Control methods, processors, control devices, and engineering equipment for engineering equipment.

Abstract

This invention relates to the field of mechanical control technology, and discloses a control method, processor, control device, and engineering equipment for engineering equipment. The control method includes: receiving the target speed of a working platform; determining the current operating data of the engineering equipment; determining the target control quantity of the hydraulic system based on the target speed, the current operating data, and an influence model, wherein the influence model is a pre-established model of the influence of the operating data and the hydraulic system control quantity on the speed of the working platform; and outputting the target control quantity of the hydraulic system to enable the boom luffing motion and the turntable slewing motion to be completed at the target speed of the working platform. The influence model can quantify the impact of each factor in the engineering equipment on the speed of the working platform, achieving control stability of the working platform's speed even under complex and variable operating data, ensuring the working platform operates smoothly at the required speed, and balancing comfort and work efficiency.

Description

Technical Field

[0001] This invention relates to the field of mechanical control technology, and more specifically to a control method, processor, control device, and engineering equipment for engineering equipment. Background Technology

[0002] Taking aerial work platforms as an example, these are mobile aerial work products widely used in various industries for high-altitude operations, equipment inspection and maintenance, etc. An aerial work platform generally consists of a chassis, subframe, turntable, boom, and work platform. During operation, the boom mechanism lifts the work platform to a specific working height. While current configurations of aerial work platforms meet basic operational safety requirements, the control stability of the work platform is still insufficient. For example, using traditional control methods, when the boom is extended for a longer period, the linear velocity of the work platform's movement is high, resulting in poor micro-motion and significant platform sway at height; conversely, when the boom is extended for a shorter period, the linear velocity of the work platform's movement is low, leading to inefficiency. This results in poor control stability of the work platform. Summary of the Invention

[0003] To overcome the shortcomings of the existing technology, embodiments of the present invention provide a control method, processor, control device, and engineering equipment for engineering equipment.

[0004] To achieve the above objectives, a first aspect of the present invention provides a control method for engineering equipment. The engineering equipment includes a chassis, a turntable, a boom, a work platform, and a hydraulic system. A first end of the turntable is disposed on the chassis, and a second end of the turntable is connected to a first end of the boom. A work platform is disposed at the second end of the boom. The hydraulic system is used to control the boom's luffing speed and the turntable's slewing speed. The control method includes:

[0005] Receive the target motion speed of the work platform;

[0006] Determine the current operating status data of the engineering equipment;

[0007] Based on the target motion speed, current working condition data, and influence model, the target control quantity of the hydraulic system is determined. The influence model is a pre-established model of the influence of the working condition data and the control quantity of the hydraulic system on the motion speed of the work platform.

[0008] The target control quantity of the output hydraulic system is used to enable the boom luffing action and the turntable slewing action to be completed at the target movement speed of the working platform.

[0009] In this embodiment of the invention, the current operating condition data includes at least one of the following: boom length, boom angle, boom deflection, hydraulic oil temperature in the hydraulic system, and load on the work platform.

[0010] In this embodiment of the invention, the target control quantity of the hydraulic system includes a first control quantity and a second control quantity, wherein the first control quantity is used to control the luffing speed of the boom and the second control quantity is used to control the slewing speed of the turntable.

[0011] In this embodiment of the invention, the target control quantity of the hydraulic system is an electrical signal and includes at least one of the following: current, voltage, frequency, and duty cycle in the hydraulic system.

[0012] In this embodiment of the invention, the influence model is established through the following steps:

[0013] Determine the influence of various working condition data on the movement speed of the work platform;

[0014] Determine the relationship between the control variables of the hydraulic system and the change in the speed of the working platform;

[0015] An impact model is established based on the influence and change relationships.

[0016] In this embodiment of the invention, the control method further includes:

[0017] When the operating data of engineering equipment changes, the movement speed of the working platform before the change is determined based on the operating data before the change and the influencing relationship.

[0018] Determine the pre-change working platform speed based on the changed working condition data and the influencing relationships.

[0019] The pre-change amount of the working platform's movement speed is determined based on the pre-change working platform's movement speed and the working platform's movement speed before the pre-change.

[0020] Based on the expected change and the relationship between the changes, the control quantity of the hydraulic system is adjusted so that the expected change is lower than the preset threshold.

[0021] A second aspect of the present invention provides a processor configured to execute the above-described control method for engineering equipment.

[0022] A third aspect of the present invention provides a control device for engineering equipment, comprising:

[0023] Boom length sensor, used to detect the length of the boom;

[0024] Boom angle sensor, used to detect the angle of the boom;

[0025] Temperature sensor used to detect the temperature of hydraulic oil in a hydraulic system;

[0026] Load cells are used to detect the load on a work platform; and

[0027] The processor mentioned above.

[0028] A fourth aspect of the present invention provides an engineering device including the control device described above.

[0029] In this embodiment of the invention, the engineering equipment includes an aerial work platform vehicle.

[0030] In this embodiment of the invention, the engineering equipment includes a chassis, a turntable, a boom, a work platform, and a hydraulic system. The first end of the turntable is mounted on the chassis, and the second end of the turntable is connected to the first end of the boom. The second end of the boom is equipped with a work platform. The hydraulic system is used to control the boom's luffing speed and the turntable's slewing speed. The control method for the engineering equipment includes: receiving the target motion speed of the work platform; determining the current operating data of the engineering equipment; determining the target control quantity of the hydraulic system based on the target motion speed, the current operating data, and an influence model, wherein the influence model is a pre-established model of the influence of the operating data and the hydraulic system's control quantity on the work platform's motion speed; and outputting the target control quantity of the hydraulic system to enable the boom's luffing motion and the turntable's slewing motion to be completed at the target motion speed of the work platform.

[0031] In this way, the pre-established influence model determines both the impact of various operating conditions on the working platform's speed and the relationship between the hydraulic system's control parameters and the changes in the working platform's speed. The influence model quantifies the impact of each factor in the engineering equipment on the working platform's speed. Based on the current operating condition data and the influence model, the working platform's speed can be controlled at the required target speed by adjusting the hydraulic system's control parameters. This ensures the stability of the working platform's speed control even under complex and changing operating conditions, guaranteeing smooth operation at the target speed while balancing comfort and work efficiency. It also ensures that the hydraulic system's control parameters adapt to complex and changing operating conditions, eliminating speed deviations caused by other uncontrollable factors (such as the temperature of the hydraulic oil in the hydraulic system and changes in the working platform's load). Attached Figure Description

[0032] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0033] Figure 1 A schematic diagram of the structure of an engineering device according to an embodiment of the present invention is shown;

[0034] Figure 2 A flowchart illustrating a control method for engineering equipment according to an embodiment of the present invention is shown schematically.

[0035] Figure 3This illustration shows a schematic diagram of the command interaction between engineering equipment and a cloud platform according to an embodiment of the present invention;

[0036] Figure 4 This schematic diagram illustrates the signal interaction of the hardware within the control device according to an embodiment of the present invention.

[0037] Figure 5 A schematic diagram illustrating the deployment of an engineering equipment boom according to an embodiment of the present invention is shown.

[0038] Explanation of reference numerals in the attached figures

[0039] 10-Chassis; 11-Turntable;

[0040] 12-Boom; 13-Working platform;

[0041] 14-Subframe; 15-Temperature sensor;

[0042] 16-Weighing sensor; 17-Rotary encoder;

[0043] 18 - Installation location of length and angle sensors; 19 - Boom length sensor;

[0044] 20 - Boom angle sensor; 21 - Ground controller;

[0045] 22-Vehicle GPS; 23-Big Data Cloud Platform;

[0046] 24-Hydraulic valve assembly. Detailed Implementation

[0047] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0048] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0049] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0050] Figure 1 A schematic diagram of the structure of an engineering device according to an embodiment of the present invention is shown. Figure 1 As shown, the engineering equipment includes a chassis 10, a turntable 11, a boom 12, a work platform 13, and a hydraulic system. The first end of the turntable 11 is located on the chassis 10, and the second end of the turntable 11 is connected to the first end of the boom 12. The second end of the boom 12 is equipped with a work platform 13. The hydraulic system is used to control the luffing speed of the boom 12 and the slewing speed of the turntable 11.

[0051] Figure 2 A flowchart illustrating a control method for engineering equipment according to an embodiment of the present invention is shown schematically. Figure 2 As shown, in one embodiment of the present invention, a control method for engineering equipment is provided, comprising the following steps:

[0052] Step 201: Receive the target motion speed of the work platform 13;

[0053] Step 202: Determine the current operating status data of the engineering equipment;

[0054] Step 203: Determine the target control quantity of the hydraulic system based on the target motion speed, current working condition data, and influence model. The influence model is a pre-established model of the influence of the working condition data and the control quantity of the hydraulic system on the motion speed of the work platform.

[0055] Step 204: Output the target control quantity of the hydraulic system so that the boom 12 can complete the luffing action and the turntable rotation action at the target movement speed of the working platform 13.

[0056] The pre-established influence model determines both the impact of various working condition data on the working platform's movement speed and the relationship between the hydraulic system's control quantity and the working platform's movement speed. This influence model quantifies the impact of each factor in the engineering equipment on the working platform's movement speed. Based on the current working condition data and the influence model, the working platform's movement speed can be controlled at the required target speed by adjusting the hydraulic system's control quantity. This allows the boom's luffing motion and the turntable's slewing motion to be completed at the target speed of the working platform 13. This ensures the stability of the working platform's movement speed control even under complex and changing working condition data, guaranteeing that the working platform 13 always operates smoothly at the required target speed, balancing comfort and work efficiency. The hydraulic system's control quantity can adapt to complex and changing working condition data, and by adjusting the hydraulic system's control quantity, speed deviations caused by other uncontrollable factors (such as the temperature of the hydraulic oil in the hydraulic system, changes in the load on the working platform 13, etc.) are eliminated.

[0057] In one embodiment, the hydraulic system is used to control the luffing speed of the boom 12 and the slewing speed of the turntable 11. The target control quantity of the hydraulic system includes a first control quantity and a second control quantity, wherein the first control quantity is used to control the luffing speed of the boom 12 and the second control quantity is used to control the slewing speed of the turntable 11. In one embodiment, the target control quantity of the hydraulic system is an electrical signal and includes at least one of the following: current, voltage, frequency, and duty cycle in the hydraulic system.

[0058] The working platform's speed is estimated by considering the relationship between the control quantities of the hydraulic system (i.e., the control quantities of the hydraulic valves, referred to as valve control quantities) and the working platform's movement speed. Taking an aerial work platform as an example, the working experience and efficiency of the aerial work platform are mainly reflected in the control speed of the working platform. The relationship between valve control quantities and the working platform's movement speed describes the relationship between valve control quantities (electrical signals such as current, voltage, frequency, and duty cycle) and the working platform's movement speed controlled by the hydraulic valves. Each factor affecting the working platform's speed has a corresponding relationship. In one embodiment, the current working condition data includes at least one of the following: the length of the boom 12, the angle of the boom 12, the deflection of the boom 12, the temperature of the hydraulic oil in the hydraulic system, and the load on the working platform 13. When the operator issues an operating command, the influence model estimates the working platform's movement speed by combining relevant information about the working platform's movement state. If the operator performs multiple actions, the working platform's movement speed is estimated by summing the speeds of each action.

[0059] In one embodiment, the influence model is established through the following steps: determining the influence relationship of various working condition data on the working platform's movement speed; determining the relationship between the control quantity of the hydraulic system and the change relationship of the working platform's movement speed; and establishing the influence model based on the influence relationship and the change relationship.

[0060] The big data platform can collect and analyze real-time operating condition data. Through motion model simulation and experimental testing, an operating condition database is formed. The kinematic model of the platform's motion speed considers every factor affecting the working speed of the platform. Motion model simulation quantifies each factor influencing the platform's speed, and actual vehicle testing verifies this, forming the operating condition database. Since the working platform 13 may carry personnel, the target motion speed of the platform can be determined based on ergonomics, ensuring both the comfort of personnel on platform 13 (movement speed not too fast) and the efficiency of the platform (movement speed not too slow). An adaptive control algorithm based on ergonomics is customized to eliminate speed deviations caused by external disturbances such as hydraulic system temperature, boom deflection (deflection is the linear displacement of the rod axis perpendicular to the axis or the linear displacement of the shell's mid-surface perpendicular to the mid-surface when under stress or with non-uniform temperature changes), and load changes.

[0061] The big data platform collects and analyzes real-time operating data. Sensors on the engineering equipment collect status data such as equipment extension and contraction (i.e., boom length and angle), platform load, and temperature, which are then transmitted to the vehicle-mounted GPS (Global Positioning System) to form a real-time equipment status data packet and sent to the big data cloud platform. The big data cloud platform 23 then processes and analyzes the data packet, using appropriate algorithms to calculate equipment command data based on the equipment status data, and sends this data to the engineering equipment. Figure 3 This diagram illustrates the instruction interaction between the engineering equipment and the big data cloud platform 23 according to an embodiment of the present invention. (See also...) Figure 3 ,exist Figure 3 In this context, "equipment" can be understood as engineering equipment, for example, an aerial work platform; "cloud platform" can be understood as a big data cloud platform 23; and "analysis center" can be understood as an analysis module within the big data cloud platform 23.

[0062] The following describes the adaptive feedforward feedback control algorithm. The big data cloud platform 23 outputs cloud-based commands using this algorithm. The ground controller receives these commands and outputs hydraulic valve control quantities (i.e., the target control quantities of the hydraulic system) to adjust the working speed of the work platform 13. This ensures that the boom 12's luffing and turntable rotation are performed at the target speed of the work platform 13. The adaptive working condition algorithm features rapid response; it can promptly control the luffing and rotation speeds of the boom 12, eliminating speed deviations caused by hydraulic system temperature, boom deflection, load changes, and external disturbances, ensuring smooth and comfortable movement of the work platform 13.

[0063] The present invention relates to an automatic control and adjustment system adapted to an aerial work platform, including a rotary encoder 17, a boom length sensor 19, a boom angle sensor 20, a weighing sensor 16, a temperature sensor 15, a platform controller, a ground controller, and a hydraulic valve group.

[0064] Platform Controller: Located inside the platform's electrical control box, the platform controller can communicate with the ground controller. Control signals for the boom 12's telescopic luffing and the turntable's slewing can be sent from the platform controller to the ground controller. Hydraulic Valve Assembly: Located on the turntable 11 of the equipment, the hydraulic valve assembly outputs control signals from the ground controller to the corresponding proportional valves, controlling the opening of these valves to control the boom 12's luffing and the turntable 11's slewing.

[0065] Boom angle sensor 20: The boom angle sensor 20 is installed on the boom 12 and can detect the angle of the boom 12's luffing movement in real time; the boom angle sensor 20 is connected to the ground controller and sends the boom angle information to the ground controller. Boom length sensor 19: The boom length sensor 19 is installed on the boom 12 and can detect the length of the boom 12's telescopic movement in real time; the boom length sensor 19 is connected to the ground controller and sends the boom length information to the ground controller 21.

[0066] Ground controller 21: The ground controller 21 is located in the turntable electrical control box. It can receive control signals from the platform controller, collect angle signals from the boom angle sensor 20, length signals from the boom length sensor 19, and temperature signals from the temperature sensor 15. The ground controller processes the collected signals and uploads them to the vehicle-mounted GPS 22. The big data cloud platform 23 processes, analyzes, and calculates the collected data, and sends out control signals for the boom 12 and turntable 11 to move.

[0067] Vehicle-mounted GPS: The vehicle-mounted GPS 22 is installed on the subframe 14 and can send the status data packets collected by the ground controller 21 to the big data cloud platform 23; at the same time, it can send instructions from the big data cloud platform 23 to the ground controller. Big Data Cloud Platform 23: The big data cloud platform 23 is a cloud platform for storing and analyzing data, and can receive and store the information collected by the vehicle-mounted GPS 22.

[0068] Figure 4 This schematic diagram illustrates the signal interaction of the hardware within the control device according to an embodiment of the present invention. (See also...) Figure 4Let me introduce the control strategy. After the engineering equipment is started, the ground controller 21 collects the real-time status of the engineering equipment through various sensors (such as the working angle and amplitude of the boom 12, the load on the work platform, and the hydraulic oil temperature). The ground controller 21 sends the basic information to the vehicle-mounted GPS 22, and then uploads it to the big data cloud platform 23. The big data cloud platform 23 analyzes the uploaded information according to the pre-set calculation method, and then sends cloud commands to the vehicle-mounted GPS 22, and then sends them back to the ground controller 21. The ground controller 21 controls the hydraulic valve group 24 to ensure that the work platform works smoothly and efficiently.

[0069] In this embodiment of the invention, the speed stability of the working platform is mainly achieved by controlling the hydraulic valves. There is a relationship between the valve control quantity (i.e., the target control quantity of the hydraulic system) and the working platform's movement speed. Taking the boom luffing and turntable rotation of a certain aerial work platform as an example, the maximum linear speed of the working platform can differ by as much as five times at different boom lengths with the same valve control quantity. In existing technologies, the control method may provide the same hydraulic valve control quantity in different working states. This results in a high linear speed of the working platform 13 when the boom 12 is working at large amplitudes, leading to poor working comfort; conversely, when the boom 12 is working at small amplitudes, the linear speed of the working platform 13 is low, resulting in low working efficiency.

[0070] In this embodiment of the invention, the influence of various factors on the movement speed of the work platform is determined by model simulation and actual measurement data. In one embodiment, the specific model can be a data table, whose inputs are the length of boom 12, the angle of boom 12, the deflection of boom 12, the temperature of hydraulic oil in the hydraulic system, and the load on the work platform 13; the output is the hydraulic valve control quantity (i.e., the target control quantity of the hydraulic system), which controls the working speed of the work platform at its current position. The model data is obtained through numerical simulation calculation and actual measurement to approximate the actual characteristics as closely as possible. Therefore, the model used in this invention reflects the changes in hydraulic valve control quantity and work platform speed under different working conditions. Based on the action speed control command, the movement speed of the work platform 13 can be accurately predicted, providing stable and reliable input data for calculating the changes in the movement speed of the work platform, controlling the hydraulic valve group, and the movement of the work platform.

[0071] The following describes the calculation method for the movement speed of the work platform.

[0072] The variable-amplitude planar linear velocity of the working platform:

[0073] V B =W B ×R B

[0074] Among them, V B : The variable amplitude plane speed of working platform 13; W B: The amplitude angular velocity of the working platform 13 (determined by the amplitude angular velocity); R B Working length of boom 12. Figure 5 A schematic diagram illustrating the deployment of an engineering equipment boom according to an embodiment of the present invention is shown below. Figure 5 .

[0075] The linear velocity of the rotating plane of work platform 13:

[0076] V H =W H ×R H

[0077] Among them, V H : The variable amplitude plane speed of working platform 13; W H : The rotational angular velocity of the working platform 13 (determined by the rotational angular velocity); R H : Horizontal length from work platform 13 to the center of rotation.

[0078] The movement speed of the work platform:

[0079]

[0080] Adaptive control algorithm based on working conditions: Determines a suitable working platform speed V based on ergonomics and work efficiency. G Determine the hydraulic valve control quantity for the initial position.

[0081] P adapt =Kf*P level

[0082] P adapt : Indicates the output of adaptive control under operating conditions (hydraulic valve control quantity);

[0083] Kf: Represents the control coefficient, used to adjust the flow rate of the hydraulic valve group, with an initial value of 1;

[0084] P level : Indicates the control output (hydraulic valve control quantity) at the initial position.

[0085] Since the hydraulic valve control quantity is calculated based on the current position and state of the work platform, and takes into account the influence of nonlinear factors such as hydraulic oil temperature and platform load, the hydraulic valve can adjust the movement speed of the work platform in a timely manner to ensure work efficiency and stability.

[0086] In one embodiment, the control method further includes: determining the pre-change speed of the working platform based on the pre-change working data and the influence relationship when the working data of the engineering equipment changes; determining the pre-change speed of the working platform based on the post-change working data and the influence relationship; determining the pre-change amount of the working platform speed based on the pre-change speed and the pre-change speed; and adjusting the control quantity of the hydraulic system based on the pre-change amount and the change relationship so that the pre-change amount is lower than a preset threshold.

[0087] The operating condition data includes at least one of the following: the length of boom 12, the angle of boom 12, the deflection of boom 12, the temperature of the hydraulic oil in the hydraulic system, and the load on the work platform 13. Each operating condition data point affects the speed of the work platform. When the operating condition data changes, if the control input of the hydraulic system is not adjusted, the speed of the work platform may fluctuate significantly, leading to unstable operation. Therefore, based on the pre-change in the speed of the work platform and the relationship between the control input of the hydraulic system and the change in the speed of the work platform, the control input of the hydraulic system can be adjusted to ensure that the pre-change in the speed of the work platform is below a preset threshold. In this way, the control input of the hydraulic system can adapt to complex and changing operating condition data, and by adjusting the control input of the hydraulic system, speed deviations caused by other uncontrollable factors (such as the temperature of the hydraulic oil in the hydraulic system, changes in the load on the work platform 13, etc.) are eliminated. The boom's luffing motion and the turntable's slewing motion are completed at the target motion speed of the work platform 13, ensuring the stability of the work platform's motion speed control even under complex and ever-changing working conditions. This ensures that the work platform 13 always operates smoothly at the required target motion speed, which balances comfort and work efficiency.

[0088] In this embodiment of the invention, the motion state of the working platform 13 can be estimated in advance, and the hydraulic valves can be controlled synchronously accordingly to promptly control the speed of the working platform in real time; the response is rapid, with almost no delay, resulting in a good user experience. The complex operation combinations caused by complex working conditions are simplified to changes in the speed of the working platform, quantifying the impact of changes in working condition data on the working platform speed, and providing stable and effective working condition state variables for hydraulic valve group control. The adaptive working condition control actively follows changes in the platform's working state, while eliminating the influence of nonlinear factors (such as the temperature of the hydraulic oil in the hydraulic system, changes in the load on the working platform 13, etc.) on the working platform speed, automatically adapting to changes in working conditions and ensuring the stable operation of the working platform 13. This invention mainly utilizes components based on existing technologies, increasing costs almost without adding any, and achieving a higher utilization rate of components.

[0089] In an alternative embodiment of the present invention, the analysis can also be performed directly in the vehicle controller without going through a big data platform, using the algorithm mounted on the vehicle controller for working status analysis.

[0090] In this embodiment of the invention, a model is established to illustrate the influence of working condition data and hydraulic system control quantities on the speed of the work platform. Since the model's input is operational control commands, it enables early prediction of changes in the work platform's speed, providing an accurate and timely basis for subsequent control. The work platform speed model describes the relationship between different working states and the work platform's speed. Motion model simulation quantifies each factor affecting the work platform's speed, providing a foundation for ensuring the hydraulic valve group control adapts to complex and changing working conditions. An adaptive control method is adopted to ensure timely control of the work platform's speed and eliminate speed deviations caused by other uncontrollable factors. The control method for engineering equipment provided by this embodiment of the invention offers timely response, high control accuracy, and strong adaptability to working conditions, meeting the needs of work platform speed control in different construction scenarios.

[0091] This invention provides a processor configured to execute any of the control methods for engineering equipment described in the above embodiments.

[0092] The engineering equipment includes a chassis, turntable, boom, work platform and hydraulic system. The first end of the turntable is set on the chassis, the second end of the turntable is connected to the first end of the boom, and the work platform is set on the second end of the boom. The hydraulic system is used to control the boom luffing speed and the turntable slewing speed.

[0093] Specifically, the processor can be configured as follows:

[0094] Receive the target motion speed of the work platform;

[0095] Determine the current operating status data of the engineering equipment;

[0096] Based on the target motion speed, current working condition data, and influence model, the target control quantity of the hydraulic system is determined. The influence model is a pre-established model of the influence of the working condition data and the control quantity of the hydraulic system on the motion speed of the work platform.

[0097] The target control quantity of the output hydraulic system is used to enable the boom luffing action and the turntable slewing action to be completed at the target movement speed of the working platform.

[0098] In this embodiment of the invention, the processor is configured to:

[0099] Current operating data includes at least one of the following: boom length, boom angle, boom deflection, hydraulic oil temperature in the hydraulic system, and load on the work platform.

[0100] In this embodiment of the invention, the processor is configured to:

[0101] The target control quantities of the hydraulic system include a first control quantity and a second control quantity, wherein the first control quantity is used to control the luffing speed of the boom and the second control quantity is used to control the slewing speed of the turntable.

[0102] In this embodiment of the invention, the processor is configured to:

[0103] The target control quantity of the hydraulic system is an electrical signal and includes at least one of the following: current, voltage, frequency, and duty cycle in the hydraulic system.

[0104] In this embodiment of the invention, the processor is configured to:

[0105] The impact model is established through the following steps:

[0106] Determine the influence of various working condition data on the movement speed of the work platform;

[0107] Determine the relationship between the control variables of the hydraulic system and the change in the speed of the working platform;

[0108] An impact model is established based on the influence and change relationships.

[0109] In this embodiment of the invention, the processor is further configured to:

[0110] When the operating data of engineering equipment changes, the movement speed of the working platform before the change is determined based on the operating data before the change and the influencing relationship.

[0111] Determine the pre-change working platform speed based on the changed working condition data and the influencing relationships.

[0112] The pre-change amount of the working platform's movement speed is determined based on the pre-change working platform's movement speed and the working platform's movement speed before the pre-change.

[0113] Based on the expected change and the relationship between the changes, the control quantity of the hydraulic system is adjusted so that the expected change is lower than the preset threshold.

[0114] This invention provides a control device for engineering equipment, comprising:

[0115] Boom length sensor, used to detect the length of the boom;

[0116] Boom angle sensor, used to detect the angle of the boom;

[0117] Temperature sensor used to detect the temperature of hydraulic oil in a hydraulic system;

[0118] Load cells are used to detect the load on a work platform; and

[0119] The processor mentioned above.

[0120] This invention provides an engineering device including the control device described above.

[0121] In this embodiment of the invention, the engineering equipment includes an aerial work platform vehicle.

[0122] This invention provides a machine-readable storage medium storing instructions that cause a machine to execute the aforementioned control method for engineering equipment.

[0123] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0125] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0126] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0127] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0128] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0129] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0130] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0131] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for engineering equipment, characterized in that, The engineering equipment includes a chassis, a turntable, a boom, a work platform, and a hydraulic system. A first end of the turntable is mounted on the chassis, and a second end of the turntable is connected to a first end of the boom. The work platform is mounted on the second end of the boom. The hydraulic system is used to control the boom's luffing speed and the turntable's slewing speed. The control method includes: Receive the target motion speed of the working platform; Determine the current operating status data of the engineering equipment; Based on the target motion speed, the current working condition data, and the influence model, the target control quantity of the hydraulic system is determined, wherein the influence model is a pre-established model of the influence of the working condition data and the control quantity of the hydraulic system on the motion speed of the work platform. The target control quantity of the hydraulic system is output so that the boom luffing action and the turntable slewing action are completed at the target motion speed of the working platform. The impact model is established through the following steps: Determine the influence relationship between various working condition data and the movement speed of the work platform; Determine the relationship between the control quantity of the hydraulic system and the change in the speed of the working platform; Based on the aforementioned influence relationships and the aforementioned change relationships, the influence model is established; When the operating data of the engineering equipment changes, the movement speed of the work platform before the change is determined based on the operating data before the change and the influence relationship. The pre-change working platform movement speed is determined based on the changed working condition data and the aforementioned influence relationship; The pre-change amount of the working platform's movement speed is determined based on the pre-change working platform's movement speed and the working platform's movement speed before the pre-change. Based on the pre-change amount and the change relationship, the control quantity of the hydraulic system is adjusted so that the pre-change amount is lower than a preset threshold.

2. The control method according to claim 1, characterized in that, The current operating condition data includes at least one of the following: the boom length, the boom angle, the boom deflection, the temperature of the hydraulic oil in the hydraulic system, and the load on the work platform.

3. The control method according to claim 1, characterized in that, The target control quantities of the hydraulic system include a first control quantity and a second control quantity, wherein the first control quantity is used to control the luffing speed of the boom, and the second control quantity is used to control the slewing speed of the turntable.

4. The control method according to claim 1, characterized in that, The target control quantity of the hydraulic system is an electrical signal and includes at least one of the following: current, voltage, frequency, and duty cycle of the hydraulic system.

5. A processor, characterized in that, It is configured to perform the control method for engineering equipment according to any one of claims 1 to 4.

6. A control device for engineering equipment, characterized in that, include: Boom length sensor, used to detect the length of the boom; Boom angle sensor, used to detect the boom angle; Temperature sensor used to detect the temperature of hydraulic oil in a hydraulic system; Load cells are used to detect the load on a work platform; as well as The processor according to claim 5.

7. An engineering device, characterized in that, Includes the control device according to claim 6.

8. The engineering equipment according to claim 7, characterized in that, The engineering equipment includes aerial work platforms.

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