension signals of the aerial work platform in each preset direction;

[0088] Based on the dimension information and the tilt angle, determining the yaw amount of the aerial work platform in the direction corresponding to the tilt angle.

[0089] 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, such as 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.

[0090] The extension signal is used to determine whether the extension platform of the aerial work platform extends or retracts in the corresponding direction. 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 the 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. No signal from the proximity switch indicates that the extension platform extends, and a signal from the proximity switch indicates that the extension platform retracts.

[0091] When it is determined that the extension platform extends based on the extension signal, the dimension information of the aerial work platform in the corresponding direction is the sum of the fixed dimension of the aerial work platform in the corresponding direction and the dimension of the extended extension platform; when it is determined that the extension platform retracts based on the extension signal, the dimension information of the aerial work platform in the corresponding direction is the fixed dimension of the aerial work platform in the corresponding direction.

[0092] After determining the dimension information of the aerial work platform in each preset direction, the yaw amount in the preset direction can be determined based on the dimension 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 dimension 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 dimension information in the width direction and the tilt angle in the width direction. As an alternative implementation, 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):

[0093] δ = 2 * L * Sin 2 (β / 2) (1)

[0094] λ = 2 * W * Sin 2 (θ / 2) (2)

[0095] In the formula, L and W are the dimension 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.

[0096] Based on the extension signal of the aerial work platform in each preset direction, the embodiment of the present invention determines the dimension 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 dimension information and the tilt angle, which can effectively ensure the accuracy of the determined result of the yaw amount, thereby improving the effectiveness of the generated lift termination instruction, and can effectively ensure the safety of the operator and the aerial work platform while preventing mis-termination of the lift.

[0097] Based on any of the above embodiments, the first preset range, the second preset range, and the third preset range are calibrated respectively based on the first rated load, the second rated load, and the third rated load; wherein, the first rated load is greater than the second rated load.

[0098] Specifically, the first rated load and the second rated load respectively correspond to the first preset height and the second preset height, that is, the rated loads corresponding to different lifting heights in the double-person mode; the third rated load corresponds to the third preset height, that is, the rated load corresponding to the single-person mode.

[0099] The first preset range, the second preset range, and the third preset range can be pre-calibrated and stored in the storage device for the controller to call during the lifting process. The specific calibration process can be set according to actual needs. For example, when the load of the aerial work platform is the first rated load, the second rated load, and the third rated load, the lifting angle and the lifting pressure of the aerial work platform during the lifting and / or lowering process can be detected respectively, and the first preset range, the second preset range, and the third preset range can be calibrated according to the detection results of the lifting angle and the lifting pressure.

[0100] In the embodiment of the present invention, the first preset range, the second preset range, and the third preset range are calibrated respectively based on the first rated load, the second rated load, and the third rated load, which can effectively ensure the accuracy of the calibration result, and further ensure the effectiveness of the generated lifting termination instruction, and further improve the safety of the operator and the aerial work platform.

[0101] Based on any of the above embodiments, the first preset range, the second preset range, and the third preset range are calibrated through the following steps:

[0102] When the load of the aerial work platform is the first rated load, the second rated load, the third rated load, and no load, the lifting angle measurement value and the lifting pressure measurement value of the aerial work platform are obtained respectively;

[0103] Based on the lifting angle measurement value and the lifting pressure measurement value, the first preset range, the second preset range, and the third preset range corresponding to the lifting angle to be calibrated are determined.

[0104] Specifically, when the load of the aerial work platform is the first rated load, the second rated load, the third rated load, and no load, during the lifting and / or lowering process of the aerial work platform, the lifting angle and the 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 first rated load, within the range of 0 to the second preset height, multiple groups of first data are collected at a preset frequency, and each group of first data includes the first lifting pressure and the first lifting angle; when the load of the aerial work platform is the second rated load, within the range of 0 to the second preset height, multiple groups of second data are collected at a preset frequency, and each group of second data includes the second lifting pressure and the second lifting angle; when the load of the aerial work platform is the third rated load, within the range of 0 to the third preset height, multiple groups of third data are collected at a preset frequency, and each group of third data includes the third lifting pressure and the third lifting angle; when the load of the aerial work platform is no load, within the range of 0 to the second preset height or 0 to the third preset height, multiple groups of fourth data are collected at a preset frequency, and each group of fourth data includes the fourth lifting pressure and the fourth lifting angle.

[0105] The lift angles to be calibrated may include the lift angles corresponding to all lift heights within the full stroke range of the aerial work platform, or the full stroke range of the aerial work platform may be sampled at a preset interval. The specific method for determining the first preset range, the second preset range, and the third preset range corresponding to the lift angles to be calibrated based on the measured values of the lift angles and the lift pressures can be set according to actual requirements. For example, the first preset range corresponding to the lift angles to be calibrated can be determined based on the first data and the fourth data, that is, the first lift pressure corresponding to the lift angles to be calibrated and the fourth lift pressure corresponding to the lift angles to be calibrated are respectively used as the upper and lower limits of the first preset range corresponding to the lift angles to be calibrated; the second preset range corresponding to the lift angles to be calibrated is determined based on the second data and the fourth data, that is, the second lift pressure corresponding to the lift angles to be calibrated and the fourth lift pressure corresponding to the lift angles to be calibrated are respectively used as the upper and lower limits of the second preset range corresponding to the lift angles to be calibrated; the third preset range corresponding to the lift angles to be calibrated is determined based on the third data and the fourth data, that is, the third lift pressure corresponding to the lift angles to be calibrated and the fourth lift pressure corresponding to the lift angles to be calibrated are respectively used as the upper and lower limits of the third preset range corresponding to the lift angles to be calibrated.

[0106] In addition, the first load curve corresponding to the first rated load can be generated based on multiple sets of first data, the second load curve corresponding to the second rated load can be generated based on multiple sets of second data, the third load curve corresponding to the third rated load can be generated based on multiple sets of third data, and the fourth load curve corresponding to no-load can be generated based on multiple sets of fourth data. Among them, the abscissa of the first load curve, the second load curve, the third load curve, and the fourth load curve can be the lifting angle, and the ordinate can be the lifting pressure. The lifting pressure corresponding to the to-be-calibrated lifting angle in the first load curve and the lifting pressure corresponding to the to-be-calibrated lifting angle in the fourth load curve are respectively used as the upper and lower limits of the first preset range; the lifting pressure corresponding to the to-be-calibrated lifting angle in the second load curve and the lifting pressure corresponding to the to-be-calibrated lifting angle in the fourth load curve are respectively used as the upper and lower limits of the second preset range; the lifting pressure corresponding to the to-be-calibrated lifting angle in the third load curve and the lifting pressure corresponding to the to-be-calibrated lifting angle in the fourth load curve are respectively used as the upper and lower limits of the third preset range. Taking the double-person mode as an example, the first rated load corresponding to the first preset height of the aerial work platform can be defined as full load, and the second rated load corresponding to the second preset height can be defined as light load. The load curve generated by the aerial work platform during the lifting process is as Figure 2 shown, Figure 2 in which the "full 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 full load, the "light 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 light load, and 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 by the aerial work platform during the descending process is as Figure 3 shown, Figure 3 in which the "full load - descending" load curve is used to characterize the corresponding relationship between the lifting pressure and the lifting angle during the descending process when the load of the aerial work platform is full load, the "light load - descending" load curve is used to characterize the corresponding relationship between the lifting pressure and the lifting angle during the descending process when the load of the aerial work platform is light load, and the "no-load - descending" load curve is used to characterize the corresponding relationship between the lifting pressure and the lifting angle during the descending process when the load of the aerial work platform is no-load.

[0107] It can be understood that the measured values of each lifting angle and the measured values of the lifting pressure can be corrected first, and the first preset range, the second preset range, and the third preset range corresponding to different lifting angles 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.

[0108] In the embodiments of the present invention, when the load of the aerial work platform is the first rated load, the second rated load, the third rated load, and no load, the lifting angle measurement value and the lifting pressure measurement value of the aerial work platform are respectively obtained, and the first preset range, the second preset range, and the third preset range corresponding to the lifting angle to be calibrated are determined based on the lifting angle measurement value and the lifting pressure measurement value, which can effectively ensure the accuracy of the calibration results of the first preset range, the second preset range, and the third preset range, and further ensure the effectiveness of the generated lifting termination instruction, and further improve the safety of the operator and the aerial work platform.

[0109] The control device of the aerial work platform provided by the present invention will be described below. The control device of the aerial work platform described below can be mutually corresponding and referred to the aerial work platform control method described above. As Figure 4 shown, the control device of the aerial work platform of the present invention includes:

[0110] A data acquisition module 401, configured to acquire a work mode instruction and a lifting instruction of the aerial work platform;

[0111] A data processing module 402, configured to generate a lifting termination instruction when the work mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, and it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies the first preset range and the lifting angle of the aerial work platform reaches a preset angle; it is determined that the lifting pressure corresponding to the current lifting angle satisfies the second preset range and the lifting height of the aerial work platform reaches the second preset height, and generate the lifting termination instruction; the lifting termination instruction is used to control the aerial work platform to stop lifting; wherein, the preset angle corresponds to the first preset height, and the first preset height is less than the second preset height.

[0112] Based on the above embodiments, the data processing module 402 is further configured to:

[0113] When the work mode instruction is a single-person mode instruction and the lifting instruction is the lifting instruction, generate the lifting termination instruction when it is determined that the lifting pressure corresponding to the current lifting angle satisfies the third preset range and the lifting height of the aerial work platform reaches the third preset height.

[0114] Based on any of the above embodiments, the data processing module 402 is specifically configured to:

[0115] Determine the current load rate of the aerial work platform based on the lifting pressure corresponding to the current lifting angle and the first preset range;

[0116] When the current load rate is less than or equal to the preset load rate, determine that the lifting pressure corresponding to the current lifting angle satisfies the first preset range.

[0117] Based on any of the above embodiments, the data processing module 402 is specifically configured to:

[0118] When a trigger signal of the travel switch is received, determine that the lifting height of the aerial work platform reaches the second preset height; wherein, the lifting height corresponding to the travel switch is the same as the second preset height.

[0119] Based on any of the above embodiments, it further includes a yaw detection module, and the yaw detection module is configured to:

[0120] Obtain the tilt angles of the aerial work platform in each preset direction;

[0121] Determine the yaw amount of the aerial work platform in the preset direction based on the tilt angle;

[0122] 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.

[0123] Based on any of the above embodiments, the yaw detection module is specifically configured to:

[0124] Obtain the dimension information of the aerial work platform in the direction corresponding to the tilt angle; wherein, the dimension information is determined based on the extension signals of the aerial work platform in each of the preset directions;

[0125] Determine the yaw amount of the aerial work platform in the direction corresponding to the tilt angle based on the dimension information and the tilt angle.

[0126] 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;

[0127] The angle detection device 501 is used to detect the lifting angle of the aerial work platform;

[0128] The pressure detection device 502 is used to detect the lifting pressure of the aerial work platform;

[0129] The controller 503 is configured to obtain the working mode instruction and the lifting instruction of the aerial work platform; and is further configured to generate a lifting termination instruction when the working mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, and it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies a first preset range and the lifting angle of the aerial work platform reaches a preset angle; and generate the lifting termination instruction when it is determined that the lifting pressure corresponding to the current lifting angle satisfies a second preset range and the lifting height of the aerial work platform reaches a second preset height; the lifting termination instruction is used to control the aerial work platform to stop lifting; wherein, the preset angle corresponds to a first preset height, and the first preset height is less than the second preset height.

[0130] Specifically, the aerial work platform is, for example, a scissor-type aerial work platform.

[0131] The following takes a scissor-type aerial work platform as an example to describe in detail the specific implementation process of the control method for the aerial work platform of the present invention.

[0132] The structural schematic diagram of the scissor-type aerial work platform is as Figure 6 shown, including 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 further 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 inclination 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 inclination angle of the workbench 605 in the width direction. The installation position of the second angle sensor 701 is as Figure 7As shown in the figure; a lifting oil cylinder 610 and a third angle sensor 611 are provided on the fork support 604. The lifting oil cylinder 610 is installed on the first inner arm weldment and the third inner arm weldment of the fork support 604, and is hinged to the fork support 604 through a pin shaft. The lifting and lowering of the fork support 604 are controlled by the telescopic movement of the lifting oil cylinder 610. The third angle sensor 611 is arranged inside the first inner arm weldment of the fork support 604 and is used to detect the lifting angle of the fork support 604; a pressure sensor 612 is provided on the lifting oil cylinder 610 and is used to detect the oil cylinder pressure. A travel switch and a limit block are also provided on the upper top plate support of the chassis 601. The travel switch is used to detect the second preset height of the workbench 605. A trigger point is provided on the limit block, and the trigger point is used to trigger the travel switch when the height of the workbench 605 reaches the second preset height.

[0133] The working process of the scissor-type aerial work platform is as follows:

[0134] The operator sends a working mode instruction and a lifting instruction to the ECU 602 through the PCU 607.

[0135] When the working mode instruction is a two-person mode instruction, the lifting angle of the fork support 604 is collected through the third angle sensor 611, and the oil cylinder pressure is collected through the pressure sensor 612. The lifting angle and the oil cylinder pressure are transmitted to the ECU 602. When the ECU 602 determines that the lifting pressure corresponding to the current lifting angle does not meet the first preset range based on the lifting angle collected by the third angle sensor 611 and the oil cylinder pressure collected by the pressure sensor 612, the lifting instruction is not executed, and an alarm is given through the alarm 603; if the lifting pressure corresponding to the current lifting angle meets the second preset range, the lifting oil cylinder 610 is controlled to execute the lifting instruction, and when the lifting height of the workbench 605 reaches the second preset height, 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, 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; if the lifting pressure corresponding to the current lifting angle meets the first preset range and does not meet the second preset range, 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 first preset angle, 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.

[0136] When the working mode instruction is in the single - person mode, the lifting angle of the forklift 604 is collected through the third angle sensor 611, and the oil cylinder pressure is collected through the pressure sensor 612. The lifting angle and the oil cylinder pressure are transmitted to the ECU 602. When the ECU 602 determines that the lifting pressure corresponding to the current lifting angle does not meet the third preset range according to the lifting angle collected by the third angle sensor 611 and the oil cylinder pressure collected by the pressure sensor 612, the lifting instruction is not executed, and an alarm is given through the alarm 603. If the lifting pressure corresponding to the current lifting angle meets the third preset range, the lifting oil cylinder 610 is controlled to execute the lifting instruction. When the lifting height of the workbench 605 reaches the third preset height, the trigger point on the limit block touches the travel switch. When the ECU 602 receives the trigger signal of the travel switch, a lifting termination instruction is generated, 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. Among them, the third preset height is the same as the second preset height.

[0137] Among them, during the lifting process, the tilting angles of the workbench 605 in the length direction and the width direction are respectively collected through 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 then determines the size 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 size 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 size 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, controls the lifting oil cylinder 610 to stop executing the lifting instruction, and gives an alarm through the alarm 603. After executing the lowering instruction, the alarm stops.

[0138] Figure 8 An example of the physical structure diagram of an electronic device is as Figure 8 shown. The electronic device may include: a processor 801, a communication interface 802, a memory 803, and a communication bus 804. Among them, the processor 801, the communication interface 802, and the memory 803 complete mutual communication through the communication bus 804. The processor 801 can call the logical instructions in the memory 803 to execute the high - altitude work platform control method, and the method includes: obtaining the working mode instruction and the lifting and lowering instruction of the high - altitude work platform;

[0139] If the working mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, when it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies a first preset range and the lifting angle of the aerial work platform reaches a preset angle, a lifting termination instruction is generated; when it is determined that the lifting pressure corresponding to the current lifting angle satisfies a second preset range and the lifting height of the aerial work platform reaches a second preset height, the lifting termination instruction is generated; the lifting termination instruction is used to control the aerial work platform to stop lifting; wherein, the preset angle corresponds to a first preset height, and the first preset height is less than the second preset height.

[0140] In addition, when the logical instructions in the above-mentioned memory 803 are implemented in the form of software functional units and sold or used as independent products, they can 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, can 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 USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0141] 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 aerial work platform control method provided by the above-mentioned various methods. The method includes: obtaining a working mode instruction and a lifting instruction of the aerial work platform;

[0142] If the working mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, when it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies a first preset range and the lifting angle of the aerial work platform reaches a preset angle, a lifting termination instruction is generated; when it is determined that the lifting pressure corresponding to the current lifting angle satisfies a second preset range and the lifting height of the aerial work platform reaches a second preset height, the lifting termination instruction is generated; the lifting termination instruction is used to control the aerial work platform to stop lifting; wherein, the preset angle corresponds to a first preset height, and the first preset height is less than the second preset height.

[0143] 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 used to implement the high-altitude work platform control method provided above. The method includes: obtaining a work mode instruction and a lifting instruction of the high-altitude work platform;

[0144] If the work mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, when it is determined that the lifting pressure corresponding to the current lifting angle of the high-altitude work platform satisfies a first preset range and the lifting angle of the high-altitude work platform reaches a preset angle, a lifting termination instruction is generated; when it is determined that the lifting pressure corresponding to the current lifting angle satisfies a second preset range and the lifting height of the high-altitude work platform reaches a second preset height, the lifting termination instruction is generated; the lifting termination instruction is used to control the high-altitude work platform to stop lifting; wherein, the preset angle corresponds to a first preset height, and the first preset height is less than the second preset height.

[0145] 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.

[0146] 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 essence of the above technical solution, 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.

[0147] 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 the embodiments of the present invention.

Claims

1. A control method for an aerial work platform, characterized in that, Including: Obtain the working mode instruction and the lifting instruction of the aerial work platform; If the working mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, when it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies the first preset range and the lifting angle of the aerial work platform reaches the preset angle, generate a lifting termination instruction; when it is determined that the lifting pressure corresponding to the current lifting angle satisfies the second preset range and the lifting height of the aerial work platform reaches the second preset height, generate the lifting termination instruction; the lifting termination instruction is used to control the aerial work platform to stop lifting; wherein, the preset angle corresponds to the first preset height, and the first preset height is less than the second preset height; The determining that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies the first preset range includes: Determine the current load rate of the aerial work platform based on the lifting pressure corresponding to the current lifting angle and the first preset range; If the current load rate is less than or equal to the preset load rate, determine that the lifting pressure corresponding to the current lifting angle satisfies the first preset range.

2. The control method for an aerial work platform according to claim 1, characterized in that, Also including: If the working mode instruction is a single-person mode instruction and the lifting instruction is the lifting instruction, when it is determined that the lifting pressure corresponding to the current lifting angle satisfies the third preset range and the lifting height of the aerial work platform reaches the third preset height, generate the lifting termination instruction.

3. The control method for an aerial work platform according to claim 1, characterized in that, The determination that the lifting height of the aerial work platform reaches the second preset height is determined through the following steps: If a trigger signal of the travel switch is received, determine that the lifting height of the aerial work platform reaches the second preset height; wherein, the lifting height corresponding to the travel switch is the same as the second preset height.

4. The control method for an aerial work platform according to any one of claims 1 to 3, characterized in that, Also including: Obtain the tilt angle of the aerial work platform in each preset direction; Determine the yaw amount of the aerial work platform in the preset direction based on the tilt angle; 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.

5. The control method for an aerial work platform according to claim 4, characterized in that, The determining the yaw amount of the aerial work platform in the preset direction based on the tilt angle includes: Obtain the dimension information of the aerial work platform in the direction corresponding to the tilt angle; wherein, the dimension information is determined based on the extension signals of the aerial work platform in each of the preset directions; Determine the yaw amount of the aerial work platform in the direction corresponding to the tilt angle based on the dimension information and the tilt angle.

6. A control device for an aerial work platform, characterized in that, Including: A data acquisition module for obtaining the working mode instruction and the lifting instruction of the aerial work platform; A data processing module, configured to generate a lifting termination instruction when the working mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, and it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies a first preset range and the lifting angle of the aerial work platform reaches a preset angle; and to generate the lifting termination instruction when it is determined that the lifting pressure corresponding to the current lifting angle satisfies a second preset range and the lifting height of the aerial work platform reaches a second preset height; the lifting termination instruction is used to control the aerial work platform to stop lifting; wherein, the preset angle corresponds to a first preset height, and the first preset height is less than the second preset height; The determination that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies a first preset range includes: Determining the current load rate of the aerial work platform based on the lifting pressure corresponding to the current lifting angle and the first preset range; If the current load rate is less than or equal to a preset load rate, it is determined that the lifting pressure corresponding to the current lifting angle satisfies the first preset range.

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 lifting angle of the aerial work platform; The pressure detection device is used to detect the lifting pressure of the aerial work platform; The controller is used to obtain the working mode instruction and the lifting instruction of the aerial work platform; It is also configured to generate a lifting termination instruction when the working mode instruction is a two-person mode instruction and the lifting instruction is a lifting instruction, and it is determined that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies a first preset range and the lifting angle of the aerial work platform reaches a preset angle; and to generate the lifting termination instruction when it is determined that the lifting pressure corresponding to the current lifting angle satisfies a second preset range and the lifting height of the aerial work platform reaches a second preset height; the lifting termination instruction is used to control the aerial work platform to stop lifting; wherein, the preset angle corresponds to a first preset height, and the first preset height is less than the second preset height; The determination that the lifting pressure corresponding to the current lifting angle of the aerial work platform satisfies a first preset range includes: Determining the current load rate of the aerial work platform based on the lifting pressure corresponding to the current lifting angle and the first preset range; If the current load rate is less than or equal to a preset load rate, it is determined that the lifting pressure corresponding to the current lifting angle satisfies the first preset range.

8. 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, 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, wherein, When the computer program is executed by the processor, it implements the aerial work platform control method according to any one of claims 1 to 5.

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