Track tension control method, aerial work vehicle and storage medium

Abstract

The present invention discloses a track tension control method, an aerial work vehicle, and a storage medium. The aerial work vehicle includes a left track, a right track, a left motor, and a right motor. The left motor is used to drive the left track to rotate, and the right motor is used to drive the right track to rotate. When the aerial work vehicle is in a walking state, the track tension control method includes the following steps: obtaining a first current value of the left motor and a second current value of the right motor; determining a current deviation value based on the first current value and the second current value; and adjusting the first tension of the left track and the second tension of the right track based on the current deviation value and a preset maximum deviation current until the current deviation value is less than the maximum deviation current. The track tension control method of the embodiment of the present invention can ensure that the working states of the two motors are basically consistent, avoid a motor being subjected to a long-term heavy load and excessive current, improve the reliability of the motor, extend the service life of the motor, and have low detection costs and a simple debugging process.

Description

Technical Field

[0001] The present invention relates to the technical field related to engineering machinery, and in particular to a crawler tensioning force control method, an aerial work vehicle and a storage medium. Background Art

[0002] For electric crawler scissor lifts, the tensioning device is required to adjust the crawler track to the appropriate tightness. If the crawler track is too tight, it will cause a large power loss, a large current in the drive motor, and affect the motor's performance. In addition, the crawler track will wear out more, the crawler pitch will increase, and it will easily cause cracks in the belt body, shortening the crawler track's service life. If the crawler track is too loose, the equipment may jump teeth, steering failure, and the crawler track is prone to derailment when traveling, affecting the normal operation of the equipment. Adjusting the crawler track tension to the appropriate range can ensure the life of the crawler track and the performance of its drive motor.

[0003] Existing technical solutions include using through-hole pressure sensors to measure and record track tension in real time, and using displacement sensors to measure track tension by capturing the displacement of the tension spring. However, these solutions require specialized equipment to accurately measure tension. Using through-hole pressure sensors or displacement sensors to measure tension on mass-produced products is expensive, and the batch debugging and application processes are complex.

[0004] During aerial work, the tension on the left and right tracks can deviate due to factors such as the position of the vehicle's center of gravity and ground friction. Excessive deviation in tension can lead to excessive current and rapid temperature rise in one of the motors, impacting motor performance and efficiency. Existing solutions simply adjust the tension on each track individually to within an appropriate range, but fail to address this significant deviation. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a track tension control method that ensures that the operating conditions of the two motors are substantially consistent, preventing one motor from experiencing a long-term heavy load and excessive current, thereby improving motor reliability and extending its service life. Furthermore, the method reduces testing costs and simplifies the debugging process.

[0006] The present invention also provides an aerial work vehicle and a computer-readable storage medium.

[0007] According to a first aspect of the present invention, a track tension control method is applied to an aerial work vehicle, wherein the aerial work vehicle includes a left track, a right track, a left motor, and a right motor, wherein the left motor is used to drive the left track to rotate, and the right motor is used to drive the right track to rotate; when the aerial work vehicle is in a walking state, the track tension control method includes the following steps:

[0008] Acquire a first current value of the left motor and a second current value of the right motor;

[0009] determining a current deviation value according to the first current value and the second current value;

[0010] The first tensioning force of the left track and the second tensioning force of the right track are adjusted according to the current deviation value and a preset maximum deviation current until the current deviation value is less than the maximum deviation current.

[0011] The crawler track tension control method according to the embodiment of the present invention has at least the following beneficial effects:

[0012] When the aerial work vehicle is in the traveling state, to ensure consistency between the first tension of the left track and the second tension of the right track, the first current value of the left motor and the second current value of the right motor are obtained, and the current deviation between the first and second current values ​​is determined. This can indirectly determine the deviation between the first and second tensions. If the current deviation is greater than a preset maximum deviation current, it indicates that the deviation between the first and second tensions is excessive, requiring adjustment. Similarly, the current deviation between the first and second current values ​​can be used to indirectly determine the adjustment status of the first and second tensions. If the current deviation is less than the preset maximum deviation current, it indicates that the deviation between the first and second tensions is within a normal value, indicating that the operating conditions of the left and right motors are essentially consistent, and the motors are highly reliable. Furthermore, compared to traditional methods that use through-hole pressure sensors or displacement sensors to detect tension, the track tension control method of the present invention indirectly determines track tension by detecting motor current, which is cost-effective and simple to debug. The track tension control method of the embodiment of the present invention can ensure that the working conditions of the two motors are basically consistent, avoid long-term heavy load and excessive current on one motor, improve the reliability of the motor, extend the service life of the motor, and have low detection costs and a simple debugging process.

[0013] According to some embodiments of the present invention, adjusting the first tension of the left track and the second tension of the right track according to the current deviation value and a preset maximum deviation current until the current deviation value is less than the maximum deviation current includes the following steps:

[0014] If the current deviation value is greater than the preset maximum deviation current, and the first current value is greater than the second current value, the second tensioning force of the right track is kept unchanged and the first tensioning force of the left track is adjusted until the current deviation value is less than the maximum deviation current.

[0015] According to some embodiments of the present invention, the adjusting the first tension of the left track and the second tension of the right track according to the current deviation value and a preset maximum deviation current until the current deviation value is less than the maximum deviation current further includes the following steps:

[0016] If the current deviation value is greater than the preset maximum deviation current and the first current value is less than the second current value, the first tensioning force of the left track is kept unchanged and the second tensioning force of the right track is adjusted until the current deviation value is less than the maximum deviation current.

[0017] According to some embodiments of the present invention, when the aerial work vehicle is off the ground, the track tension control method further comprises the following steps:

[0018] Acquire a first voltage value of the left motor and a second voltage value of the right motor;

[0019] determining a first power value according to the first current value and the first voltage value;

[0020] The first tension of the left track is adjusted according to the first power value until the first power value is within a preset normal power range.

[0021] According to some embodiments of the present invention, when the aerial work vehicle is off the ground, the track tension control method further comprises the following steps:

[0022] determining a second power value according to the second current value and the second voltage value;

[0023] The second tensioning force of the right track is adjusted according to the second power value until the second power value is within a preset normal power range.

[0024] According to some embodiments of the present invention, the track tension control method further includes the following steps:

[0025] determining a current adjustment difference between the current deviation value and the maximum deviation current;

[0026] The current adjustment difference is displayed.

[0027] According to a first aspect of the present invention, a track tension control method is applied to an aerial work vehicle, wherein the aerial work vehicle includes a left track, a right track, a left motor, and a right motor, wherein the left motor is used to drive the left track to rotate, and the right motor is used to drive the right track to rotate; when the aerial work vehicle is off the ground, the track tension control method includes the following steps:

[0028] Acquire a first current value and a first voltage value of the left motor, and a second current value and a second voltage value of the right motor;

[0029] determining a first power value according to the first current value and the first voltage value;

[0030] adjusting a first tensioning force of the left crawler according to the first power value until the first power value is within a preset normal power range;

[0031] determining a second power value according to the second current value and the second voltage value;

[0032] The second tensioning force of the right track is adjusted according to the second power value until the second power value is within a preset normal power range.

[0033] The crawler track tension control method according to the embodiment of the present invention has at least the following beneficial effects:

[0034] When the aerial work vehicle is off the ground, the first current and first voltage values ​​of the left motor, and the second current and second voltage values ​​of the right motor, are unaffected by factors such as the position of the center of gravity of the vehicle's load and ground friction, and remain constant. The first current and first voltage values ​​can be used to determine the first power value of the left motor, while the second current and second voltage values ​​can be used to determine the second power value of the right motor. The first power value can be used to indirectly determine the first tension of the left track, while the second power value can be used to indirectly determine the second tension of the right track. The first tension of the left track is adjusted based on the first power value until the first power value is within a preset normal power range, and the second tension of the right track is adjusted based on the second power value until the second power value is within the preset normal power range. Compared to conventional methods that use through-hole pressure sensors or displacement sensors to detect tension, the track tension control method of the present invention detects motor current and motor voltage to determine motor power, thereby indirectly determining track tension. This method offers low cost and a simple debugging process. The crawler track tensioning force control method of the embodiment of the present invention can improve the reliability of the motor and extend the service life of the motor, and has low detection costs and a simple debugging process.

[0035] According to some embodiments of the present invention, the track tension control method further includes the following steps:

[0036] If the first power value is within the preset normal power range, a first adjustment result signal is generated, where the first adjustment result signal is used to indicate that the first tensioning force of the left crawler track has been adjusted to the desired position;

[0037] If the second power value is within the preset normal power range, a second adjustment result signal is generated, and the second adjustment result signal is used to indicate that the second tensioning force of the right crawler track has been adjusted to the correct position.

[0038] An aerial work vehicle according to a second embodiment of the present invention includes:

[0039] vehicle body;

[0040] a crawler chassis, disposed at the bottom of the vehicle body, comprising a left crawler, a right crawler, a left motor, a right motor, a left drive device, and a right drive device, wherein the left motor is used to drive the left drive device to rotate the left crawler, and the right motor is used to drive the right drive device to rotate the right crawler;

[0041] a detection device, configured to detect a first current value and a first voltage value of the left motor, and a second current value and a second voltage value of the right motor;

[0042] a tensioning device, for adjusting a first tensioning force of the left track and a second tensioning force of the right track;

[0043] A control system is electrically connected to the detection device, and the control system is used to execute the track tension control method as described in the first embodiment.

[0044] The aerial work vehicle according to the embodiment of the present invention has at least the following beneficial effects:

[0045] The detection device can detect the first current value and first voltage value of the left motor, and the second current value and second voltage value of the right motor. The control system can implement the track tension control method of the first embodiment described above, indirectly determining the track tension value through motor current or motor power. Thus, the first tension of the left track and the second tension of the right track can be adjusted through the tensioning device, ensuring that the first power value of the left motor and the second power value of the right motor are both within a preset normal power range, and that the operating conditions of the left and right motors are substantially consistent, thereby improving motor reliability and extending the service life of the motors. Compared to traditional methods that use through-hole pressure sensors or displacement sensors to detect tension, the aerial work vehicle of the present invention indirectly determines track tension value through motor current or motor power, resulting in low detection costs and a simple debugging process. The aerial work vehicle of the present invention can ensure that the operating conditions of the two motors are substantially consistent, avoiding long-term heavy loads and excessive current on one motor, improving motor reliability and extending the service life of the motors, while also reducing detection costs and simplifying the debugging process.

[0046] A computer-readable storage medium according to an embodiment of a third aspect of the present invention stores computer-executable instructions for executing the track tensioning force control method described in the embodiment of the first aspect. Because the computer-readable storage medium incorporates all of the technical solutions of the track tensioning force control method of the aforementioned embodiment, it at least has all of the beneficial effects provided by the technical solutions of the aforementioned embodiment.

[0047] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0049] Figure 1 1 is a schematic structural diagram of a steel crawler chassis according to an embodiment of the present invention;

[0050] Figure 2 is a structural schematic diagram of a rubber track chassis according to another embodiment of the present invention;

[0051] Figure 3 is a flow chart of a method for controlling track tensioning force according to an embodiment of the present invention;

[0052] Figure 4 is a flow chart of a track tension control method according to another embodiment of the present invention.

[0053] Reference numerals:

[0054] Left track 100;

[0055] Right track 200;

[0056] Tensioning device 300. DETAILED DESCRIPTION

[0057] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0058] In the description of the present invention, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0059] In the description of the present invention, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0060] In the description of the present invention, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0061] The following will be combined Figures 1 to 4 The crawler track tensioning force control method of the embodiment of the first aspect of the present invention is described clearly and completely. Obviously, the embodiment described below is only a part of the embodiments of the present invention, not all of the embodiments.

[0062] According to the first embodiment of the present invention, the track tension control method is applied to an aerial work vehicle. The aerial work vehicle includes a left track 100, a right track 200, a left motor, and a right motor. The left motor is used to drive the left track 100 to rotate, and the right motor is used to drive the right track 200 to rotate. When the aerial work vehicle is in a walking state, the track tension control method includes the following steps:

[0063] Obtaining a first current value of the left motor and a second current value of the right motor;

[0064] determining a current deviation value according to the first current value and the second current value;

[0065] The first tensioning force of the left track 100 and the second tensioning force of the right track 200 are adjusted according to the current deviation value and the preset maximum deviation current until the current deviation value is less than the maximum deviation current.

[0066] The tracks of aerial work vehicles are generally divided into steel tracks and rubber tracks. Figure 1 This is a structural diagram of the steel track chassis. Figure 2 It is a structural diagram of the rubber track chassis. The steel track chassis includes chain rails, rubber track plates, guide wheels, supporting rollers, sprockets, tensioning device 300, and oiling grease nipples; the rubber track chassis includes rubber tracks, drive wheels, guide wheels, supporting rollers, sprockets, tensioning device 300, and oiling grease nipples. The tensioning device 300 includes a left adjustment device and a right adjustment device. The left adjustment device is used to adjust the first tensioning force of the left track 100, and the right adjustment device is used to adjust the second tensioning force of the right track 200. Both the left adjustment device and the right adjustment device can be adjusted manually, or a mechanical structure can be added and electrically connected to the control system for automatic adjustment. The specific structure is not limited here. It should be noted that the specific structure and working principle of the steel track chassis and the rubber track chassis, as well as the adjustment principle of the tensioning device 300 are all existing technologies known to those skilled in the art and will not be elaborated here.

[0067] Both the first and second current values ​​are detected by sensors, specifically Hall sensors or other current sensors. The first current value is used to indirectly determine the first tension of the left track 100, while the second current value is used to indirectly determine the second tension of the right track 200. The difference between the first and second current values ​​is calculated and recorded as a current deviation value. The current deviation value indirectly indicates the magnitude of the tension deviation between the first and second tensions. If the current deviation value is greater than a preset maximum deviation current, it indicates that the tension deviation between the first and second tensions is too large. In this case, the first and second tensions can be adjusted simultaneously, or one can remain unchanged while adjusting only the other. Similarly, the current deviation value indirectly determines the adjustment status of the first and second tensions. If the current deviation value is less than the preset maximum deviation current, it indicates that the tension deviation between the first and second tensions is within a normal value. The left and right motors are operating in a similar manner, preventing either motor from excessively drawing current or rapidly rising in temperature, thereby affecting motor performance and efficiency. It should be noted that the maximum deviation current needs to be set according to actual conditions and is not limited here.

[0068] Compared with the traditional method of using through-type pressure sensors or displacement sensors to detect tension, the track tension control method of the embodiment of the present invention detects the motor current through current sensors such as Hall sensors, thereby indirectly judging the size of the track tension. It does not require the use of special devices and equipment, has lower costs, simpler debugging process, can improve the adjustment efficiency of the track tension, and has greater application advantages.

[0069] It should be noted that the aerial work vehicle is in a walking state when the left crawler 100 and the right crawler 200 are both in friction with the ground, and the aerial work vehicle is in an off-ground state when the left crawler 100 and the right crawler 200 are both separated from the ground.

[0070] According to the track tension control method of an embodiment of the present invention, when the aerial work vehicle is in the traveling state, to ensure consistency between the first tension of the left track 100 and the second tension of the right track 200, the first current value of the left motor and the second current value of the right motor are obtained, and the current deviation between the first and second current values ​​is determined to indirectly determine the magnitude of the tension deviation between the first and second tensions of the left and right tracks 100 and 200. If the current deviation is greater than a preset maximum deviation current, it indicates that the deviation between the first and second tensions is too large, requiring adjustment. Similarly, the current deviation between the first and second current values ​​is used to indirectly determine the adjustment status of the first and second tensions. If the current deviation is less than the preset maximum deviation current, it indicates that the deviation between the first and second tensions is within a normal value, indicating that the operating conditions of the left and right motors are substantially consistent, and the motors are highly reliable. Furthermore, compared to traditional methods that use through-hole pressure sensors or displacement sensors to detect track tension, the track tension control method of the present invention indirectly determines track tension by detecting motor current, resulting in low cost and simplified commissioning. The track tension control method of the present invention ensures that the operating conditions of the two motors are essentially consistent, preventing one motor from experiencing long-term heavy loads and excessive current, thereby improving motor reliability and extending its service life. Furthermore, it offers low detection costs and simplified commissioning.

[0071] In some embodiments of the present invention, adjusting the first tension of the left track 100 and the second tension of the right track 200 based on a current deviation value and a preset maximum deviation current until the current deviation value is less than the maximum deviation current includes the following steps: if the current deviation value is greater than the preset maximum deviation current and the first current value is greater than the second current value, maintaining the second tension of the right track 200 unchanged and adjusting the first tension of the left track 100 until the current deviation value is less than the maximum deviation current. If the current deviation value is greater than the preset maximum deviation current and the first current value is greater than the second current value, this indicates that the first tension of the left track 100 is too high or the second tension of the right track 200 is too low. The motor on the side with excessive current will heat up too quickly, causing problems such as motor temperature alarms. If the second tension of the right track 200 is relatively normal, the second tension of the right track 200 can be maintained unchanged and the first tension of the left track 100 can be reduced until the current deviation value is less than the maximum deviation current. This can indirectly determine that the operating conditions of the left and right motors are substantially consistent. When the first tensioning force of the left track 100 is too large and the second tensioning force of the right track 200 is too small, the first tensioning force can be reduced and the second tensioning force can be increased at the same time until the current deviation value is less than the maximum deviation current, ensuring that the first tensioning force and the second tensioning force are both adjusted to the normal tensioning force range, and the working conditions of the left motor and the right motor are basically the same, avoiding long-term heavy load and excessive current on a certain motor, improving the reliability of the motor, and extending the service life of the motor.

[0072] In some embodiments of the present invention, the first tension of the left track 100 and the second tension of the right track 200 are adjusted according to the current deviation value and a preset maximum deviation current until the current deviation value is less than the maximum deviation current. The method further includes the following steps: if the current deviation value is greater than the preset maximum deviation current and the first current value is less than the second current value, the first tension of the left track 100 is maintained and the second tension of the right track 200 is adjusted until the current deviation value is less than the maximum deviation current. If the current deviation value is greater than the preset maximum deviation current and the first current value is less than the second current value, this indicates that the first tension of the left track 100 is too low or the second tension of the right track 200 is too high. The motor on the side with the excessive current will heat up too quickly, causing problems such as motor temperature alarms. If the first tension of the left track 100 is relatively normal, the first tension of the left track 100 can be maintained and the second tension of the right track 200 can be reduced until the current deviation value is less than the maximum deviation current. This can indirectly determine that the operating conditions of the left and right motors are substantially consistent. When the first tensioning force of the left track 100 is too small and the second tensioning force of the right track 200 is too large, the first tensioning force can be increased and the second tensioning force can be decreased at the same time until the current deviation value is less than the maximum deviation current, ensuring that the first tensioning force and the second tensioning force are both adjusted to the normal tensioning force range, and the working conditions of the left motor and the right motor are basically the same, avoiding long-term heavy load and excessive current on a certain motor, improving the reliability of the motor, and extending the service life of the motor.

[0073] In some embodiments of the present invention, when the aerial work vehicle is off the ground, the track tension control method further includes the following steps: obtaining a first voltage value of the left motor and a second voltage value of the right motor; determining a first power value based on the first current value and the first voltage value; and adjusting the first tension of the left track 100 based on the first power value until the first power value is within a preset normal power range. To address the problem of excessive or insufficient track tension, the scissor legs of the aerial work vehicle can be first leveled so that both the left track 100 and the right track 200 are off the ground. At this point, the transmission state and tension of the left track 100 and the right track 200 are not affected by factors such as the position of the center of gravity of the entire load and ground friction. The first current value and first voltage value of the left motor, and the second current value and second voltage value of the right motor are all constant. The first power value of the left motor can be obtained from the first current value and the first voltage value. The first power value can be used to indirectly determine the first tension of the left track 100. The first tension of the left track 100 is then adjusted based on the first power value until the first power value is within a preset normal power range, indicating that the first tension of the left track 100 has been adjusted to within the preset normal tension range. Compared to the traditional method of detecting tension using a through-hole pressure sensor or displacement sensor, the track tension control method of the present invention detects the motor current and motor voltage to determine the motor power, indirectly determining the track tension and thus adjusting the track tension. This method is low-cost, has a simple debugging process, and can improve motor reliability and extend the motor's service life.

[0074] The calculation formula of power value P is: in, is the power factor of the motor, which is determined by the motor itself, is the phase difference angle between the phase voltage and the phase current, and η is the efficiency.

[0075] It should be noted that the structure and principle of lifting both the left crawler 100 and the right crawler 200 off the ground in the aerial work vehicle are not limited herein, and the scissor legs mentioned above cannot be regarded as a limitation of the present invention.

[0076] In some embodiments of the present invention, when the aerial work vehicle is off the ground, the track tension control method further includes the following steps: determining a second power value based on the second current value and the second voltage value; and adjusting the second tension of the right track 200 based on the second power value until the second power value is within a preset normal power range. To address the problem of excessive or insufficient track tension, the scissor legs of the aerial work vehicle can be first leveled so that both the left track 100 and the right track 200 are off the ground. At this point, the transmission state and tension of the left track 100 and the right track 200 are not affected by factors such as the position of the center of gravity of the entire load and ground friction. The first current value and first voltage value of the left motor, and the second current value and second voltage value of the right motor are all constant. The second current value and the second voltage value can be used to obtain a second power value for the right motor. This second power value can be used to indirectly determine the second tension of the right track 200. The second tension of the right track 200 is then adjusted based on the second power value until the second power value falls within a preset normal power range. This indicates that the second tension of the right track 200 has been adjusted to within the preset normal tension range. Compared to conventional methods that use through-hole pressure sensors or displacement sensors to detect tension, the track tension control method of the present invention detects motor current and motor voltage to determine motor power, indirectly determining the track tension and thus adjusting the track tension. This method offers low cost, simple debugging, improved motor reliability, and extended motor service life.

[0077] It should be noted that the size of the track tension can also be indirectly determined by the motor current. The first tension of the left track 100 can be adjusted according to the first current value until the first current value is within the preset normal current range, and the second tension of the right track 200 can be adjusted according to the second current value until the second current value is within the preset normal current range. Adjusting the track tension according to the motor power cannot be regarded as a limitation of the present invention.

[0078] In some embodiments of the present invention, the track tension control method further includes the following steps: displaying the first power value, the second power value, and a preset normal power range. Displaying the first power value, the second power value, and the preset normal power range allows for a more intuitive presentation of detection parameters and the track tension adjustment process and results. Real-time monitoring of the first power value, the second power value, and the preset normal power range indirectly reflects the track tension and facilitates manual adjustment of the track tension based on the real-time first power value, the second power value, and the preset normal power range, enhancing the user experience.

[0079] In some embodiments of the present invention, the track tension control method further comprises the steps of: determining a current adjustment difference between the current deviation value and the maximum deviation current; and displaying the current adjustment difference. Displaying the current adjustment difference in real time allows for intuitive visualization of the adjustment process and results of the first and second tensions, facilitating manual adjustment. A smaller current adjustment difference corresponds to a smaller adjustment level, preventing over-adjustment.

[0080] It should be noted that the first current value, the second current value, the first voltage value, and the second voltage value may also be displayed, which is not to be regarded as a limitation of the present invention.

[0081] According to a first aspect of the present invention, a track tension control method is applied to an aerial work vehicle. The aerial work vehicle includes a left track 100, a right track 200, a left motor, and a right motor. The left motor is used to drive the left track 100 to rotate, and the right motor is used to drive the right track 200 to rotate. When the aerial work vehicle is off the ground, the track tension control method includes the following steps:

[0082] Obtain a first current value and a first voltage value of the left motor, and a second current value and a second voltage value of the right motor;

[0083] determining a first power value according to the first current value and the first voltage value;

[0084] adjusting a first tension of the left crawler 100 according to the first power value until the first power value is within a preset normal power range;

[0085] determining a second power value according to the second current value and the second voltage value;

[0086] The second tensioning force of the right track 200 is adjusted according to the second power value until the second power value is within a preset normal power range.

[0087] To address the issue of excessive or insufficient track tension, the aerial work vehicle's scissor legs can be leveled so that both the left and right tracks 100 and 200 are off the ground. At this point, the transmission state and tension of the left and right tracks 100 and 200 are unaffected by factors such as the position of the center of gravity of the vehicle's load and ground friction. The first current and voltage values ​​of the left motor, and the second current and voltage values ​​of the right motor, are all constant. The first current and voltage values ​​can be used to determine the first power value of the left motor, which can be used to indirectly determine the first tension of the left track 100. The first tension of the left track 100 can then be adjusted based on the first power value until the first power value is within a preset normal power range, indicating that the first tension of the left track 100 has been adjusted to within the preset normal tension range. The second current value and the second voltage value can be used to obtain a second power value for the right motor. This second power value can be used to indirectly determine the second tension of the right track 200. The second tension of the right track 200 is then adjusted based on the second power value until the second power value falls within a preset normal power range. This indicates that the second tension of the right track 200 has been adjusted to within the preset normal tension range. Compared to conventional methods that use through-hole pressure sensors or displacement sensors to detect tension, the track tension control method of the present invention detects motor current and motor voltage to determine motor power, indirectly determining the track tension and thus adjusting the track tension. This method offers low cost, simple debugging, improved motor reliability, and extended motor service life.

[0088] The calculation formula of power value P is: in, is the power factor of the motor, which is determined by the motor itself, is the phase difference angle between the phase voltage and the phase current, and η is the efficiency.

[0089] It should be noted that the structure and principle of lifting both the left and right tracks 100 and 200 off the ground in the aerial work vehicle are not limited herein, and the aforementioned scissor legs should not be considered a limitation of the present invention. Furthermore, the track tension can also be indirectly determined by motor current. The first tension of the left track 100 can be adjusted based on a first current value until the first current value is within a preset normal current range, and the second tension of the right track 200 can be adjusted based on a second current value until the second current value is within a preset normal current range. Adjusting the track tension based on motor power should not be considered a limitation of the present invention.

[0090] According to the track tension control method of the embodiment of the present invention, when the aerial work vehicle is off the ground, the first current and first voltage values ​​of the left motor, and the second current and second voltage values ​​of the right motor, are all constant, unaffected by factors such as the position of the center of gravity of the vehicle load and ground friction. The first current and first voltage values ​​can be used to determine the first power value of the left motor, while the second current and second voltage values ​​can be used to determine the second power value of the right motor. The first power value can be used to indirectly determine the first tension of the left track 100, while the second power value can be used to indirectly determine the second tension of the right track 200. The first tension of the left track 100 is adjusted based on the first power value until the first power value falls within a preset normal power range, and the second tension of the right track 200 is adjusted based on the second power value until the second power value falls within a preset normal power range. Compared to conventional methods that use through-hole pressure sensors or displacement sensors to detect track tension, the track tension control method of the embodiment of the present invention detects motor current and voltage to determine motor power, thereby indirectly determining track tension. This method is cost-effective and simple to debug. The crawler track tensioning force control method of the embodiment of the present invention can improve the reliability of the motor and extend the service life of the motor, and has low detection costs and a simple debugging process.

[0091] In some embodiments of the present invention, the track tension control method further includes the following steps: if the first power value is within a preset normal power range, generating a first adjustment result signal, the first adjustment result signal indicating that the first tension of the left track 100 has been adjusted to the desired level; and if the second power value is within the preset normal power range, generating a second adjustment result signal, the second adjustment result signal indicating that the second tension of the right track 200 has been adjusted to the desired level. Both the first and second adjustment result signals can be in the form of audio and visual cues, the specific form of which is not limited herein, as long as they provide an indication effect. The first and second adjustment result signals allow timely notification of the adjustment results of the first and second tensions without constantly checking the control system's display screen or other display device.

[0092] In some embodiments of the present invention, the track tension control method further includes the following steps: if the current deviation value is less than the maximum deviation current, generating a deviation adjustment result signal, the deviation adjustment result signal being used to indicate that both the first tension and the second tension have been adjusted to their proper positions, such that the operating states of the left and right motors are substantially consistent. The deviation adjustment result signal can be in the form of an audio or visual prompt, the specific form of which is not limited herein, as long as it provides an indication effect. The deviation adjustment result signal allows timely notification of the adjustment results of the first and second tensions without constantly checking the display screen or other display device of the control system, thereby determining whether the operating states of the left and right motors are substantially consistent.

[0093] The following will be combined Figures 1 to 4 A clear and complete description is given of the aerial work vehicle according to the second embodiment of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments.

[0094] According to a second embodiment of the present invention, an aerial work vehicle comprises a vehicle body, a crawler chassis, a detection device, a tensioning device 300, and a control system. The crawler chassis is disposed at the bottom of the vehicle body and includes a left crawler 100, a right crawler 200, a left motor, a right motor, a left drive device, and a right drive device. The left motor is configured to drive the left drive device to rotate the left crawler 100, and the right motor is configured to drive the right drive device to rotate the right crawler 200. The detection device is configured to detect a first current value and a first voltage value of the left motor, and a second current value and a second voltage value of the right motor. The tensioning device 300 is configured to adjust a first tensioning force of the left crawler 100 and a second tensioning force of the right crawler 200. The control system is electrically connected to the detection device and is configured to execute the crawler tensioning force control method described in the first embodiment.

[0095] The tracks of aerial work vehicles are generally divided into steel tracks and rubber tracks. Figure 1 This is a structural diagram of the steel track chassis. Figure 2 This is a schematic diagram of the rubber track chassis structure. The steel track chassis includes chain rails, rubber track shoes, guide wheels, supporting rollers, carrier sprockets, a tensioning device 300, and a grease nipple; the rubber track chassis includes rubber tracks, drive wheels, guide wheels, supporting rollers, carrier sprockets, a tensioning device 300, and a grease nipple.

[0096] The tensioning device 300 includes a left adjustment device and a right adjustment device. The left adjustment device is used to adjust the first tension of the left track 100, and the right adjustment device is used to adjust the second tension of the right track 200. Both the left and right adjustment devices can be adjusted manually, or they can be automatically adjusted by adding a mechanical structure and electrically connecting to a control system. The specific structure is not limited here. It should be noted that the specific structure and working principle of the steel track chassis and the rubber track chassis, as well as the adjustment principle of the tensioning device 300, are all prior art known to those skilled in the art and are not described in detail here.

[0097] The detection device includes a first current sensor, a second current sensor, a first voltage sensor, and a second voltage sensor. The first current sensor is used to detect a first current value, the second current sensor is used to detect a second current value, the first voltage sensor is used to detect a first voltage value, and the second voltage sensor is used to detect a second voltage value. The first current sensor, the second current sensor, the first voltage sensor, and the second voltage sensor can all be Hall effect sensors or other current sensors, without limitation herein.

[0098] According to an aerial work vehicle according to an embodiment of the present invention, a detection device can detect the first current value and first voltage value of the left motor, and the second current value and second voltage value of the right motor. The control system can implement the track tension control method of the first embodiment described above, indirectly determining the track tension value by motor current or motor power. Thus, the first tension of the left track 100 and the second tension of the right track 200 can be adjusted by the tensioning device 300, ensuring that the first power value of the left motor and the second power value of the right motor are both within a preset normal power range, and that the operating conditions of the left and right motors are substantially consistent, thereby improving motor reliability and extending the service life of the motors. Compared to traditional methods that use through-hole pressure sensors or displacement sensors to detect tension, the aerial work vehicle according to the embodiment of the present invention indirectly determines the track tension value by motor current or motor power, resulting in low detection costs and a simple debugging process. The aerial work vehicle according to the embodiment of the present invention can ensure that the operating conditions of the two motors are substantially consistent, preventing one motor from being subjected to long-term heavy loads and excessive current, thereby improving motor reliability and extending the service life of the motors. Furthermore, the detection costs are low and the debugging process is simple.

[0099] In addition, the control system of the embodiment of the present invention includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor and the memory may be connected via a bus or other means.

[0100] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0101] The non-transient software program and instructions required to implement the track tension control method of the above embodiment are stored in the memory, and when executed by the processor, the track tension control method of the above embodiment is executed.

[0102] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0103] In addition, an embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are executed by a processor or controller, for example, by a processor of the above-mentioned control system, so that the above-mentioned processor can execute the track tension control method in the above-mentioned embodiment.

[0104] Those skilled in the art will appreciate that all or some of the steps and systems in the method disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include computer storage media (or non-transitory media) and communication media (or temporary media). As known to those skilled in the art, the term computer storage media is included in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data) and is volatile and non-volatile, removable, and non-removable. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD), or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage, or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0105] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the scope of the present invention.

Claims

1. A track tension control method, applied to an aerial work vehicle, wherein the aerial work vehicle comprises a left track, a right track, a left motor, and a right motor, wherein the left motor is used to drive the left track to rotate, and the right motor is used to drive the right track to rotate; characterized in that: When the aerial work vehicle is in a walking state, the track tension control method includes the following steps: Acquire a first current value of the left motor and a second current value of the right motor; determining a current deviation value according to the first current value and the second current value; adjusting the first tensioning force of the left track and the second tensioning force of the right track according to the current deviation value and a preset maximum deviation current until the current deviation value is less than the maximum deviation current; The step of adjusting the first tension of the left track and the second tension of the right track according to the current deviation value and a preset maximum deviation current until the current deviation value is less than the maximum deviation current includes the following steps: If the current deviation value is greater than the preset maximum deviation current, and the first current value is greater than the second current value, the second tensioning force of the right track is maintained unchanged and the first tensioning force of the left track is adjusted until the current deviation value is less than the maximum deviation current; When the aerial work vehicle is off the ground, the track tension control method further comprises the following steps: Acquire a first voltage value of the left motor and a second voltage value of the right motor; determining a first power value according to the first current value and the first voltage value; The first tension of the left track is adjusted according to the first power value until the first power value is within a preset normal power range.

2. The crawler track tension control method according to claim 1, characterized in that: The method further includes the following steps: adjusting the first tension of the left track and the second tension of the right track according to the current deviation value and a preset maximum deviation current until the current deviation value is less than the maximum deviation current: If the current deviation value is greater than the preset maximum deviation current and the first current value is less than the second current value, the first tensioning force of the left track is maintained unchanged and the second tensioning force of the right track is adjusted until the current deviation value is less than the maximum deviation current.

3. The crawler track tension control method according to claim 1, characterized in that: When the aerial work vehicle is off the ground, the track tension control method further comprises the following steps: determining a second power value according to the second current value and the second voltage value; The second tensioning force of the right track is adjusted according to the second power value until the second power value is within a preset normal power range.

4. The crawler track tension control method according to claim 1, characterized in that: The track tension control method further comprises the following steps: determining a current adjustment difference between the current deviation value and the maximum deviation current; The current adjustment difference is displayed.

5. A track tension control method, applied to an aerial work vehicle, wherein the aerial work vehicle comprises a left track, a right track, a left motor, and a right motor, wherein the left motor is used to drive the left track to rotate, and the right motor is used to drive the right track to rotate; characterized in that: When the aerial work vehicle is in a walking state, the crawler tension control method according to claim 1 is included; when the aerial work vehicle is in a lifted state, the crawler tension control method includes the following steps: Acquire a first current value and a first voltage value of the left motor, and a second current value and a second voltage value of the right motor; determining a first power value according to the first current value and the first voltage value; adjusting a first tensioning force of the left crawler according to the first power value until the first power value is within a preset normal power range; determining a second power value according to the second current value and the second voltage value; The second tensioning force of the right track is adjusted according to the second power value until the second power value is within a preset normal power range.

6. The crawler track tension control method according to claim 5, characterized in that: The track tension control method further comprises the following steps: If the first power value is within the preset normal power range, a first adjustment result signal is generated, where the first adjustment result signal is used to indicate that the first tensioning force of the left crawler track has been adjusted to the desired position; If the second power value is within the preset normal power range, a second adjustment result signal is generated, and the second adjustment result signal is used to indicate that the second tensioning force of the right crawler track has been adjusted to the correct position.

7. An aerial work vehicle, characterized in that: include: vehicle body; a crawler chassis, disposed at the bottom of the vehicle body, comprising a left crawler, a right crawler, a left motor, a right motor, a left drive device, and a right drive device, wherein the left motor is used to drive the left drive device to rotate the left crawler, and the right motor is used to drive the right drive device to rotate the right crawler; a detection device, configured to detect a first current value and a first voltage value of the left motor, and a second current value and a second voltage value of the right motor; a tensioning device, for adjusting a first tensioning force of the left track and a second tensioning force of the right track; A control system is electrically connected to the detection device, and the control system is used to execute the track tension control method according to any one of claims 1 to 6.

8. A computer-readable storage medium storing computer-executable instructions, characterized in that: The computer executable instructions are used to execute the track tension control method according to any one of claims 1 to 6.

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