Method, device and medium for controlling the boom of a straight-arm aerial work platform

Abstract

The present invention provides a method, device and medium for controlling the boom of a straight-arm aerial work platform. The method comprises the following steps: obtaining the boom angle, the boom length and the body inclination angle of the turntable part of the boom; determining the angle between the boom and the bottom surface of the working bucket according to the boom angle and the body inclination angle; calculating the vertical height between the connection point between the boom and the turntable part and the bottom surface of the working bucket according to the angle between the boom and the bottom surface of the working bucket, the boom length and a preset calculation formula; judging whether the vertical height is greater than a preset threshold, if so, stopping the boom from continuing to change its amplitude; if not, maintaining the current operating state of the boom. This solution solves the technical problem of the working bucket hitting the ground without increasing any hardware device cost, thereby increasing the service life of the working bucket and the electrical components connected to the boom.

Description

Technical Field

[0001] The invention relates to the technical field of aerial work platforms, and in particular to a method, a device and a medium for controlling a straight-arm aerial work platform boom. Background Art

[0002] The straight-arm aerial work platform includes a turntable, a boom and a work bucket; one end of the boom is connected to the trolley, and the other end is connected to the work bucket; the boom can rotate up and down relative to the vehicle, and the length of the boom can be extended and retracted; the height of the work bucket relative to the ground can be controlled by rotating the boom. In actual applications, the work bucket of the straight-arm aerial work platform often hits the ground directly when the boom is adjusted downward, which makes the work bucket and the electrical components connected to the boom (such as weighing sensors) easily damaged. Summary of the invention

[0003] The invention provides a method, a device and a medium for controlling a straight-arm aerial work platform boom, so as to solve the technical problem that a working bucket hits the ground.

[0004] In order to solve the above technical problems, the present invention provides a method for controlling a straight-arm aerial work platform boom, comprising the following steps:

[0005] Obtaining a boom angle of the boom, a boom length of the boom, and a body inclination angle of the turntable portion;

[0006] Determining the angle between the arm and the bottom surface of the working bucket according to the arm angle and the vehicle body inclination angle;

[0007] Calculating the vertical height between the connection point between the boom and the turntable portion and the bottom surface of the working bucket according to the angle between the boom and the bottom surface of the working bucket, the length of the boom and a preset calculation formula;

[0008] It is determined whether the vertical height is greater than a preset threshold value. If so, the boom is stopped from continuing to change its length downward; if not, the current operating state of the boom is maintained.

[0009] Optionally, before the step of obtaining the arm angle of the arm, the arm length of the arm and the body inclination angle of the turntable part, the following calibration step is also included:

[0010] Move the telescopic boom aerial work platform to level ground;

[0011] Extend the boom to any length;

[0012] Rotate the arm downward so that the height of the bottom surface of the working bucket from the ground is equal to a preset height;

[0013] Acquire the arm angle of the arm, the arm length of the arm and the body inclination angle of the turntable part;

[0014] If the vehicle body inclination angle is equal to 0, then according to the formula h 标定 =Sinβ 标定 *L 标定 Calculate the nominal vertical height between the connection point between the boom and the turntable and the bottom surface of the working bucket, where h 标定 represents the calibrated vertical height between the connection point between the boom and the turntable and the bottom surface of the working bucket during calibration, β 标定 It represents the angle between the arm and the bottom surface of the working bucket during calibration, L 标定 Indicates the arm length during calibration.

[0015] Optionally, the step of determining the angle between the boom and the bottom surface of the working bucket according to the boom angle and the vehicle body inclination angle specifically comprises the following steps:

[0016] If γ=0 and α≤0, then determine β=|α|;

[0017] If γ<0, α<0 and |α|>|γ|, then determine β=|α|-|γ|;

[0018] If γ>0, α>0 and γ>α, then determine β=γ-α;

[0019] If γ>0 and α≤0, then determine β=γ+|α|; wherein γ represents the vehicle body inclination angle, α represents the boom angle, and β represents the angle between the boom and the bottom surface of the working bucket.

[0020] Optionally, the step of calculating the vertical height between the connection point between the boom and the turntable portion and the bottom surface of the working bucket according to the angle between the boom and the bottom surface of the working bucket, the boom length and a preset calculation formula specifically comprises the following steps:

[0021] Substitute β and L into the preset formula h1=Sinβ*L to obtain h1, wherein L represents the length of the boom, and h1 represents the vertical height between the connection point between the boom and the turntable part and the bottom surface of the working bucket.

[0022] Optionally, the step of obtaining the arm angle of the arm, the arm length of the arm and the body inclination angle of the turntable part specifically includes the following steps:

[0023] The arm angle of the arm is obtained by using the arm angle sensor;

[0024] Acquiring the arm length of the arm through an arm length sensor;

[0025] The body inclination angle of the turntable is obtained through the body inclination sensor.

[0026] The present invention also provides a device for controlling the boom of a straight-arm aerial work platform, comprising the following modules:

[0027] An acquisition module, used for acquiring an arm angle of the arm, an arm length of the arm and a body inclination angle of a turntable part;

[0028] A determination module, used to determine the angle between the arm and the bottom surface of the working bucket according to the arm angle and the body inclination angle;

[0029] A calculation module, used for calculating the vertical height between the connection point between the boom and the turntable part and the bottom surface of the working bucket according to the angle between the boom and the bottom surface of the working bucket, the length of the boom and a preset calculation formula;

[0030] The judging module is used to judge whether the vertical height is greater than a preset threshold value, and if so, stop the boom from continuing to change its amplitude downward; if not, keep the boom in its current operating state.

[0031] Optionally, the device further comprises a calibration module, configured to perform the following steps:

[0032] Move the telescopic boom aerial work platform to level ground;

[0033] Extend the boom to any length;

[0034] Rotate the arm downward so that the height of the bottom surface of the working bucket from the ground is equal to a preset height;

[0035] Acquire the arm angle of the arm, the arm length of the arm and the body inclination angle of the turntable part;

[0036] If the vehicle body inclination angle is equal to 0, then according to the formula h 标定 =Sinβ 标定 *L 标定 Calculate the nominal vertical height between the connection point between the boom and the turntable and the bottom surface of the working bucket, where h 标定 represents the calibrated vertical height between the connection point between the boom and the turntable and the bottom surface of the working bucket during calibration, β 标定 It represents the angle between the arm and the bottom surface of the working bucket during calibration, L 标定 Indicates the arm length during calibration.

[0037] Optionally, the determining module is specifically configured to perform the following steps:

[0038] If γ=0 and α≤0, then determine β=|α|;

[0039] If γ<0, α<0 and |α|>|γ|, then determine β=|α|-|γ|;

[0040] If γ>0, α>0 and γ>α, then determine β=γ-α;

[0041] If γ>0 and α≤0, then determine β=γ+|α|; wherein γ represents the vehicle body inclination angle, α represents the boom angle, and β represents the angle between the boom and the bottom surface of the working bucket.

[0042] Optionally, the calculation module is specifically used to perform the following steps:

[0043] Substitute β and L into the preset formula h1=Sinβ*L to obtain h1, wherein L represents the length of the boom, and h1 represents the vertical height between the connection point between the boom and the turntable part and the bottom surface of the working bucket.

[0044] The present invention also provides a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, it can implement any of the above-mentioned methods for controlling the boom of a straight-arm aerial work platform.

[0045] The method, device and medium for controlling the boom of a straight-arm aerial work platform provided by the present invention can respectively obtain the boom angle, boom length and body inclination angle of the boom by utilizing the boom angle sensor, boom length sensor and body inclination angle sensor of the straight-arm aerial work platform, calculate the vertical height between the connection point between the boom and the turntable part and the bottom surface of the working bucket by utilizing the boom angle, boom length, body inclination angle and a preset calculation formula, and then determine whether to stop the boom from continuing to change its amplitude based on the relationship between the calculated vertical height and a preset threshold value, thereby solving the technical problem of the working bucket hitting the ground without increasing any hardware device cost, thereby improving the service life of the working bucket and electrical components connected to the boom. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a flow chart of a method for controlling a straight-arm aerial work platform boom provided by one embodiment of the present invention.

[0047] Figure 2 It is a schematic diagram of the principle of calibration and monitoring of a straight-arm aerial work platform provided by an embodiment of the present invention on horizontal ground.

[0048] Figure 3 It is a schematic diagram of the principle of calibration and monitoring of a straight-arm aerial work platform on an inclined surface provided by an embodiment of the present invention.

[0049] Figure 4 It is a schematic diagram of the principle of calibration and monitoring of a straight-arm aerial work platform on an inclined surface provided by an embodiment of the present invention.

[0050] Figure 5 It is a schematic diagram of the principle of calibration and monitoring of a straight-arm aerial work platform on an inclined surface provided by an embodiment of the present invention.

[0051] [Description of reference numerals is as follows]:

[0052] Turntable part-1, boom-2, working bucket-3, connection point between boom and turntable part-4, horizontal ground-5. DETAILED DESCRIPTION

[0053] In order to make the purpose, advantages and features of the present invention clearer, the method, device and medium for controlling the boom of a straight-arm aerial work platform proposed by the present invention are further described in detail below in conjunction with the accompanying drawings. It should be noted that the accompanying drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0054] In the description of the present invention, the terms "first", "second", etc. are added for the convenience of description and reference, and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined by the terms "first", "second", etc. may explicitly or implicitly include one or more of the features.

[0055] like Figure 1 and Figure 2 As shown, this embodiment provides a method for controlling the boom of a straight-arm aerial work platform, comprising the following steps:

[0056] S1. Acquire the arm angle of the arm 2, the arm length of the arm 2 and the vehicle body inclination angle of the turntable part 1.

[0057] Optionally, the arm angle of the arm 2 is obtained by an arm angle sensor; the arm length of the arm 2 is obtained by an arm length sensor; and the body inclination angle of the turntable part 1 is obtained by a body inclination angle sensor.

[0058] Straight boom aerial work platforms are equipped with a boom angle sensor, a boom length sensor, a body tilt sensor and a controller. The execution subject of this embodiment can be the controller. The boom angle can be measured in real time by the boom angle sensor, the boom length can be measured in real time by the boom length sensor, and the body tilt can be measured in real time by the body tilt sensor. The boom angle sensor, the boom length sensor, and the body tilt sensor can send the measurement results to the controller. Figure 2As shown, the arm angle α refers to the angle between the arm and the horizontal plane (or horizontal line), the angle above the horizontal line is a positive angle, and the angle below the horizontal line is a negative angle; the arm length L refers to the extended length of the arm 2; the body inclination angle γ refers to the inclination degree of the turntable part 1, and the body inclination angle γ is equal to 0 when the turntable part 1 is placed on a horizontal plane. When the top surface of the turntable part 1 is a plane, the angle between the top surface of the turntable part 1 and the horizontal plane can be used as the body inclination angle.

[0059] S2. Determine the angle between the boom 2 and the bottom surface of the working bucket 3 according to the boom angle and the vehicle body inclination angle.

[0060] Optionally, the calculation formula of the angle β between the arm 2 and the bottom surface of the working bucket 3 can be divided into the following four cases:

[0061] If γ=0 and α≤0, then β=|α|; in this case, Figure 2 As shown, it means that the straight arm aerial work platform is on the horizontal ground 5.

[0062] If γ<0, α<0 and |α|>|γ|, then β=|α|-|γ|; Figure 3 As shown, it means that the straight-arm aerial work platform is on an inclined plane, at which time β1=|α|-|γ|, β=β1.

[0063] If γ>0, α>0 and γ>α, then β=γ-α; in this case, Figure 4 As shown, it means that the straight-arm aerial work platform is on an inclined plane, at which time β1=γ-α, β=β1.

[0064] If γ>0 and α≤0, then β=γ+|α|; in this case, Figure 5 As shown, it means that the straight-arm aerial work platform is on an inclined surface. Among them, γ represents the inclination angle of the vehicle body, α represents the angle of the boom, and β represents the angle between the boom 2 and the bottom surface of the working bucket 3.

[0065] The actual road conditions are subdivided into the above four conditions, and different calculation formulas can be used to calculate the β value according to different road conditions, thereby making the anti-collision effect of the method better.

[0066] S3. Calculate the vertical height between the connection point 4 between the boom 2 and the turntable part 1 and the bottom surface of the working bucket 3 according to the angle between the boom 2 and the bottom surface of the working bucket 3, the boom length and a preset calculation formula.

[0067] Optionally, substitute β and L into the preset formula h1=Sinβ*L to obtain h1, wherein L represents the length of the boom, and h1 represents the vertical height between the connection point 4 between the boom 2 and the turntable part 1 and the bottom surface of the working bucket 3. This makes it convenient to calculate h1. In other embodiments, the preset formula can also be appropriately deformed. For example, for the four cases in S2, for the first case, h1=Sinβ*L can be expressed as h1=Sin|α|*L; for the second case, h1=Sinβ*L can be expressed as h1=Sin(|α|-|γ|)*L; the principles for other cases are the same.

[0068] S4. Determine whether the vertical height is greater than a preset threshold value. If yes, stop the boom 2 from continuing to change its amplitude downward; if no, maintain the current operating state of the boom 2.

[0069] The preset threshold value is obtained according to the calibration step. When the method is actually applied, one or more straight boom aerial work platforms can be selected for calibration. The threshold value obtained after calibration can be directly used for other straight boom aerial work platforms of the same model that have not been calibrated. If the vertical height is greater than the preset threshold value, the controller can close the hydraulic valve under the amplitude change to stop the boom 2 from moving.

[0070] The method for controlling the boom of a straight-arm aerial work platform provided in this embodiment can utilize the boom angle sensor, boom length sensor and body inclination sensor of the straight-arm aerial work platform to respectively obtain the boom angle, boom length and body inclination, and calculate the vertical height between the connection point 4 between the boom 2 and the turntable part 1 and the bottom surface of the working bucket 3 through the boom angle, boom length, body inclination and a preset calculation formula, and then determine whether to stop the boom 2 from continuing to change its amplitude based on the relationship between the calculated vertical height and a preset threshold value. In this way, the technical problem of the working bucket 3 hitting the ground is solved without increasing any hardware device cost, thereby improving the service life of the working bucket 3 and the electrical components connected to the boom 2.

[0071] Optional, such as Figure 2 As shown, before the step of obtaining the arm angle of the arm 2, the arm length of the arm 2 and the vehicle body inclination angle of the turntable part 1, the following calibration steps are also included:

[0072] Move the telescopic boom aerial work platform to the horizontal ground 5;

[0073] Extend arm 2 to any length;

[0074] Rotate the arm 2 downward so that the height of the bottom surface of the working bucket 3 from the ground is equal to a preset height; the preset height can be Figure 2-Figure 5h0 or other values ​​in ;

[0075] Obtaining the arm angle of the arm 2, the arm length of the arm 2 and the body inclination angle of the turntable part 1;

[0076] If the vehicle body inclination angle is equal to 0, then according to the formula h 标定 =Sinβ 标定 *L 标定 Calculate the nominal vertical height between the connection point 4 between the boom 2 and the turntable part 1 and the bottom surface of the working bucket 3, where h 标定 represents the calibrated vertical height between the connection point 4 between the boom 2 and the turntable part 1 and the bottom surface of the working bucket 3 during calibration, β 标定 represents the angle between the arm 2 and the bottom surface of the working bucket 3 during calibration, L 标定 Indicates the arm length during calibration. If the vehicle body inclination angle is not equal to 0, it means that the current ground is not level ground 5, and the calibration step needs to be performed again. 标定 can be used as the pre-set threshold, or close to h 标定 The value of is used as the preset threshold.

[0077] The method for controlling the boom of a straight-arm aerial work platform provided in this embodiment obtains the calibrated vertical height by calibration, so that the error corresponding to the calibrated vertical height and the error corresponding to the vertical height between the connection point 4 and the bottom surface of the working bucket 3 calculated during real-time monitoring can offset each other, thereby making the vertical height between the connection point 4 and the bottom surface of the working bucket 3 calculated by the method more accurate.

[0078] In other embodiments, the straight-arm aerial work platform may also be placed on an inclined plane for calibration. The calibration data (such as the values ​​of h0 and h1) on the horizontal ground and the inclined plane may be the same or different.

[0079] refer to Figure 1 and Figure 2 As shown, based on the same technical concept as the above-mentioned method for controlling the boom of a straight-arm aerial work platform, this embodiment also provides a device for controlling the boom of a straight-arm aerial work platform, including the following modules:

[0080] An acquisition module, used for acquiring the arm angle of the arm 2, the arm length of the arm 2 and the body inclination angle of the turntable part 1;

[0081] A determination module, used to determine the angle between the arm 2 and the bottom surface of the working bucket 3 according to the arm angle and the body inclination angle;

[0082] A calculation module, for calculating the vertical height between the connection point 4 between the boom 2 and the turntable part 1 and the bottom surface of the working bucket 3 according to the angle between the boom 2 and the bottom surface of the working bucket 3, the boom length and a preset calculation formula;

[0083] The judging module is used to judge whether the vertical height is greater than a preset threshold value. If yes, the boom 2 is stopped from continuing to change its amplitude downward; if no, the boom 2 is maintained in its current operating state.

[0084] The arm device for controlling the straight-arm aerial work platform provided in this embodiment can utilize the arm angle sensor, arm length sensor and body inclination sensor of the straight-arm aerial work platform to respectively obtain the arm angle, arm length and body inclination, and calculate the vertical height between the connection point 4 between the arm 2 and the turntable part 1 and the bottom surface of the working bucket 3 through the arm angle, arm length, body inclination and a preset calculation formula, and then determine whether to stop the arm 2 from continuing to change its amplitude based on the relationship between the calculated vertical height and a preset threshold value. In this way, the technical problem of the working bucket 3 hitting the ground is solved without increasing any hardware device cost, thereby improving the service life of the working bucket 3 and the electrical components connected to the arm 2.

[0085] Optional, reference Figure 2 As shown, the device also includes a calibration module, which is used to perform the following steps:

[0086] Move the telescopic boom aerial work platform to the horizontal ground 5;

[0087] Extend arm 2 to any length;

[0088] Rotate the arm 2 downward so that the bottom surface of the working bucket 3 is at a height equal to a preset height from the ground;

[0089] Obtaining the arm angle of the arm 2, the arm length of the arm 2 and the body inclination angle of the turntable part 1;

[0090] If the vehicle body inclination angle is equal to 0, then according to the formula h 标定 =Sinβ 标定 *L 标定 Calculate the nominal vertical height between the connection point 4 between the boom 2 and the turntable part 1 and the bottom surface of the working bucket 3, where h 标定 represents the calibrated vertical height between the connection point 4 between the boom 2 and the turntable part 1 and the bottom surface of the working bucket 3 during calibration, β 标定 represents the angle between the arm 2 and the bottom surface of the working bucket 3 during calibration, L 标定 Indicates the arm length during calibration.

[0091] The calibrated vertical height is obtained by calibration, so that the error corresponding to the calibrated vertical height and the error corresponding to the vertical height between the connection point 4 and the bottom surface of the working bucket 3 calculated during real-time monitoring can offset each other, thereby making the vertical height between the connection point 4 and the bottom surface of the working bucket 3 calculated by the method more accurate.

[0092] Optional, reference Figure 2-Figure 5 As shown, the determination module is specifically used to perform the following steps:

[0093] If γ=0 and α≤0, then determine β=|α|;

[0094] If γ<0, α<0 and |α|>|γ|, then determine β=|α|-|γ|;

[0095] If γ>0, α>0 and γ>α, then determine β=γ-α;

[0096] If γ>0 and α≤0, then determine β=γ+|α|; wherein γ represents the vehicle body inclination angle, α represents the boom angle, and β represents the angle between the boom 2 and the bottom surface of the working bucket 3.

[0097] The actual road conditions are subdivided into the above four conditions, and different calculation formulas can be used to calculate the β value according to different road conditions, thereby making the anti-collision effect of the method better.

[0098] Optional, reference Figure 2-Figure 5 As shown, the calculation module is specifically used to perform the following steps:

[0099] Substituting β and L into the preset formula h1=Sinβ*L, h1 is obtained, wherein L represents the length of the boom, and h1 represents the vertical height between the connection point 4 between the boom 2 and the turntable part 1 and the bottom surface of the working bucket 3. This facilitates the calculation of h1.

[0100] Optional, reference Figure 2 As shown, the acquisition module is specifically used to perform the following steps:

[0101] Acquire the arm angle of arm 2 through the arm angle sensor;

[0102] Acquire the arm length of the arm 2 by means of an arm length sensor;

[0103] The vehicle body inclination angle of the turntable portion 1 is acquired by the vehicle body inclination angle sensor.

[0104] The monitoring data required by the device and the method can be obtained through the boom angle sensor, the boom length sensor and the vehicle body inclination sensor, thereby achieving an anti-collision effect.

[0105] Based on the same technical concept as the above-mentioned method for controlling the boom of a straight-arm aerial work platform, the present invention also provides a computer storage medium on which a computer program is stored, and when the computer program is executed by a processor, any of the above-mentioned methods for controlling the boom of a straight-arm aerial work platform can be performed. The computer storage medium can be a tangible device that can hold and store instructions used by an instruction execution device, such as but not limited to an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above.

[0106] It should be noted that each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and computer-readable storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0107] To sum up, the method, device and medium for controlling the boom of a straight-arm aerial work platform provided by the present invention can utilize the boom angle sensor, boom length sensor and body inclination sensor of the straight-arm aerial work platform to respectively obtain the boom angle, boom length and body inclination, and calculate the vertical height between the connection point 4 between the boom 2 and the turntable part 1 and the bottom surface of the working bucket 3 through the boom angle, boom length, body inclination and a preset calculation formula, and then determine whether to stop the boom 2 from continuing to change its amplitude based on the relationship between the calculated vertical height and a preset threshold value. In this way, the technical problem of the working bucket 3 hitting the ground is solved without increasing any hardware device cost, thereby improving the service life of the working bucket 3 and the electrical components connected to the boom 2.

[0108] The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art based on the above disclosure shall fall within the protection scope of the present invention.

Claims

1. A method for controlling a straight-arm aerial work platform boom, characterized in that: The following steps are involved: Obtaining a boom angle of the boom, a boom length of the boom, and a body inclination angle of the turntable portion; Determining the angle between the arm and the bottom surface of the working bucket according to the arm angle and the vehicle body inclination angle; Calculating the vertical height between the connection point between the boom and the turntable portion and the bottom surface of the working bucket according to the angle between the boom and the bottom surface of the working bucket, the length of the boom and a preset calculation formula; Determine whether the vertical height is greater than a preset threshold, and if so, stop the boom from continuing to luff downward; if not, maintain the current operating state of the boom; Before the step of obtaining the arm angle of the arm, the arm length of the arm and the body inclination angle of the turntable part, the following calibration step is also included: Move the telescopic boom aerial work platform to level ground; Extend the boom to any length; Rotate the arm downward so that the height of the bottom surface of the working bucket from the ground is equal to a preset height; Acquire the arm angle of the arm, the arm length of the arm and the body inclination angle of the turntable part; If the vehicle body inclination angle is equal to 0, then according to the formula h 标定 =Sinβ 标定 *L 标定 Calculate the nominal vertical height between the connection point between the boom and the turntable and the bottom surface of the working bucket, where h 标定 represents the calibrated vertical height between the connection point between the boom and the turntable and the bottom surface of the working bucket during calibration, β 标定 It represents the angle between the arm and the bottom surface of the working bucket during calibration, L 标定 Indicates the arm length during calibration; The step of determining the angle between the arm and the bottom surface of the working bucket according to the arm angle and the vehicle body inclination angle specifically comprises the following steps: If γ=0 and α≤0, then determine β=|α|; If γ<0, α<0 and |α|>|γ|, then determine β=|α|-|γ|; If γ>0, α>0 and γ>α, then determine β=γ-α; If γ>0 and α≤0, then determine β=γ+|α|; wherein γ represents the inclination angle of the vehicle body, α represents the boom angle, and β represents the angle between the boom and the bottom surface of the working bucket; The step of calculating the vertical height between the connection point between the boom and the turntable part and the bottom surface of the working bucket according to the angle between the boom and the bottom surface of the working bucket, the boom length and a preset calculation formula specifically includes the following steps: Substitute β and L into the preset formula h1=Sinβ*L to obtain h1, wherein L represents the length of the boom, and h1 represents the vertical height between the connection point between the boom and the turntable part and the bottom surface of the working bucket.

2. The method for controlling the boom of a straight-arm aerial work platform according to claim 1, characterized in that: The step of obtaining the arm angle of the arm, the arm length of the arm and the body inclination angle of the turntable part specifically includes the following steps: The arm angle of the arm is obtained by using the arm angle sensor; Acquiring the arm length of the arm through an arm length sensor; The body inclination angle of the turntable is obtained through the body inclination sensor.

3. A device for controlling the boom of a straight-arm aerial work platform, characterized in that: Includes the following modules: An acquisition module, used for acquiring an arm angle of the arm, an arm length of the arm and a body inclination angle of a turntable part; A determination module, used to determine the angle between the arm and the bottom surface of the working bucket according to the arm angle and the body inclination angle; A calculation module, used for calculating the vertical height between the connection point between the boom and the turntable part and the bottom surface of the working bucket according to the angle between the boom and the bottom surface of the working bucket, the length of the boom and a preset calculation formula; A judging module, used for judging whether the vertical height is greater than a preset threshold value, and if so, stopping the boom from continuing to luff downward; if not, maintaining the current operating state of the boom; It also includes a calibration module for performing the following steps: Move the telescopic boom aerial work platform to level ground; Extend the boom to any length; Rotate the arm downward so that the height of the bottom surface of the working bucket from the ground is equal to a preset height; Acquire the arm angle of the arm, the arm length of the arm and the body inclination angle of the turntable part; If the vehicle body inclination angle is equal to 0, then according to the formula h 标定 =Sinβ 标定 *L 标定 Calculate the nominal vertical height between the connection point between the boom and the turntable and the bottom surface of the working bucket, where h 标定 represents the calibrated vertical height between the connection point between the boom and the turntable and the bottom surface of the working bucket during calibration, β 标定 It represents the angle between the arm and the bottom surface of the working bucket during calibration, L 标定 Indicates the arm length during calibration; The determination module is specifically used to perform the following steps: If γ=0 and α≤0, then determine β=|α|; If γ<0, α<0 and |α|>|γ|, then determine β=|α|-|γ|; If γ>0, α>0 and γ>α, then determine β=γ-α; If γ>0 and α≤0, then determine β=γ+|α|; wherein γ represents the inclination angle of the vehicle body, α represents the boom angle, and β represents the angle between the boom and the bottom surface of the working bucket; The calculation module is specifically used to perform the following steps: Substitute β and L into the preset formula h1=Sinβ*L to obtain h1, wherein L represents the length of the boom, and h1 represents the vertical height between the connection point between the boom and the turntable part and the bottom surface of the working bucket.

4. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it can implement the method for controlling the boom of a straight-arm aerial work platform as described in any one of claims 1 to 2.

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