Control method and controller for aerial work platform and aerial work platform

Abstract

The present application relates to the field of engineering machinery, and more specifically, to a control method, controller, aerial work platform, and storage medium for an aerial work platform. The control method includes: obtaining a mode switching instruction of the aerial work platform; determining the working posture of the scissor arm; when the mode switching instruction is to switch to the lifting mode and the working posture is in a preset posture, controlling the first cylinder telescopic device and the second cylinder telescopic device to extend so that the front guide wheel contacts the ground and the rear supporting roller extends to increase the wheelbase of the chassis track until the chassis inclination angle of the chassis is within a first preset angle range; when the mode switching instruction is to switch to the walking mode and the working posture is in a preset posture, controlling the first cylinder telescopic device to retract so that the front guide wheel is suspended and the angle between the chassis track and the ground is within a second preset angle range, and controlling the second cylinder telescopic device to retract so that the rear supporting roller is flush with the middle supporting roller.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery, and in particular, to a control method, a controller, an aerial work platform and a storage medium for an aerial work platform. Background Art

[0002] Aerial work platforms are mobile aerial work equipment widely used across various industries for aerial work, equipment inspection and maintenance, and other tasks. As manned engineering equipment, the stability of the aerial work platform during operation directly impacts the safety of the personnel on board. Tracked scissor-type aerial work platforms typically operate on uneven, unpaved surfaces, potholes, and muddy terrain.

[0003] In the existing technology, the crawler walking mechanism generally has front and rear angles, which is not conducive to the stability of lifting work and limits the application of crawler scissor-type aerial work platforms in environments with relatively poor ground conditions and a certain angle of the working surface. Summary of the Invention

[0004] The purpose of this application is to provide a control method, controller, aerial work platform and storage medium for an aerial work platform that ensures the stability of the aerial work platform's lifting operation and facilitates the aerial work platform's walking operation.

[0005] To achieve the above-mentioned objectives, the present application provides a control method for an aerial work platform, the aerial work platform comprising a scissor arm and a chassis, the chassis comprising a front guide wheel, a rear supporting roller, an intermediate supporting roller, a first oil cylinder telescopic device corresponding to the front guide wheel, a second oil cylinder telescopic device corresponding to the rear supporting roller, and a chassis crawler, the control method comprising:

[0006] Obtain the mode switching instruction of the aerial work platform;

[0007] Determine the working posture of the scissor arm;

[0008] When the mode switching instruction is to switch to the lifting mode and the working posture is in the preset posture, the first cylinder telescopic device and the second cylinder telescopic device are controlled to extend, so that the front guide wheel contacts the ground and the rear supporting wheel extends to increase the wheelbase of the chassis track, until the chassis inclination angle of the chassis is within a first preset angle range;

[0009] When the mode switching instruction is to switch to walking mode and the working posture is in the preset posture, the first cylinder telescopic device is controlled to retract so that the front guide wheel is suspended in the air and the angle between the chassis track and the ground is within the second preset angle range, and the second cylinder telescopic device is controlled to retract so that the rear supporting wheel is flush with the middle supporting wheel.

[0010] In an embodiment of the present application, the aerial work platform also includes a first operating handle, and the control method also includes: when the working posture is not in a preset posture, obtaining an adjustment signal sent by the first operating handle; and controlling the aerial work platform to perform a descending operation according to the adjustment signal to make the working posture in a preset posture.

[0011] In an embodiment of the present application, the aerial work platform also includes a first operating handle and a second operating handle, and the control method also includes: obtaining a first action signal and a second action signal emitted by the first operating handle and the second operating handle; when the working posture is not in a preset posture and the first action signal is a lifting signal, no response is made to the first action signal; when the working posture is not in a preset posture and the second action signal is a walking signal, no response is made to the second action signal.

[0012] In an embodiment of the present application, the aerial work platform also includes a first operating handle and a second operating handle, and the control method also includes: when the chassis inclination angle of the chassis is within a first preset angle range, obtaining a first action signal emitted by the first operating handle, the first action signal including a lifting signal and a lowering signal; controlling the aerial work platform to perform a corresponding lifting action or a lowering action according to the first action signal; when the rear supporting rollers are flush with the middle supporting rollers, obtaining a second action signal emitted by the second operating handle; and controlling the aerial work platform to perform a corresponding walking action according to the second action signal.

[0013] In an embodiment of the present application, the aerial work platform also includes a first limit switch installed corresponding to the front guide wheel and a second limit switch installed corresponding to the rear supporting wheel, and the control method also includes: after obtaining the first action signal emitted by the first operating handle, obtaining the working status of the first limit switch and the second limit switch; when the working status of the first limit switch and the second limit switch are both in the triggered state, no response is made to the first action signal; wherein, when the front guide wheel retracts to the first preset position, the first limit switch is in the triggered state, and when the rear supporting wheel retracts to the second preset position, the second limit switch is in the triggered state.

[0014] In an embodiment of the present application, when the working posture is not in the preset posture, no response is given to the mode switching instruction, and an alarm prompt is given.

[0015] A second aspect of the present application provides a controller configured to execute any one of the above control methods for an aerial work platform.

[0016] The third aspect of the present application provides an aerial work platform, comprising:

[0017] Scissor arms are used to support the aerial work platform to ascend or descend;

[0018] The chassis includes front guide wheels, rear supporting rollers, intermediate supporting rollers, a first oil cylinder telescopic device corresponding to the front guide wheels, a second oil cylinder telescopic device corresponding to the rear supporting rollers, and chassis tracks, which are used to support and move the upper part of the aerial work platform; and the above-mentioned controller.

[0019] In an embodiment of the present application, the aerial work platform also includes: a first operating handle, used to send a lifting or lowering action signal according to the handle action; an inclination sensor, used to detect the chassis inclination of the chassis; a first limit switch, used to detect the position of the front guide wheel; and a second limit switch, used to detect the position of the rear supporting wheel.

[0020] The above technical solution, when the aerial work platform enters the lifting mode and the working posture of the scissor arm of the aerial work platform is in a preset posture, controls the first and second hydraulic cylinder telescopic devices to adjust the positions of the front guide wheels and rear supporting rollers, thereby maintaining the aerial work platform in a stable state to ensure the safety of the entire machine and the operator. When the aerial work platform enters the walking mode and the working posture of the scissor arm of the aerial work platform is in a preset posture, controls the first and second hydraulic cylinder telescopic devices to adjust the positions of the front guide wheels and rear supporting rollers, thereby placing the aerial work platform in a state that is conducive to climbing slopes, climbing bumps, and passing obstacles, and reduces walking and steering resistance, thereby improving the environmental adaptability of the equipment and helping to expand the application scenarios of the equipment.

[0021] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the present application but do not constitute a limitation of the present application. In the accompanying drawings:

[0023] Figure 1 The following schematically shows a flow chart of a control method for an aerial work platform according to an embodiment of the present application;

[0024] Figure 2 A schematic diagram of an example structure of an aerial work platform according to an embodiment of the present application is shown;

[0025] Figure 3 Figure A schematically shows an example of a working posture of an aerial work platform according to an embodiment of the present application;

[0026] Figure 4 Figure B schematically shows an example of a working posture of an aerial work platform according to an embodiment of the present application;

[0027] Figure 5FIG. A schematically shows an example of a working posture of a chassis of an aerial work platform according to an embodiment of the present application;

[0028] Figure 6 FIG. B schematically shows an example of a working posture of a chassis of an aerial work platform according to an embodiment of the present application;

[0029] Figure 7 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0030] Description of Reference Numerals

[0031] 1. Working platform; 2. Scissor arm; 3. Chassis; 4. First cylinder telescopic device; 5. Second cylinder telescopic device; 6. Front guide wheel; 7. Rear supporting roller; 8. Guide rail for wheel telescopic operation; 9. Track; 10. Intermediate supporting roller. DETAILED DESCRIPTION

[0032] The following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended to limit the present application.

[0033] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0034] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0035] Figure 1 The following schematically shows a flow chart of a control method for an aerial work platform according to an embodiment of the present application. Figure 1 As shown, in one embodiment of the present application, a control method for an aerial work platform is provided, comprising the following steps:

[0036] Step 101, obtaining a mode switching instruction of the aerial work platform;

[0037] Step 102, determining the working posture of the scissor arm;

[0038] Step 103: When the mode switching instruction is to switch to the lifting mode and the working posture is in the preset posture, the first cylinder telescopic device and the second cylinder telescopic device are controlled to extend, so that the front guide wheel contacts the ground and the rear supporting wheel extends to increase the wheelbase of the chassis track, until the chassis inclination angle is within a first preset angle range;

[0039] Step 104, when the mode switching instruction is to switch to the walking mode and the working posture is in the preset posture, the first cylinder telescopic device is controlled to retract so that the front guide wheel is suspended and the angle between the chassis track and the ground is within the second preset angle range, and the second cylinder telescopic device is controlled to retract so that the rear supporting wheel is flush with the middle supporting wheel.

[0040] Aerial work platforms can be used as Figure 2 The figure shows a work platform 1, a scissor arm 2, and a chassis 3. The chassis includes front guide wheels, rear supporting rollers, intermediate supporting rollers, a first hydraulic cylinder telescopic device corresponding to the front guide wheels, a second hydraulic cylinder telescopic device corresponding to the rear supporting rollers, and chassis tracks. A controller controls the position of the front guide wheels via the first hydraulic cylinder telescopic device and the rear supporting rollers via the second hydraulic cylinder telescopic device. The front guide wheels and rear supporting rollers affect the contact area between the chassis tracks and the ground.

[0041] The controller can obtain a mode switching instruction for the aerial work platform and detect the working posture of the scissor arms of the aerial work platform. The controller can set a preset posture for the scissor arms, which can be a posture that ensures the aerial work platform is in a stable state, for example, the stowed posture of the aerial work platform. When the controller determines that the mode switching instruction is to switch the aerial work platform to the lifting mode, and the working posture indicator of the scissor arms is in the preset posture set by the controller, the controller can control the first cylinder extension device and the second cylinder extension device to extend to control the front guide wheels and rear supporting rollers, so that the front guide wheels contact the ground and the rear supporting rollers extend to increase the wheelbase of the chassis crawler until the chassis inclination angle of the aerial work platform chassis is within a first preset angle range. By controlling the front guide wheels and rear supporting rollers, the controller ensures the stability of the aerial work platform in the lifting mode by ensuring the chassis inclination angle of the aerial work platform chassis is within the first preset angle range.

[0042] When the controller obtains a mode switching instruction for the aerial work platform to switch to walking mode, and the working posture is in a preset posture, the controller can control the retraction of the first cylinder telescopic device to control the front guide wheel so that the front guide wheel is suspended and the angle between the chassis track and the ground is within a second preset angle range, where the second preset angle range can be set according to the road surface angle. The controller can also control the retraction of the second cylinder telescopic device to control the rear supporting rollers so that the rear supporting rollers are flush with the middle supporting rollers. By controlling the front guide wheels and rear supporting rollers, the controller controls the angle between the chassis track of the aerial work platform and the ground within the second preset angle range, ensuring that in walking mode, when the aerial work platform encounters harsh road conditions, the controller changes the second preset angle range so that the aerial work platform can climb slopes, climb bumps, and pass obstacles, and reduce walking steering resistance, thereby improving the environmental adaptability of the equipment and helping to expand the application scenarios of the equipment.

[0043] In one embodiment, the aerial work platform also includes a first operating handle, and the control method also includes: when the working posture is not in a preset posture, obtaining an adjustment signal sent by the first operating handle; and controlling the aerial work platform to perform a descending operation according to the adjustment signal to make the working posture in the preset posture.

[0044] The aerial work platform also includes a first operating handle, which can be used to control the aerial work platform to perform an ascending or descending operation. When the controller determines that the working posture is not in the preset posture set by the processor, the processor can obtain an adjustment signal sent by the first operating handle, and the adjustment signal is a descending signal sent by the first operating handle. The controller can control the aerial work platform to perform a descending operation according to the adjustment signal, so that the working posture of the aerial work platform is in the preset posture set by the controller. For example, assuming that the preset posture set by the controller is Figure 3 The working posture shown, and the controller detects that the working posture of the scissor arm of the current aerial work platform is Figure 4 As shown, at this time, the processor can determine that the scissor arm of the aerial work platform is not in the preset posture, and the controller can obtain the adjustment signal sent by the first operating handle to control the aerial work platform to perform a descending operation, so that the scissor arm of the aerial work platform is lowered from Figure 4 The working posture shown is reduced to Figure 3 Working posture shown.

[0045] In one embodiment, the aerial work platform also includes a first operating handle and a second operating handle, and the control method also includes: obtaining a first action signal and a second action signal emitted by the first operating handle and the second operating handle; when the working posture is not in a preset posture and the first action signal is a lifting signal, not responding to the first action signal; when the working posture is not in a preset posture and the second action signal is a walking signal, not responding to the second action signal.

[0046] The aerial work platform also includes a first operating handle and a second operating handle, which can respectively send a first action signal and a second action signal to the controller. The first action signal sent by the first operating handle is used to control the lifting or lowering of the aerial work platform, and the second action signal sent by the second operating handle is used to notify the aerial work platform to walk. When the controller determines that the working posture of the aerial work platform is not in the preset posture, if the first action signal received by the first operator is obtained, and the first action signal is a lifting signal, the controller will not respond to the first action signal. When the controller determines that the working posture is not in the preset posture, and the second action signal is a walking signal, the controller will not respond to the second action signal. That is to say, when the working posture of the aerial work platform is not in the preset posture, the controller will not respond to the above signals when it receives the lifting signal sent by the first operating handle and the walking signal sent by the second operating handle.

[0047] In one embodiment, the aerial work platform further includes a first operating handle and a second operating handle, and the control method further includes: when the chassis inclination angle of the chassis is within a first preset angle range, obtaining a first action signal emitted by the first operating handle, the first action signal including a lifting signal and a lowering signal; controlling the aerial work platform to perform a corresponding lifting action or a lowering action according to the first action signal; when the rear supporting rollers are flush with the middle supporting rollers, obtaining a second action signal emitted by the second operating handle; and controlling the aerial work platform to perform a corresponding walking action according to the second action signal.

[0048] When the controller determines that the aerial work platform is in lifting mode and controls the first and second hydraulic cylinder extension devices to bring the chassis inclination angle within a first preset angle range, the controller can obtain a first action signal sent by the first operating handle. The first action signal may include a lifting signal and a lowering signal. The controller can control the aerial work platform to perform a corresponding lifting action or lowering action based on the first action signal. When the controller determines that the aerial work platform is in walking mode and controls the first and second hydraulic cylinder extension devices to align the rear supporting rollers with the intermediate supporting rollers, the controller can obtain a second action signal sent by the second operating handle and control the aerial work platform to perform a corresponding walking action based on the second action signal.

[0049] In one embodiment, the aerial work platform also includes a first limit switch installed corresponding to the front guide wheel and a second limit switch installed corresponding to the rear supporting wheel. The control method also includes: after obtaining the first action signal emitted by the first operating handle, obtaining the working status of the first limit switch and the second limit switch; when the working status of the first limit switch and the second limit switch are both in the triggered state, no response is made to the first action signal; wherein, when the front guide wheel retracts to the first preset position, the first limit switch is in the triggered state, and when the rear supporting wheel retracts to the second preset position, the second limit switch is in the triggered state.

[0050] The aerial work platform also includes a first limit switch installed corresponding to the front guide wheel and a second limit switch installed corresponding to the rear roller. The first limit switch can be used to detect whether the front guide wheel has retracted to its full position, and the second limit switch can be used to detect whether the rear roller has retracted to its full position. After the controller receives a first action signal from the first operating handle, the controller can obtain the operating status of the first limit switch and the second limit switch. When the first limit switch is in a triggered state, it indicates that the front guide wheel has retracted to a first preset position. The processor can set the position of the front guide wheel at the full position as the first preset position. When the second limit switch is in a triggered state, it indicates that the rear roller has retracted to a second preset position. The processor can set the position of the rear roller at the full position as the second preset position. If the controller determines that both the first limit switch and the second limit switch are in a triggered state, that is, both the front guide wheel and the rear roller are retracted, it indicates that the aerial work platform is not sufficiently stable. In this case, the controller does not respond to the first action signal, and the aerial work platform cannot perform lifting or lowering operations.

[0051] In one embodiment, the control method further includes: when the working posture is not in a preset posture, not responding to the mode switching instruction and issuing an alarm prompt.

[0052] When the controller obtains the mode switching instruction of the aerial work platform, it can detect the working posture of the scissor arm of the aerial work platform. If the controller determines that the working posture of the scissor arm is not in the preset posture, the controller may not respond to the mode switching instruction and may issue an alarm prompt.

[0053] In one embodiment, a controller is provided, which is configured to implement any one of the above control methods for an aerial work platform.

[0054] The controller can obtain the mode switching instruction of the aerial work platform. After obtaining the mode switching instruction, the controller can detect the working posture of the scissor arm of the aerial work platform. The controller can set the preset posture of the scissor arm. The preset posture can be a posture that ensures that the aerial work platform is in a stable state, for example Figure 3 If the controller determines that the working posture of the scissor arm is not in the preset posture, the controller may not respond to the mode switching instruction and issue an alarm.

[0055] When the controller determines that the scissor arm of the aerial work platform is not in a preset posture, the processor can obtain an adjustment signal sent by the first operating handle, where the adjustment signal is a descending signal sent by the first operating handle. The controller can then control the aerial work platform to perform a descending operation based on the adjustment signal, so that the working posture of the aerial work platform is in the preset posture set by the controller. The first operating handle can send multiple first action signals, which may include a lifting signal and a lowering signal. When the scissor arm of the aerial work platform is not in the preset posture, the signal sent by the first operating handle is a lifting signal, and the controller does not respond to the first action signal. If the signal sent by the first operating handle is a lowering signal, the lowering signal is also an adjustment signal sent by the first operating handle and can be used to adjust the preset posture of the scissor arm. In this case, the controller can respond to the lowering signal to adjust the working posture of the scissor arm. The aerial work platform also includes a second operating handle for controlling travel. When the scissor arm of the aerial work platform is not in the preset posture, the controller does not respond to any second action signals sent by the second operating handle.

[0056] When the controller determines that the mode switching instruction is to switch the aerial work platform to the lifting mode, and the scissor arm's working attitude indicator is in the preset attitude set by the controller, the controller can control the first cylinder telescopic device and the second cylinder telescopic device to extend, and the first cylinder telescopic device and the second cylinder telescopic device can control the corresponding telescopic cylinders to extend and retract to control the front guide wheel and the rear supporting wheel. Figure 5As shown, the aerial work platform includes a first hydraulic cylinder telescopic device 4, a second hydraulic cylinder telescopic device 5, a front guide wheel 6, a rear supporting roller 7, a guide rail 8 for allowing the wheels to perform telescopic operations, and a crawler track 9. The controller can control the telescopic cylinder included in the first telescopic device 4 to extend to control the front guide wheel 5, so that the front guide wheel can be lowered along the guide rail 8 until it contacts the ground. The controller can also control the telescopic cylinder included in the second telescopic device 5 to extend to lower the rear supporting roller 7 to increase the wheelbase of the chassis crawler track 9 (i.e., the distance between the front guide wheel 6 and the rear supporting roller 7) until the chassis inclination angle of the aerial work platform chassis is within a first preset angle range.

[0057] The aerial work platform also includes a first limit switch mounted corresponding to the front guide wheel and a second limit switch mounted corresponding to the rear roller. The first limit switch can be used to detect whether the front guide wheel has retracted to its full position, and the second limit switch can be used to detect whether the rear roller has retracted to its full position. When the first limit switch is triggered, indicating that the front guide wheel has retracted to a first preset position, the processor can set the position where the front guide wheel has retracted to its full position as the first preset position. When the second limit switch is triggered, indicating that the rear roller has retracted to a second preset position, the processor can set the position where the rear roller has retracted to its full position as the second preset position. When it is determined that the chassis inclination angle of the chassis of the aerial work platform is within the first preset angle range, the controller can obtain the first action signal sent by the first operating handle. The first action signal may include a lifting signal and a descending signal. After the controller obtains the first action signal sent by the first operating handle, the controller can obtain the working status of the first limit switch and the second limit switch. When the controller determines that the working status of the first limit switch and / or the second limit switch is in the triggered state, that is, at this time, the front guide wheel and / or the rear supporting wheel are in the retracted position, that is, the front guide wheel and / or the rear supporting wheel of the aerial work platform are not in the Figure 5 The state shown indicates that the aerial work platform is not sufficiently stable. At this time, the controller does not respond to the first action signal, and the aerial work platform cannot perform the lifting or lowering operation. If the first limit switch and the second limit switch are not triggered, the controller can control the aerial work platform to perform the corresponding lifting or lowering operation according to the first action signal.

[0058] When the controller determines that the mode switching instruction is to switch the aerial work platform to the walking mode, and the working attitude indicator of the scissor arm is in the preset attitude set by the controller, Figure 6As shown, the aerial work platform includes a first hydraulic cylinder telescopic device 4, a second hydraulic cylinder telescopic device 5, a front guide wheel 6, a rear roller 7, a guide rail 8 for wheel telescopic operation, a crawler track 9, and an intermediate roller 10. Each telescopic device includes a telescopic cylinder and a guide rail 8. The telescopic cylinder can be controlled to extend or retract the front guide wheel 6 or the rear roller 7 along the guide rail. The telescopic cylinder can be bolted to the vehicle frame, with the cylinder rod, front guide wheel mounting bracket, and roller mounting bracket connected to ensure that the cylinder output force is evenly applied to the front guide wheel and rollers. A controller can control the retraction of the telescopic cylinder included in the first hydraulic cylinder telescopic device 4 to control the front guide wheel 6, suspending it in the air and ensuring that the angle between the crawler track 9 and the ground is within a second preset angle range. The controller can also control the retraction of the second hydraulic cylinder telescopic device 5 to control the rear roller 7, aligning it with the intermediate roller 10. When it is determined that the rear supporting roller 7 is flush with the middle supporting roller 10, the controller can obtain the second action signal sent by the second operating handle, and control the aerial work platform to perform the corresponding walking action according to the second action signal.

[0059] In the above technical solution, the controller controls the front guide wheels and rear supporting rollers so that the chassis inclination angle of the aerial work platform chassis is within the first preset angle range, thereby ensuring the stability of the aerial work platform in the lifting mode. The controller controls the front guide wheels and rear supporting rollers so that the angle between the chassis track of the aerial work platform and the ground is within the second preset angle range. This ensures that in the walking mode, when the aerial work platform encounters harsh road conditions, the controller changes the second preset angle range so that the aerial work platform can climb slopes, climb bumps, and pass obstacles, and reduce walking and steering resistance, thereby improving the environmental adaptability of the equipment and helping to expand the application scenarios of the equipment. Furthermore, the controller needs to determine that the aerial work platform remains stable before performing lifting or lowering operations, thereby ensuring the safety of the operator and the aerial work platform to the greatest extent.

[0060] In one embodiment, an aerial work platform is provided, comprising: a scissor arm for supporting the aerial work platform for ascent or descent; a chassis, comprising a front guide wheel, a rear supporting roller, an intermediate supporting roller, a first oil cylinder telescopic device corresponding to the front guide wheel, a second oil cylinder telescopic device corresponding to the rear supporting roller, and a chassis track, for supporting and moving the upper part of the aerial work platform; and the above-mentioned controller.

[0061] In one embodiment, the aerial work platform further includes: a first operating handle for sending a lifting or lowering action signal according to the handle action; an inclination sensor for detecting the chassis inclination of the chassis; a first limit switch for detecting the position of the front guide wheel; and a second limit switch for detecting the position of the rear supporting wheel.

[0062] The memory may include non-permanent memory in a computer-readable medium, 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.

[0063] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a controller A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the controller A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an 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 in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store relevant data of the construction machinery and relevant data input by the operator. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the controller A01, a control method for an aerial work platform is implemented.

[0064] Figure 1 FIG. 1 is a flow chart of a control method for an aerial work platform in one embodiment. It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed 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 part of the sub-steps or stages of other steps.

[0065] An embodiment of the present application provides a device, which includes a controller, a memory, and a program stored in the memory and executable on the controller. When the controller executes the program, the following steps are implemented: obtaining a mode switching instruction of the aerial work platform; determining the working posture of the scissor arm; when the mode switching instruction is to switch to the lifting mode and the working posture is in a preset posture, controlling the first cylinder telescopic device and the second cylinder telescopic device to extend so that the front guide wheel contacts the ground and the rear supporting roller extends to increase the wheelbase of the chassis track until the chassis inclination angle of the chassis is within a first preset angle range; when the mode switching instruction is to switch to the walking mode and the working posture is in a preset posture, controlling the first cylinder telescopic device to retract so that the front guide wheel is suspended and the angle between the chassis track and the ground is within a second preset angle range, and controlling the second cylinder telescopic device to retract so that the rear supporting roller is flush with the middle supporting roller.

[0066] In one embodiment, the aerial work platform also includes a first operating handle, and the control method also includes: when the working posture is not in a preset posture, obtaining an adjustment signal sent by the first operating handle; and controlling the aerial work platform to perform a descending operation according to the adjustment signal to make the working posture in the preset posture.

[0067] In one embodiment, the aerial work platform also includes a first operating handle and a second operating handle, and the control method also includes: obtaining a first action signal and a second action signal emitted by the first operating handle and the second operating handle; when the working posture is not in a preset posture and the first action signal is a lifting signal, not responding to the first action signal; when the working posture is not in a preset posture and the second action signal is a walking signal, not responding to the second action signal.

[0068] In one embodiment, the aerial work platform further includes a first operating handle and a second operating handle, and the control method further includes: when the chassis inclination angle of the chassis is within a first preset angle range, obtaining a first action signal emitted by the first operating handle, the first action signal including a lifting signal and a lowering signal; controlling the aerial work platform to perform a corresponding lifting action or a lowering action according to the first action signal; when the rear supporting rollers are flush with the middle supporting rollers, obtaining a second action signal emitted by the second operating handle; and controlling the aerial work platform to perform a corresponding walking action according to the second action signal.

[0069] In one embodiment, the aerial work platform also includes a first limit switch installed corresponding to the front guide wheel and a second limit switch installed corresponding to the rear supporting wheel. The control method also includes: after obtaining the first action signal emitted by the first operating handle, obtaining the working status of the first limit switch and the second limit switch; when the working status of the first limit switch and the second limit switch are both in the triggered state, no response is made to the first action signal; wherein, when the front guide wheel retracts to the first preset position, the first limit switch is in the triggered state, and when the rear supporting wheel retracts to the second preset position, the second limit switch is in the triggered state.

[0070] In one embodiment, when the working posture is not in the preset posture, no response is given to the mode switching instruction, and an alarm prompt is given.

[0071] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0072] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a controller of a general-purpose computer, a special-purpose computer, an embedded controller, or other programmable data processing device to produce a machine, so that the instructions executed by the controller of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0073] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0074] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0075] In a typical configuration, a computing device includes one or more controllers (CPUs), input / output interfaces, network interfaces, and memory.

[0076] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0077] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules 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 technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0078] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0079] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A control method for an aerial work platform, characterized in that: The aerial work platform includes a scissor arm, a chassis, a first operating handle, a first limit switch installed corresponding to the front guide wheel, and a second limit switch installed corresponding to the rear supporting roller. The chassis includes the front guide wheel, the rear supporting roller, the intermediate supporting roller, a first oil cylinder telescopic device corresponding to the front guide wheel, a second oil cylinder telescopic device corresponding to the rear supporting roller, and a chassis crawler. The control method includes: Obtaining a mode switching instruction of the aerial work platform; Determining the working posture of the scissor arm; When the mode switching instruction is to switch to the lifting mode and the working posture is in a preset posture, the first cylinder extension device and the second cylinder extension device are controlled to extend, so that the front guide wheel contacts the ground and the rear supporting wheel extends to increase the wheelbase of the chassis track, until the chassis inclination angle of the chassis is within a first preset angle range; When the mode switching instruction is to switch to the walking mode and the working posture is in the preset posture, the first oil cylinder telescopic device is controlled to retract so that the front guide wheel is suspended in the air and the angle between the chassis crawler and the ground is within a second preset angle range, and the second oil cylinder telescopic device is controlled to retract so that the rear supporting roller is flush with the middle supporting roller; When the aerial work platform is in a lifting mode and the chassis inclination angle of the chassis is within a first preset angle range, obtaining a first action signal emitted by the first operating handle, the first action signal including a lifting signal and a lowering signal; Controlling the aerial work platform to perform a corresponding lifting action or lowering action according to the first action signal, or obtaining the working status of the first limit switch and the second limit switch; When the working states of the first limit switch and the second limit switch are both in the triggered state, no response is made to the first action signal; Wherein, when the front guide wheel retracts to the first preset position, the first limit switch is in a triggered state, and when the rear supporting wheel retracts to the second preset position, the second limit switch is in a triggered state.

2. The control method for an aerial work platform according to claim 1, characterized in that: The control method further includes: When the working posture is not in the preset posture, obtaining an adjustment signal sent by the first operating handle; The aerial work platform is controlled to perform a descending operation according to the adjustment signal so that the working posture is in the preset posture.

3. The control method for an aerial work platform according to claim 1, characterized in that: The aerial work platform further includes a second operating handle, and the control method further includes: Acquire a first action signal and a second action signal sent by the first operating handle and the second operating handle; When the working posture is not in the preset posture and the first action signal is a lifting signal, no response is made to the first action signal; When the working posture is not in the preset posture and the second motion signal is a walking signal, no response is made to the second motion signal.

4. The control method for an aerial work platform according to claim 1, characterized in that: The aerial work platform further includes a second operating handle, and the control method further includes: When the rear supporting roller is flush with the middle supporting roller, obtaining a second action signal sent by the second operating handle; The aerial work platform is controlled to perform a corresponding walking action according to the second action signal.

5. The control method for an aerial work platform according to claim 1, characterized in that: The control method further includes: When the working posture is not in the preset posture, no response is given to the mode switching instruction, and an alarm prompt is given.

6. A controller, characterized in that: The method is configured to execute the control method for an aerial work platform according to any one of claims 1 to 5.

7. An aerial work platform, characterized in that: include: Scissor arms are used to support the aerial work platform to ascend or descend; The chassis includes a front guide wheel, a rear supporting roller, an intermediate supporting roller, a first oil cylinder telescopic device corresponding to the front guide wheel, a second oil cylinder telescopic device corresponding to the rear supporting roller, and a chassis crawler, which is used to support the upper part of the aerial work platform and allow it to move; A first operating handle, used to send a lifting or lowering action signal according to the handle movement; An inclination sensor for detecting an inclination angle of the chassis; a first limit switch, configured to detect the position of the front guide wheel; A second limit switch, configured to detect the position of the rear track wheel; and The controller according to claim 6.

8. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the control method for an aerial work platform according to any one of claims 1 to 5.

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