Control method, device, storage medium and processor for aerial work equipment

Abstract

Embodiments of the present application provide a control method, device, processor and storage medium for aerial work equipment. The aerial work equipment comprises a lifting scissor mechanism, and the control method comprises: receiving a mode selection instruction; determining a work mode of the aerial work equipment according to the mode selection instruction, the work mode comprising an indoor work mode and an outdoor work mode; determining a limited height of the lifting scissor mechanism according to the work mode; and controlling the lifting scissor mechanism to stop lifting in a case where a lifting height of the lifting scissor mechanism reaches the limited height. The work mode of the aerial work equipment can be switched according to an actual work environment, and the corresponding limited height of the lifting scissor mechanism in different work modes can be limited according to the work mode, so as to control the lifting scissor mechanism to stop lifting. In this way, the aerial work equipment can take into account the work modes of the indoor and outdoor, and stable and safe work can be performed in the corresponding mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering machinery, in particular to a control method for aerial work equipment, aerial work equipment, a storage medium and a processor. BACKGROUND

[0002] The aerial work equipment is a movable aerial work equipment widely used in various industries for aerial work, equipment security maintenance, etc. In the prior art, the limit height of the aerial work equipment is usually limited to a certain height, so the aerial work equipment can only work in a fixed scene, otherwise there will be a greater safety hazard. In the actual work process, multiple aerial work equipment of different types are often needed to work, which requires a high economic cost. Moreover, its convenience is very low, which limits the application range. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a control method for aerial work equipment, aerial work equipment, a storage medium and a processor.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method for aerial work equipment, the aerial work equipment comprising a lifting scissor mechanism, the control method comprising:

[0005] receiving a mode selection instruction;

[0006] determining a work mode of the aerial work equipment according to the mode selection instruction, the work mode comprising an indoor work mode and an outdoor work mode;

[0007] determining a limit height of the lifting scissor mechanism according to the work mode;

[0008] controlling the lifting scissor mechanism to stop lifting in the case where the lifting height of the lifting scissor mechanism reaches the limit height.

[0009] In the embodiments of the present application, the limit height comprises a first height and a second height, and controlling the lifting scissor mechanism to stop lifting in the case where the lifting height of the lifting scissor mechanism reaches the limit height comprises: in the case where the work mode of the aerial work equipment is switched to the outdoor work mode, limiting the lifting height of the lifting scissor mechanism by a first target sensing device, and in the case where the lifting height reaches the first height, controlling the lifting scissor mechanism to stop lifting; in the case where the work mode is switched to the indoor work mode according to the mode selection instruction, limiting the lifting height of the lifting scissor mechanism by a second target sensing device, and in the case where the lifting height reaches the second height, controlling the lifting scissor mechanism to stop lifting, wherein the second height is greater than the first height.

[0010] In the embodiment of the present application, the aerial work equipment further comprises a limiting assembly installed on the lifting scissor mechanism, the first target sensing device comprises a first sensor and a second sensor, and the lifting height of the lifting scissor mechanism is limited by the first target sensing device, which comprises: determining that the lifting height of the lifting scissor mechanism reaches the first height in the case that a first limiting signal sent by the first sensor is received, and / or detecting the rotation angle of the lifting scissor mechanism by the second sensor; determining that the lifting height of the lifting scissor mechanism reaches the first height in the case that the rotation angle is greater than or equal to a preset angle threshold; wherein the first limiting signal is a signal generated when the limiting assembly contacts the first sensor.

[0011] In the embodiment of the present application, the lifting scissor mechanism further comprises a shaft sleeve assembly, and the limiting assembly is installed on the shaft sleeve assembly, and the shaft sleeve assembly is used to drive the limiting assembly to rotate during the lifting operation of the lifting scissor mechanism.

[0012] In the embodiment of the present application, the aerial work equipment further comprises a chassis, and the chassis comprises: a first support assembly for fixing the first target sensing device on the chassis; and a second support assembly for fixing the second target sensing device on the side plate of the chassis, in the case that the second target sensing device is installed on the chassis.

[0013] In the embodiment of the present application, the lifting scissor mechanism comprises a scissor arm, and the first target sensing device comprises a first sensor, a second sensor and a rotating assembly, wherein the first sensor is fixed on the chassis by a first support assembly, the rotating assembly is fixedly installed on the scissor arm, and the second sensor is connected with the rotating assembly.

[0014] In the embodiment of the present application, the aerial work equipment further comprises a sliding block assembly connected with the lifting scissor mechanism, the chassis comprises a sliding rail, and the second target sensing device comprises a third sensor, and the lifting height of the lifting scissor mechanism is limited by the second target sensing device in the case that the third sensor is installed on the chassis, which comprises: determining that the lifting height of the lifting scissor mechanism reaches the second height in the case that a second limiting signal sent by the third sensor is received; wherein the second limiting signal is a signal generated when the sliding block assembly moves along the sliding rail until contacting the third sensor.

[0015] In the embodiment of the present application, the aerial work equipment further comprises a driving device, and the second target sensing device comprises a fourth sensor, and the lifting height of the lifting scissor mechanism is limited by the second target sensing device in the case that the fourth sensor is installed on the driving device, which comprises: obtaining the telescopic length of the driving device by the fourth sensor; and determining that the lifting height of the lifting scissor mechanism reaches the second height in the case that the telescopic length is greater than or equal to a preset length threshold.

[0016] The second aspect of the present application provides a processor configured to execute the above-mentioned control method for aerial work equipment.

[0017] The third aspect of the present application provides an aerial work device, comprising:

[0018] A lifting scissor mechanism for performing a lifting operation, wherein the lifting height of the lifting scissor mechanism changes during the performance of the lifting operation;

[0019] A mode selection device for inputting a mode selection instruction; and

[0020] A processor configured to execute the above-mentioned control method for aerial work equipment.

[0021] The fourth aspect of the present application provides a machine-readable storage medium, which stores instructions, and the instructions, when executed by a processor, cause the processor to be configured to execute the above-mentioned control method for aerial work equipment.

[0022] Through the above technical solution, the work mode of the aerial work equipment can be switched according to the actual work environment, and the corresponding limited height of the lifting scissor mechanism in the indoor work mode and the outdoor work mode can be limited according to the work mode, so as to control the lifting scissor mechanism to stop lifting. In this way, the aerial work equipment can take into account the work modes of indoor and outdoor, and stable and safe work can be performed in the corresponding mode, so that the application scenarios are more extensive.

[0023] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0025] Figure 1a is a schematic view illustrating an aerial work equipment according to an embodiment of the present application;

[0026] Figure 1b is a schematic view illustrating a target sensing device installation position according to an embodiment of the present application;

[0027] Figure 1c is a schematic view illustrating a target sensing device installation structure according to an embodiment of the present application;

[0028] Figure 1d is a schematic view illustrating a limiting component installation structure according to an embodiment of the present application;

[0029] Figure 2 A flowchart of a control method for a high-altitude operation device is shown schematically according to an embodiment of the present application;

[0030] Figure 3 A structural block diagram of a high-altitude operation device is shown schematically according to an embodiment of the present application;

[0031] Figure 4 An internal structural diagram of a computer device is shown schematically according to an embodiment of the present application.

[0032] Legend of reference signs

[0033] lifting scissor mechanism 102-chassis 103-driving device 201-second target sensing device 202-chassis 203-first support assembly 204-first target sensing device 205-second support assembly 206-sliding rail 310-chassis 311-sliding rail 320-second target sensing device 330-sliding block assembly 340-lifting scissor mechanism 341-scissor arm 350-first connecting assembly 361-first support assembly 362-second support assembly 370-first target sensing device 371-first sensor 372-second sensor 373-rotating assembly 380-fixing assembly 390-second connecting assembly A-first end B-second end 410-lifting scissor mechanism 401-limiting assembly 402-first sensor 403-first support assembly 411-axle sleeve assembly DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions, and superiorities of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0035] In one embodiment, the high-altitude operation device comprises:

[0036] The lifting scissor mechanism 101 is used to perform a lifting operation, and the lifting height of the lifting scissor mechanism 101 changes during the performance of the lifting operation;

[0037] The chassis 102 is connected with the lifting scissor mechanism 101, and the chassis is used to fix the lifting scissor mechanism;

[0038] The first target sensing device is installed on the chassis 102 and is used to detect whether the lifting height of the lifting scissor mechanism 101 is greater than or equal to the first height when the aerial work equipment is in outdoor operation mode.

[0039] A second target sensing device, mounted on the chassis 102 or the drive unit 103 of the aerial work platform, is used to detect whether the lifting height of the scissor lift mechanism is greater than or equal to a second height when the aerial work platform is in indoor operation mode; and

[0040] A processor for controlling the aerial work platform to stop lifting when the lifting height is greater than or equal to a first height or a second height, wherein the processor is electrically connected to a first target sensor and a second target sensor, wherein the second height is greater than the first height.

[0041] like Figure 1a As shown, the lifting scissor lift mechanism 101 is composed of multiple sets of "X"-shaped scissor lift components. The lifting scissor lift mechanism can perform raising or lowering operations by changing the angle of the scissor lift components. The scissor lift mechanism is a simple structure that can be folded and unfolded, and can be modularly assembled. During the lifting operation, the height of the lifting scissor lift mechanism changes accordingly. The chassis 102, connected to the lifting scissor lift mechanism 101, is used to fix and support the lifting scissor lift mechanism 101. The first target sensor is a sensor corresponding to the outdoor operation mode, used to detect whether the lifting height of the lifting scissor lift mechanism is greater than or equal to a second height in the outdoor operation mode. The second target sensor is a sensor corresponding to the indoor operation mode, used to detect whether the lifting height of the lifting scissor lift mechanism is greater than or equal to a second height in the indoor operation mode, and whether the first height is greater than the second height. The first target sensor is mounted on the chassis 102, and the second target sensor is mounted on the chassis 102 or the drive unit 103 of the aerial work platform. The drive unit 103 refers to the power unit used to drive the aerial work platform equipment for lifting operations. Specifically, it can be an electric cylinder, which can adjust the raising and lowering operation of the lifting scissor lift mechanism by extending and retracting. The processor is electrically connected to the first target sensor and the second target sensor respectively, and can control the aerial work platform equipment to stop lifting when the lifting height is greater than or equal to the first height or greater than or equal to the second height. The second height is greater than the first height.

[0042] In one embodiment, when the second target sensing device 201 is mounted on the chassis 202, the chassis includes: a first bracket assembly 203 for fixing the first target sensing device 204 to the chassis 202; and a second bracket assembly 205 for fixing the second target sensing device 201 to the side plate of the chassis 202.

[0043] As shown in FIG. 1, the first bracket assembly 203 and the second bracket assembly 205 are used to fix and support the corresponding target sensing device. In the case that the second target sensing device 201 is installed on the chassis 202, the first bracket assembly 203 fixes the first target sensing device 204 on the chassis 202. The second bracket assembly 205 fixes the second target sensing device 201 on the side plate of the chassis 202. Figure 1b

[0044] In one embodiment, the first target sensing device 204 is installed close to the first end A of the lifting scissor mechanism (not shown in the figure), and the second target sensing device 201 is installed close to the second end B of the lifting scissor mechanism, wherein the first end A of the lifting scissor mechanism is fixed on the chassis 202, and the second end B of the lifting scissor mechanism moves along the straight line direction of the sliding rail 206 during the lifting operation, and the first end A of the lifting scissor mechanism remains stationary.

[0045] As shown in FIG. 1, in the case that the second target sensing device 201 is installed on the chassis 202, the first bracket assembly 203 fixes the first target sensing device 204 on the chassis 202 close to the first end A of the lifting scissor mechanism. The second bracket assembly 205 fixes the second target sensing device 201 on the side plate of the chassis 202 close to the second end B of the lifting scissor mechanism. Wherein the first end A of the lifting scissor mechanism refers to the end of the lifting scissor mechanism fixed on the chassis 202, and the first end A is fixedly connected with the chassis 202 and does not move relative to the chassis 202. The second end B is relative to the first end A, and the second end B of the lifting scissor mechanism is movable and can move along the straight line direction of the sliding rail 206. The lifting scissor mechanism moves relative to the first end A through the second end B to approach and move away, so as to realize the lifting and lowering operation of the lifting scissor mechanism. Figure 1b

[0046] In one embodiment, the chassis 310 includes a sliding rail 311, and in the case that the second target sensing device 320 is installed on the chassis 510, the aerial work platform further includes a sliding block assembly 330 connected with the lifting scissor mechanism 340, wherein the sliding block assembly 330 moves along the sliding rail 311 during the lifting operation of the lifting scissor mechanism 340, and the lifting height reaches the second height when the sliding block assembly 330 contacts the second target sensing device 320.

[0047] As shown in FIG. 1, in the case that the second target sensing device 201 is installed on the chassis 202, the first bracket assembly 203 fixes the first target sensing device 204 on the chassis 202 close to the first end A of the lifting scissor mechanism. The second bracket assembly 205 fixes the second target sensing device 201 on the side plate of the chassis 202 close to the second end B of the lifting scissor mechanism. Wherein the first end A of the lifting scissor mechanism refers to the end of the lifting scissor mechanism fixed on the chassis 202, and the first end A is fixedly connected with the chassis 202 and does not move relative to the chassis 202. The second end B is relative to the first end A, and the second end B of the lifting scissor mechanism is movable and can move along the straight line direction of the sliding rail 206. The lifting scissor mechanism moves relative to the first end A through the second end B to approach and move away, so as to realize the lifting and lowering operation of the lifting scissor mechanism. Figure 1c ​​As shown, the sliding rail 311 is mounted on the side plate of the chassis 310, and the slider assembly 330 can perform linear reciprocating motion on the sliding rail 311. The slider assembly 330 corresponding to the sliding rail 311 is connected to the lifting scissor mechanism 340. During the lifting operation, the lifting scissor mechanism 340 can drive the slider assembly 330 to move along the sliding rail 311 towards the second target sensor 320. When the slider assembly 330 contacts the second target sensor 320, it indicates that the lifting height of the lifting scissor mechanism 340 has reached the second height.

[0048] In one embodiment, the aerial work platform further includes a first connecting component 350, the two ends of which are connected to the lifting scissor mechanism 340 and the slider assembly 330, respectively. The first connecting component 350 is used to cause the lifting scissor mechanism 340 to drive the slider assembly 330 to move along the sliding track 311 during the lifting operation performed by the lifting scissor mechanism 340.

[0049] like Figure 1c As shown, the first connecting assembly 350 connects the lifting scissor lift mechanism 340 and the slider assembly 330 at both ends. During the lifting operation of the lifting scissor lift mechanism 340, the first connecting assembly 350 can cause the lifting scissor lift mechanism 340 to drive the slider assembly 330 to perform linear reciprocating motion along the sliding track 311. Furthermore, when the lifting height of the lifting scissor lift mechanism 340 reaches the second height, the slider assembly 330 can move along the sliding track 311 to contact the second target sensor 320. The second target sensor 320 can be fixed to the side plate of the chassis 310 by the second bracket assembly 361.

[0050] In one embodiment, the lifting scissor lift mechanism 340 includes a scissor arm 341, and the first target sensing device 370 includes a first sensor 371, a second sensor 372, and a rotating assembly 373. The first sensor 371 is fixed to the chassis 310 via a first bracket assembly 362, the rotating assembly 373 is fixedly mounted on the scissor arm 341, and the second sensor 372 is connected to the rotating assembly 373.

[0051] like Figure 1cAs shown, the scissor arm 341 refers to the main body of the lifting scissor mechanism 340, and multiple scissor arms are connected end-to-end in sequence to form the lifting scissor mechanism. The rotating assembly 373 is fixed to the scissor arm 341. When the scissor arm 341 rotates, it drives the rotating assembly 373 to rotate as well. Specifically, both the first sensor 371 and the second sensor 372 can be used to detect the first height of the lifting scissor mechanism 340. The first sensor 371 is fixed to the chassis 310 via the first bracket assembly 361, and its installation position is close to the first end A of the lifting scissor mechanism 340 on the chassis 310. The second sensor 372 is connected to the rotating assembly 373. When the lifting scissor mechanism performs a lifting operation, the second sensor can detect the rotation angle of the scissor arm 341 through the rotating assembly 373. That is, the angle between the scissor arm 341 and the horizontal direction. The second sensor 372 can also be fixed to the chassis via the fixing assembly 374. When the lifting height reaches the first height, the first sensor 371 can generate a first limit signal when the limit component 380 triggers the limit switch of the first sensor 371.

[0052] In one embodiment, the aerial work platform further includes a second connecting component 390, which is connected to the second sensor 372 and the scissor arm 341 respectively. It is used to drive the rotating component 373 to rotate during the lifting operation of the lifting scissor mechanism 340, so that the second sensor 372 connected to the rotating component 373 can detect the rotation angle of the scissor arm 341 and transmit the rotation angle to the processor. The processor is also used to determine that the lifting height has reached a second height if the rotation angle reaches a preset angle threshold.

[0053] like Figure 1c As shown, the second connecting component 390 is connected to the second sensor 372 and the scissor arm 341 at its two ends, respectively. Specifically, the second connecting component 390 can be a screw. When the lifting scissor mechanism 340 performs a lifting operation, the scissor arm 341 rotates, causing the screw to drive the rotating component 373 connected to the second sensor 372 to rotate. The second sensor 372 can be an angle sensor, which indirectly measures the rotation angle of the scissor arm 341 by detecting the rotation angle of the rotating component 373, and transmits the rotation angle to the processor. When the processor detects that the rotation angle of the scissor arm 341 has reached a preset angle threshold, it can determine that the lifting height of the lifting scissor mechanism has reached a second height.

[0054] In one embodiment, the aerial work platform further includes a limiting component 401, which is installed on the lifting scissor mechanism 410 and is used to perform a rotation operation during the lifting operation of the lifting scissor mechanism 410; the first sensor 402 is used to determine that the lifting height has reached a first height when the limiting component 401 contacts the first sensor 402 during the rotation operation of the limiting component 401.

[0055] In one embodiment, the lifting scissor lift mechanism 410 includes a bushing assembly 411, and a limiting component 401 is mounted on the bushing assembly 411. During the lifting operation of the lifting scissor lift mechanism 410, the bushing assembly 411 is used to drive the limiting component 401 to rotate.

[0056] like Figure 1d As shown, the lifting scissor lift mechanism 410 includes a bushing assembly 411. The bushing assembly 411 is a cylindrical mechanical part fitted onto the rotating shaft of the lifting scissor lift mechanism 410, and is a component of a sliding bearing. The limiting assembly 401 can be a functional component used to determine the motion state of structural components or to constrain the motion of structural components. The limiting assembly 401 is mounted on the bushing assembly 401 of the lifting scissor lift mechanism 410 via a fixing assembly. During the lifting operation of the lifting scissor lift mechanism 410, the rotating shaft and bushing assembly 411 of the lifting scissor lift mechanism 410 rotate with the lifting operation, thereby driving the limiting assembly 401 to rotate together. When the limiting assembly 401 rotates to a certain position, it will trigger the first sensor 402. The first sensor 402 can be a trigger-type mechanical sensor, and the input quantity can be physical quantities such as force, pressure, and temperature. Signal conversion is achieved by changes in the sensor's structural parameters or changes in the physical properties of the sensitive element material itself. The first sensor 402 is mounted on the chassis via a first bracket assembly 403. Specifically, the limit component 401 can trigger the limit switch on the first sensor 402. At this time, the processor can determine that the lifting scissor lift mechanism 410 has been raised to the first height.

[0057] In one embodiment, when the second target sensing device is installed on the drive device 103, the drive device 103 is also used to drive the lifting scissor mechanism 101 to lift, and the second target sensing device is also used to detect the extension length of the drive device 103 and transmit the extension length to the processor; the processor is also used to determine that the lifting height has reached a second height when it is determined that the extension length has reached a length threshold.

[0058] like Figure 1aAs shown, specifically, the drive unit 103 is used to drive the lifting scissor mechanism 101 of the aerial work platform to lift. The drive unit can be an electric cylinder. When a second target sensor is mounted on the drive unit 103, the second target sensor is a potentiometer installed inside the drive unit 103, used to detect the extension length of the drive unit 103 and transmit the extension length to the processor. The extension length of the drive unit 103 is linearly related to the lifting height of the lifting scissor mechanism 101; the longer the extension length, the higher the lifting height of the lifting scissor mechanism 101. When the potentiometer detects that the extension length of the drive unit 103 has reached a length threshold, the processor can determine that the lifting height of the lifting scissor mechanism 101 has reached a second height.

[0059] Through the above technical solution, during the process of the lifting scissor lift mechanism raising to the first height corresponding to the outdoor working mode, the bushing assembly of the lifting scissor lift mechanism can drive the limiting assembly to rotate, thereby triggering the first sensor to generate a first limiting signal. At this time, it can be determined that the lifting scissor lift mechanism has raised to the first height. Simultaneously, the scissor arm of the lifting scissor lift mechanism drives the rotating assembly to rotate through the second connecting assembly. The second sensor can indirectly measure the rotation angle of the scissor arm by detecting the rotation angle of the rotating assembly. When the rotation angle reaches a preset angle threshold, it can be determined that the lifting scissor lift mechanism has raised to the first height. In this way, by simultaneously detecting the first height of the lifting scissor lift mechanism in the outdoor working mode by the first and second sensors, the first height of the lifting scissor lift mechanism can be detected even if any one sensor fails, thereby stopping the lifting scissor lift mechanism. Furthermore, during the process of the lifting scissor lift mechanism raising to the second height corresponding to the indoor working mode, the first connecting assembly connected to the scissor arm can drive the slider assembly to perform linear reciprocating motion on the sliding track of the chassis. If the second target sensor is mounted on the chassis, the slider assembly can trigger the second target sensor to generate a second limit signal. At this time, it can be determined that the lifting scissor mechanism has lifted to the second height. If the second target sensor is mounted on the drive unit, the second target sensor can detect the extension length of the drive unit. When the extension length reaches a preset length threshold, it can be determined that the lifting scissor mechanism has lifted to the second height. Thus, the second sensor can be mounted on either the drive unit or the chassis to detect the second height of the lifting scissor mechanism. Furthermore, if the lifting height is greater than or equal to the first height or greater than or equal to the second height, the aerial work platform will be controlled to stop lifting. The first and second sensors, as well as the second target sensor mounted on the chassis, are all mechanical sensors, and according to the installation structure designed in this solution, they can be used in conjunction with the movement of the lifting scissor mechanism for detection. Therefore, the detection performance of the lifting scissor mechanism is more accurate and stable during height detection.

[0060] Figure 2 A schematic flowchart illustrating a control method for aerial work equipment according to an embodiment of this application is shown. Figure 2 As shown in one embodiment of this application, a control method for aerial work equipment is provided, comprising the following steps:

[0061] Step 202: Receive mode selection instruction.

[0062] Step 204: Determine the operating mode of the aerial work platform according to the mode selection instruction. The operating modes include indoor operating mode and outdoor operating mode.

[0063] Step 206: Determine the limit height of the lifting scissor lift mechanism according to the operating mode.

[0064] Step 208: When the lifting height of the scissor lift mechanism reaches the limit height, control the scissor lift mechanism to stop lifting.

[0065] Mode selection commands are control commands that select the operating mode of aerial work platforms. Users can input different mode selection commands according to the actual working environment to control the aerial work platforms to enter different operating modes. The processor can receive mode selection commands and determine whether the aerial work platforms are operating in indoor or outdoor mode. The lifting scissor lift mechanism consists of multiple sets of "X"-shaped scissor lift components. By changing the angle of the scissor lift components, the lifting scissor lift mechanism can perform raising or lowering operations. The scissor lift mechanism is a simple structure that can be folded and unfolded and can be modularly assembled.

[0066] When the operation mode is either indoor or outdoor, the processor can determine the corresponding limit height for the lifting scissor lift mechanism. That is, the limit height refers to the maximum upward and minimum downward height of the lifting scissor lift mechanism, set according to the operation mode. The outdoor operating conditions of aerial work platforms differ from indoor conditions. National standards stipulate that all outdoor mobile lifting work platforms are subject to a wind pressure of approximately 100 N / m², equivalent to a wind speed of 12.5 m / s (wind force level 6). The maximum operating height for outdoor conditions is determined based on stability calculations and tests, ensuring safety. The limit height for indoor operation depends on the specific conditions of the operating environment. Generally, aerial work platforms are more stable indoors, and their limit height can be higher than for outdoor operation. When the lifting scissor lift mechanism reaches the aforementioned limit height, the processor can control the lifting scissor lift mechanism to stop lifting. In this way, after receiving the mode selection command, the height limit of the aerial work equipment in different working modes can be restricted, so that the equipment can take into account both outdoor and indoor working modes and perform safe operations in different working environments.

[0067] In one embodiment, the limited height includes a first height and a second height. Controlling the lifting scissor lift to stop lifting when the lifting height reaches the limited height includes: when the aerial work platform's operating mode is switched to outdoor operating mode, limiting the lifting height of the lifting scissor lift using a first target sensor, and controlling the lifting scissor lift to stop lifting when the lifting height reaches the first height; when the operating mode is switched to indoor operating mode according to a switching command, limiting the lifting height of the lifting scissor lift using a second target sensor, and controlling the lifting scissor lift to stop lifting when the lifting height reaches the second height, wherein the second height is greater than the first height.

[0068] The first height refers to the limited height of the lifting scissor lift mechanism when the operating mode is outdoor. The second height refers to the limited height of the lifting scissor lift mechanism when the operating mode is indoor. The second height is greater than the first height. For example, in outdoor operating mode, the maximum lifting height of the lifting scissor lift mechanism is 5m. In indoor operating mode, the maximum lifting height is 3m. The first target sensor is the sensor corresponding to the outdoor operating mode, used to detect the limited height of the lifting scissor lift mechanism in outdoor operating mode. In outdoor operating mode, when the first target sensor detects that the lifting height has reached the first height, the processor can control the lifting scissor lift mechanism to stop lifting. When a mode selection command for indoor operating mode is received, the processor can switch the operating mode to indoor operating mode and use the second target sensor to limit the lifting height of the lifting scissor lift mechanism. The second target sensor is the sensor corresponding to the indoor operating mode, used to detect the limited height of the lifting scissor lift mechanism in indoor operating mode. In indoor operation mode, when the second target sensor detects that the lifting height has reached the second height, the processor can control the lifting scissor lift mechanism to stop lifting. Specifically, the aforementioned sensor can be a mechanical sensor and / or an electronic sensor.

[0069] In one embodiment, the aerial work platform further includes a limiting component mounted on the lifting scissor mechanism. The first target sensing device includes a first sensor and a second sensor. Limiting the lifting height of the lifting scissor mechanism through the first target sensing device includes: determining that the lifting height of the lifting scissor mechanism has reached a first height upon receiving a first limiting signal from the first sensor, and / or detecting the rotation angle of the lifting scissor mechanism through the second sensor; determining that the lifting height of the lifting scissor mechanism has reached the first height upon determining that the rotation angle is greater than or equal to a preset angle threshold; wherein the first limiting signal is a signal generated when the limiting component contacts the first sensor.

[0070] A limiting component can be a functional component used to determine the motion state of a structural member or to constrain its motion. When the lifting scissor lift mechanism moves to a certain state, the limiting component moves with the lifting scissor lift mechanism and contacts the first sensor, causing the first sensor to generate a first limiting signal. The first limiting signal is generated when the limiting component contacts the first sensor; when the first sensor generates the first limiting signal, it indicates that the lifting scissor lift mechanism has reached the limited height defined by the first sensor. Specifically, the first sensor can be a trigger-type mechanical sensor, and the input quantity can be physical quantities such as force, pressure, or temperature. The signal conversion is achieved by changes in the sensor's structural parameters or the physical properties of the sensitive element material itself. For example, the first sensor may also include a limit switch; when the limiting component contacts the limit switch on the first sensor, the first sensor generates the first limiting signal. During the lifting operation of the lifting scissor lift mechanism, if the processor receives the first limiting signal sent by the first sensor, it can determine that the lifting height of the lifting scissor lift mechanism has reached a first height. The first height refers to the lifting height limited by the outdoor working mode of the aerial work platform.

[0071] Specifically, the second sensor can be an angle sensor. Geometrically, the rotation angle of the scissor arm is linearly related to the lifting height of the scissor lift mechanism. By detecting the rotation angle of the scissor arm, the lifting height of the scissor lift mechanism can be determined. A preset angle threshold refers to a defined angle corresponding to a specified height of the scissor lift mechanism. Technicians can determine this preset angle threshold based on the specified height. When the rotation angle of the scissor arm gradually increases to a certain preset angle threshold, it indicates that the scissor lift mechanism is gradually rising to the corresponding specified height. During the lifting operation, if the processor determines, through the angle sensor, that the rotation angle of the scissor lift mechanism is gradually increasing to the preset angle threshold, then the lifting height of the scissor lift mechanism has reached the first height.

[0072] During the lifting operation of the scissor lift mechanism, a first sensor and a second sensor are used to redundantly detect the initial height of the scissor lift mechanism. If either of these two sensors malfunctions or fails, the normal sensor can still detect the limit height of the scissor lift mechanism, thereby improving the safety of aerial work operations in outdoor working conditions.

[0073] In one embodiment, the lifting scissor lift mechanism further includes a bushing assembly, on which a limiting component is mounted. During the lifting operation of the lifting scissor lift mechanism, the bushing assembly is used to drive the limiting component to rotate.

[0074] The bushing assembly is a cylindrical mechanical part that fits onto the rotating shaft of the lifting scissor lift mechanism; it is a component of a sliding bearing. The limit assembly is mounted to the bushing assembly via a fixing component. During the lifting operation of the lifting scissor lift mechanism, the rotating shaft and bushing assembly rotate, causing the limit assembly to rotate as well. When the limit assembly rotates to a certain position, it triggers a limit switch on the first sensor, causing the first sensor to generate a first limit signal. The processor receives this first limit signal from the first sensor and determines that the lifting scissor lift mechanism has reached a first height, thus controlling the lifting scissor lift mechanism to stop lifting.

[0075] In one embodiment, the aerial work platform further includes a chassis. When the second target sensor is mounted on the chassis, the chassis includes: a first bracket assembly for fixing the first target sensor to the chassis; and a second bracket assembly for fixing the second target sensor to a side plate of the chassis.

[0076] In one embodiment, the lifting scissor lift mechanism includes a scissor arm, and the first target sensing device includes a first sensor, a second sensor, and a rotating assembly. The first sensor is fixed to the chassis via a first bracket assembly, the rotating assembly is fixedly mounted on the scissor arm, and the second sensor is connected to the rotating assembly.

[0077] The first target sensing device includes a first sensor, a second sensor, and a rotating assembly connected to the second sensor. The aerial work platform also includes a chassis connected to a lifting scissor mechanism for fixing the lifting scissor mechanism. Casters may also be installed under the chassis for moving the aerial work platform. A first support assembly and a second support assembly are located on top of the chassis. The first support assembly can fix the first and second sensors to the chassis, and the second support assembly can fix the second target sensing device to the side plate of the chassis. The scissor arm refers to the main body of the lifting scissor mechanism; multiple scissor arms are connected sequentially to form the lifting scissor mechanism. The rotating assembly is fixed to the scissor arm via a connecting assembly, which may be a screw. When the scissor arm rotates, the scissor arm can drive the rotating assembly to rotate together via the screw. Furthermore, the rotating assembly is connected to the second sensor. The second sensor may be an angle sensor. When the lifting scissor mechanism performs a lifting operation, the scissor arm rotates, causing the screw to drive the rotating assembly to rotate together, thereby indirectly measuring the rotation angle of the scissor arm. If the processor detects that the rotation angle of the scissor arm is greater than or equal to a preset angle threshold, it can control the lifting scissor mechanism to stop lifting.

[0078] In one embodiment, the aerial work platform further includes a slider assembly connected to the lifting scissor mechanism. The chassis includes a sliding rail, and the second target sensing device includes a third sensor. When the third sensor is mounted on the chassis, limiting the lifting height of the lifting scissor mechanism via the second target sensing device includes: determining that the lifting height of the lifting scissor mechanism has reached a second height upon receiving a second limit signal sent by the third sensor; wherein the second limit signal is a signal generated when the slider assembly moves along the sliding rail until it contacts the third sensor.

[0079] During the lifting process, the angle between the scissor arms and the horizontal direction gradually increases, and the lifting scissor fork gradually moves closer together as the angle changes. As shown in the figure, the slider assembly is connected to the scissor arms of the lifting scissor fork and moves linearly along the sliding track on the chassis as the lifting scissor fork operates. The third sensor can be a mechanical sensor; in indoor operating mode, the third sensor can be mounted on the side wall of the chassis. When the slider assembly moves along the sliding track until it contacts the third sensor, the third sensor generates a second limit signal. Upon receiving the second limit signal from the third sensor, the processor can determine that the lifting height of the lifting scissor fork has reached the second height, thereby controlling the lifting scissor fork to stop lifting.

[0080] In one embodiment, the aerial work platform further includes a drive unit, and the second target sensing device includes a fourth sensor. When the fourth sensor is installed on the drive unit, limiting the lifting height of the lifting scissor lift mechanism by the second target sensing device includes: obtaining the extension length of the drive unit by the fourth sensor; and determining that the lifting height of the lifting scissor lift mechanism has reached a second height when the extension length is determined to be greater than or equal to a preset length threshold.

[0081] The drive unit refers to the power device used to drive the lifting scissor lift mechanism for lifting operations. Specifically, it can be an electric cylinder, which adjusts the raising and lowering operation of the lifting scissor lift mechanism by extending and retracting. The fourth sensor can be a potentiometer, which can be installed inside the electric cylinder to detect the extension and retraction length of the electric cylinder. In the indoor working mode, the fourth sensor can be installed on the electric cylinder. Using the fourth sensor, the processor determines that the lifting height of the lifting scissor lift mechanism has reached the second height when it determines that the extension and retraction length of the electric cylinder is greater than or equal to a preset length threshold. At this point, the processor can control the electric cylinder to stop extending and retracting, thereby stopping the lifting operation of the lifting scissor lift mechanism. Compared to the outdoor working mode, the indoor working mode corresponds to a lower lifting height, so only either the third or fourth sensor needs to be installed for height limitation.

[0082] The above technical solution allows the aerial work platform to be controlled to enter different operating modes. In outdoor working mode, the bushing assembly of the lifting scissor lift mechanism can drive the limit assembly to rotate, thereby triggering the first sensor to generate a first limit signal. At this time, it can be determined that the lifting scissor lift mechanism has been raised to a first height. Simultaneously, the scissor arm of the lifting scissor lift mechanism drives the rotating assembly to rotate through the second connecting assembly. The second sensor can detect the rotation angle of the rotating assembly, thereby indirectly measuring the rotation angle of the scissor arm. When the rotation angle reaches a preset angle threshold, it can be determined that the lifting scissor lift mechanism has been raised to the first height. In this way, by simultaneously detecting the first height of the lifting scissor lift mechanism in outdoor working mode by the first and second sensors, the first height of the lifting scissor lift mechanism can still be detected even if either sensor fails. When switching to outdoor working mode, the processor controls the lifting scissor lift mechanism to stop lifting when it determines that the lifting height has reached the first height. The first connecting assembly connected to the scissor arm can drive the slider assembly to perform linear reciprocating motion on the sliding track of the chassis. If the second target sensor is installed on the chassis, the slider assembly can trigger the second target sensor to generate a second limit signal. At this point, it can be determined that the lifting scissor lift mechanism has reached the second height. If the second target sensor is installed on the drive unit, it can detect the extension length of the drive unit. When the extension length reaches a preset threshold, it can be determined that the lifting scissor lift mechanism has reached the second height. Thus, the second sensor can be installed on either the drive unit or the chassis to detect the second height of the lifting scissor lift mechanism. When switching to indoor operating mode, the processor controls the lifting scissor lift mechanism to stop lifting when it determines that the second height has been reached. This allows the aerial work platform to operate in both outdoor and indoor modes. Furthermore, the first and second sensors, as well as the second target sensor installed on the chassis, are all mechanical sensors. During the height detection of the lifting scissor lift mechanism, their detection performance is relatively accurate and stable, reducing errors caused by mechanical vibrations or external interference.

[0083] Figure 2 This is a flowchart illustrating a control method for aerial work equipment in one embodiment. It should be understood that, although... Figure 2 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0084] In one embodiment, such as Figure 3 As shown, an aerial work platform is provided, including a lifting scissor lift mechanism 10, a mode selection device 20, and a processor 30, wherein:

[0085] The lifting scissor mechanism 10 is used to perform lifting operations. During the lifting operation, the lifting height of the lifting scissor mechanism changes accordingly.

[0086] The mode selection device 20 is used to input mode selection commands.

[0087] The processor 30 is used to execute the control method for the aerial work equipment described above.

[0088] The processor 30 can receive mode selection instructions input from the mode selection device 20, and determine whether the aerial work platform should enter indoor operation mode or outdoor operation mode based on the mode selection instructions. According to the operation mode, the processor can determine the limit height of the lifting scissor mechanism 10, where the limit height corresponds to the operation mode of the aerial work platform. Furthermore, when the lifting height of the lifting scissor mechanism 10 reaches the limit height, the processor can control the lifting scissor mechanism 10 to stop lifting.

[0089] In one embodiment, when the aerial work platform switches to outdoor operation mode, the processor 30 can also receive a first limit signal from a first sensor, at which point the processor 30 can determine that the lifting height of the scissor lift mechanism 10 has reached a first height. The processor 30 can also receive a rotation angle detected by a second sensor; if the rotation angle is greater than or equal to a preset angle threshold, the processor 30 determines that the lifting height of the scissor lift mechanism 10 has reached the first height. In outdoor operation mode, when the processor 30 determines that the lifting height has reached the first height, the processor can control the lifting scissor lift mechanism 10 to stop lifting. When the aerial work platform switches to indoor operation mode, the processor 30 can receive a second limit signal from a third sensor, at which point the processor 30 can determine that the lifting height of the scissor lift mechanism 10 has reached a second height. In indoor operation mode, when the processor 30 determines that the lifting height has reached the second height, the processor can control the lifting scissor lift mechanism 10 to stop lifting. When the aerial work platform switches to indoor operation mode, the processor 30 can also obtain the extension length of the drive device through a fourth sensor. If the extension length is greater than or equal to a preset length threshold, the processor 30 can determine that the lifting height of the scissor lift mechanism has reached the second height. At this point, the processor can control the lifting scissor lift mechanism 10 to stop lifting.

[0090] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and control methods for the aerial work equipment can be implemented by adjusting kernel parameters.

[0091] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0092] This application provides a storage medium storing a program that, when executed by a processor, implements the aforementioned control method for aerial work equipment.

[0093] This application provides a processor for running a program, wherein the program executes the above-described control method for aerial work equipment.

[0094] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4As shown. The computer device includes a processor A01, a network interface A02, memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores data for control methods of aerial work platforms. The network interface A02 communicates with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for aerial work platforms.

[0095] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0096] This application provides an apparatus including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of a control method for aerial work equipment.

[0097] This application also provides a computer program product that, when executed on a data processing device, is adapted to execute a program that initializes control method steps for aerial work equipment.

[0098] 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.

[0099] 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, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0100] 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 that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0101] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0102] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0103] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0104] 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.

[0105] 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.

[0106] 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 aerial work platforms, characterized in that, The aerial work platform includes a limit component and a lifting scissor mechanism, wherein the limit component is installed on the lifting scissor mechanism, and the control method includes: Receive mode selection command; The operating mode of the aerial work equipment is determined according to the mode selection instruction, and the operating mode includes an indoor operating mode and an outdoor operating mode. The limited height of the lifting scissor lift mechanism is determined according to the operating mode, and the limited height includes a first height and a second height; When the lifting height of the lifting scissor mechanism reaches the predetermined height, the lifting scissor mechanism is controlled to stop lifting; The step of controlling the lifting scissor mechanism to stop lifting when the lifting height of the lifting scissor mechanism reaches the predetermined height includes: when the working mode of the aerial work platform is switched to outdoor working mode, limiting the lifting height of the lifting scissor mechanism through a first target sensor, and controlling the lifting scissor mechanism to stop lifting when the lifting height reaches the first height; when the working mode is switched to indoor working mode according to the mode selection command, limiting the lifting height of the lifting scissor mechanism through a second target sensor, and controlling the lifting scissor mechanism to stop lifting when the lifting height reaches the second height, wherein the first height is greater than the second height; The first target sensing device includes a first sensor and a second sensor. Limiting the lifting height of the lifting scissor lift mechanism via the first target sensing device includes: upon receiving a first limit signal from the first sensor, determining that the lifting height of the lifting scissor lift mechanism has reached the first height, and / or detecting the rotation angle of the lifting scissor lift mechanism via the second sensor; and upon determining that the rotation angle is greater than or equal to a preset angle threshold, determining that the lifting height of the lifting scissor lift mechanism has reached the first height; the first limit signal is a signal generated when the limiting component contacts the first sensor.

2. The control method for aerial work equipment according to claim 1, characterized in that, The lifting scissor lift mechanism also includes a bushing assembly, on which the limiting component is mounted. During the lifting operation of the lifting scissor lift mechanism, the bushing assembly is used to drive the limiting component to rotate.

3. The control method for aerial work equipment according to claim 1, characterized in that, The aerial work platform also includes a chassis, and when the second target sensing device is mounted on the chassis, the chassis includes: A first support assembly is used to fix the first target sensing device to the chassis; The second bracket assembly is used to fix the second target sensing device to the side plate of the chassis.

4. The control method for aerial work equipment according to claim 3, characterized in that, The lifting scissor lift mechanism includes a scissor arm, and the first target sensing device includes a first sensor, a second sensor, and a rotating assembly. The first sensor is fixed to the chassis via the first bracket assembly, the rotating assembly is fixedly mounted on the scissor arm, and the second sensor is connected to the rotating assembly.

5. The control method for aerial work equipment according to claim 3, characterized in that, The aerial work platform further includes a slider assembly connected to the lifting scissor mechanism. The chassis includes a sliding rail. The second target sensing device includes a third sensor. When the third sensor is installed on the chassis, limiting the lifting height of the lifting scissor mechanism through the second target sensing device includes: Upon receiving the second limit signal sent by the third sensor, it is determined that the lifting height of the lifting scissor lift mechanism has reached the second height; The second limit signal is generated when the slider assembly moves along the sliding track until it contacts the third sensor.

6. The control method for aerial work equipment according to claim 3, characterized in that, The aerial work platform also includes a drive unit, and the second target sensing device includes a fourth sensor. When the fourth sensor is installed on the drive unit, limiting the lifting height of the lifting scissor lift mechanism via the second target sensing device includes: The extension / retraction length of the drive device is obtained through the fourth sensor; If the telescopic length is determined to be greater than or equal to a preset length threshold, the lifting height of the lifting scissor lift mechanism is determined to reach the second height.

7. A processor, characterized in that, It is configured to perform the control method for aerial work equipment according to any one of claims 1 to 6.

8. A high-altitude work equipment, characterized in that, include: Limiting components are installed on the lifting scissor lift mechanism; The lifting scissor mechanism is used to perform lifting operations, and the lifting height of the lifting scissor mechanism changes accordingly during the lifting operation. Mode selection device for inputting mode selection commands; and The processor as described in claim 7.

9. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to perform the control method for aerial work equipment according to any one of claims 1 to 6.

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