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

Abstract

The application relates to the field of engineering machinery, in particular to a control method and controller for an aerial work platform, the aerial work platform and a storage medium. The method comprises the following steps: in the case of determining that the aerial work platform is in a storage mode, acquiring the working state of each support leg and the current position of a rotary table; in the case of determining that the working state of all the support legs is a retracted state and the current position is within a preset range, acquiring a control instruction for the aerial work platform; in the case of the control instruction being a one-key vehicle-storing instruction, controlling a plurality of execution components of the aerial work platform to respectively perform corresponding first actions in a first preset sequence, so as to control the aerial work platform to complete an automatic vehicle-storing operation; and in the case of the control instruction being a one-key unfolding instruction, controlling the plurality of execution components of the aerial work platform to respectively perform corresponding second actions in a second preset sequence, so as to control the aerial work platform to complete an automatic unfolding operation.

Description

Technical Field

[0001] This application relates to the field of construction machinery, and more specifically, to a control method, controller, aerial work platform, and storage medium for aerial work platforms. Background Technology

[0002] Boom-lift aerial work platforms are mainly used in industries such as construction, steel structure, stadiums, and rental. As a type of non-road machinery and a type of engineering rental equipment for carrying personnel, boom-lift aerial work platforms require frequent vehicle transfers. Due to the large overall size of high-meter boom-lift aerial work platforms, factors such as transportation size, transportation costs, and applicable transport trucks have become key concerns for equipment owners.

[0003] In the existing technology, when transporting boom lifts, manual adjustment is used to swing the boom of the lift to the side and fold it into a transport state, which facilitates vehicle transportation. However, since the entire process is manual, the labor cost is high, and the swinging of the boom to the side exerts excessive torsional force on the boom joint, which can easily lead to danger during transportation. Summary of the Invention

[0004] The purpose of this application is to provide a control method, controller, aerial work platform, and storage medium for automatically completing the vehicle recovery operation of an aerial work platform.

[0005] To achieve the above objectives, this application provides a control method for an aerial work platform. The aerial work platform includes a chassis assembly and a turntable. The chassis assembly includes multiple outriggers. The control method includes:

[0006] When the aerial work platform is in the storage mode, the working status of each outrigger and the current position of the turntable are obtained. The storage mode refers to the working condition mode in which the aerial work platform is controlled to swing into the transportation state before transportation.

[0007] Once it is confirmed that all outriggers are in the retracted state and the current position is within the preset range, control commands for the aerial work platform are obtained.

[0008] When the control command is a one-click retraction command, the multiple execution components of the aerial work platform are controlled to execute their corresponding first actions in a first preset order, so as to control the aerial work platform to complete the automatic retraction operation.

[0009] When the control command is a one-click deployment command, the multiple execution components of the aerial work platform are controlled to execute their corresponding second actions in a second preset order, so as to control the aerial work platform to complete the automatic deployment operation.

[0010] In the embodiments of this application, the aerial work platform includes a work platform assembly, a main boom, a boom, a main boom luffing cylinder, a boom telescopic cylinder, a main boom telescopic cylinder, a boom luffing cylinder, a boom leveling cylinder, and a main boom leveling cylinder. When the control command is a one-button retraction command, controlling multiple execution components of the aerial work platform to execute corresponding first actions in a first preset order to control the aerial work platform to complete the automatic retraction operation includes: controlling the boom telescopic cylinder to perform a telescopic action so that the first telescopic length of the boom is less than or equal to a first preset length; controlling the main boom luffing cylinder to perform a raising or lowering action so that the first luffing angle of the main boom is at a first... Within the preset angle range; control the main boom extension cylinder to perform the extension action, so that the second extension length of the main boom is less than or equal to the second preset length; control the boom luffing cylinder to perform the luffing action, so that the second luffing angle of the boom is within the second preset angle range; control the boom leveling cylinder to perform the lowering action, so that the platform angle of the work platform assembly is within the third preset angle range; control the main boom leveling cylinder to perform the lowering action, so that the boom seat angle of the boom base is within the fourth preset angle range; control the main boom luffing cylinder to perform the lowering action until the first luffing angle of the main boom is within the fifth preset angle range, so that the aerial work platform completes the automatic retraction operation.

[0011] In the embodiments of this application, when the control command is a one-click deployment command, controlling multiple execution components to execute corresponding second actions in a second preset order to control the aerial work platform to complete the automatic deployment operation further includes: when the control command is a one-click deployment command, obtaining the angle of the boom mount and the platform angle of the work platform assembly; when the boom mount angle is within a fourth preset angle range and the platform angle is within a third preset angle range, controlling multiple execution components to execute corresponding second actions in a second preset order to control the aerial work platform to complete the automatic deployment operation.

[0012] In the embodiments of this application, when the control command is a one-click deployment command, controlling multiple execution components of the aerial work platform to execute corresponding second actions in a second preset order to control the aerial work platform to complete the automatic deployment operation includes: controlling the main boom luffing cylinder to perform a raising or lowering action so that the first luffing angle of the main boom is within a sixth preset angle range; controlling the main boom leveling cylinder to perform a raising action so that the angle of the boom seat is within a seventh preset angle range; controlling the boom leveling cylinder to perform a raising action until the platform angle of the work platform assembly is within an eighth preset angle range; controlling the boom luffing cylinder to perform a raising or lowering action until the second luffing angle of the boom is within a ninth preset angle range; and controlling the main boom luffing cylinder to perform a lowering action until the first luffing angle of the main boom is within a fifth preset angle range, so that the aerial work platform completes the automatic deployment operation.

[0013] In the embodiments of this application, the first telescopic length of the boom is obtained by a boom length sensor, and the boom telescopic cylinder is controlled according to the first telescopic length; the first luffing angle of the main boom is obtained by a main boom angle sensor, and the main boom luffing cylinder is controlled according to the first luffing angle; the second telescopic length of the main boom is obtained by a main boom length sensor, and the boom telescopic cylinder is controlled according to the second telescopic length; the second luffing angle of the boom is obtained by a boom angle sensor, and the boom luffing cylinder is controlled according to the second luffing angle; the platform angle of the work platform assembly is obtained by a platform angle sensor, and the boom leveling cylinder is controlled according to the platform angle; the boom seat angle of the boom seat is obtained by a boom seat angle sensor, and the main boom leveling head cylinder is controlled according to the boom seat angle.

[0014] In the embodiments of this application, the main boom leveling valve group controls the main boom leveling cylinder to perform raising or lowering actions; the boom luffing valve group controls the boom luffing cylinder to perform raising or lowering actions; the boom leveling valve group controls the boom leveling cylinder to perform raising or lowering actions; the main boom luffing valve group controls the main boom luffing cylinder to perform raising or lowering actions; the main boom telescopic valve group controls the main boom telescopic cylinder to perform extension or retraction actions; and the boom telescopic valve group controls the boom telescopic cylinder to perform extension or retraction actions.

[0015] The second aspect of this application provides a controller configured to perform any of the above-described control methods for aerial work platforms.

[0016] A third aspect of this application provides an aerial work platform, comprising:

[0017] The chassis assembly includes multiple outriggers for supporting the aerial work platform.

[0018] A turntable, used to control the rotation of the upper part of the aerial work platform; and the aforementioned controller.

[0019] In embodiments of this application, the aerial work platform further includes: a main boom; a boom; a work platform assembly for carrying personnel or objects; a boom mount; multiple sensors, including a boom angle sensor, a main boom angle sensor, a boom mount angle sensor, a platform angle sensor, a main boom length sensor, and a boom length sensor; multiple hydraulic cylinders, including a main boom luffing cylinder, a main boom telescopic cylinder, a boom luffing cylinder, a boom telescopic cylinder, a main boom leveling cylinder, and a boom leveling cylinder; and multiple valve assemblies, including a main boom leveling valve assembly, a boom luffing valve assembly, a boom leveling valve assembly, a boom luffing valve assembly, a main boom telescopic valve assembly, and a boom telescopic valve assembly.

[0020] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a controller, cause the controller to be configured to perform a control method for an aerial work platform according to any one of the preceding claims.

[0021] The above technical solution, when the aerial work platform is in storage mode, controls the execution components to perform corresponding actions according to a preset sequence based on received control commands for the aerial work platform. This allows the aerial work platform to automatically retract, effectively shortening the vehicle length during transportation and reducing transportation costs. Simultaneously, the automatic control of the execution components according to the preset sequence reduces labor costs.

[0022] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the present application and form part of the specification. They are used together with the following detailed description to explain the present application, but do not constitute a limitation thereof. In the drawings:

[0024] Figure 1 A schematic flowchart of a control method for an aerial work platform according to an embodiment of this application is shown.

[0025] Figure 2 A schematic diagram of the structure of an aerial work platform according to an embodiment of this application is shown.

[0026] Figure 3 A schematic diagram A of the working posture of an aerial work platform according to an embodiment of this application is shown.

[0027] Figure 4 A schematic diagram (B) illustrates the working posture of an aerial work platform according to an embodiment of this application.

[0028] Figure 5 A schematic diagram C illustrates the working posture of an aerial work platform according to an embodiment of this application;

[0029] Figure 6 A schematic diagram D illustrating the working posture of an aerial work platform according to an embodiment of this application is shown.

[0030] Figure 7 A schematic diagram E illustrates the working posture of an aerial work platform according to an embodiment of this application;

[0031] Figure 8 A schematic diagram F illustrating the working posture of an aerial work platform according to an embodiment of this application is shown.

[0032] Figure 9 A schematic diagram G illustrates the working posture of an aerial work platform according to an embodiment of this application;

[0033] Figure 10 A schematic diagram H of the working posture of an aerial work platform according to an embodiment of this application is shown.

[0034] Figure 11 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0035] Explanation of reference numerals in the attached figures

[0036] 1. Main boom; 2. Main boom angle sensor; 3. Main boom leveling cylinder; 4. Main boom leveling auxiliary connecting rod; 5. Main boom leveling main connecting rod; 6. Flying boom mount angle sensor; 7. Flying boom mount; 8. Flying boom; 9. Flying boom luffing cylinder; 10. Flying boom leveling cylinder; 11. Flying boom leveling main connecting rod; 12. Flying boom leveling auxiliary connecting rod; 13. Platform angle sensor; 14. Work platform assembly; 15. Chassis assembly; 16. Main boom luffing cylinder. Detailed Implementation

[0037] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0038] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0039] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0040] Figure 1 A schematic flowchart illustrating a control method for an aerial work platform according to an embodiment of this application is shown. Figure 1As shown in one embodiment of this application, a control method for an aerial work platform is provided, comprising the following steps:

[0041] Step 101: When it is determined that the aerial work platform is in the storage mode, obtain the working status of each outrigger and the current position of the turntable. The storage mode refers to the working mode in which the aerial work platform is controlled to swing into the transportation state before transportation.

[0042] Step 102: After confirming that all outriggers are in the retracted state and the current position is within the preset range, obtain control commands for the aerial work platform.

[0043] Step 103: When the control command is a one-click retraction command, control multiple execution components of the aerial work platform to execute the corresponding first actions in a first preset order, so as to control the aerial work platform to complete the automatic retraction operation.

[0044] Step 104: When the control command is a one-click deployment command, control multiple execution components of the aerial work platform to execute corresponding second actions in a second preset order, so as to control the aerial work platform to complete the automatic deployment operation.

[0045] Aerial work platforms can include a chassis assembly and a turntable. The chassis assembly can include multiple outriggers. Before transporting the aerial work platform, it is necessary to control the platform to swing into a transport mode, also known as the storage mode. The controller can receive user commands, and when the user selects the vehicle for storage mode, the controller can control the vehicle to enter storage mode.

[0046] When the controller determines that the aerial work platform is in retracted mode, it can obtain the working status of each outrigger and the current position of the turntable. When the controller determines that all outriggers are retracted and the turntable's current position is within a preset range, it can obtain control commands for the aerial work platform. The preset range can be set to the area where the turntable is in its center position. In other words, when the controller determines that all outriggers are retracted and the turntable is in its center position, it can obtain control commands for the aerial work platform. When the controller obtains a one-click retraction command, it can control multiple actuators of the aerial work platform to execute their corresponding first actions according to a first preset sequence, thereby controlling the aerial work platform to complete the automatic retraction operation. When the controller obtains a one-click deployment command, it controls multiple actuators of the aerial work platform to execute their corresponding second actions according to a second preset sequence, thereby controlling the aerial work platform to complete the automatic deployment operation.

[0047] In one embodiment, the aerial work platform includes a work platform assembly, a main boom, a boom, a main boom luffing cylinder, a boom telescopic cylinder, a main boom telescopic cylinder, a boom luffing cylinder, a boom leveling cylinder, and a main boom leveling cylinder. When the control command is a one-button retraction command, controlling multiple execution components of the aerial work platform to perform corresponding first actions in a first preset order to control the aerial work platform to complete an automatic retraction operation includes: controlling the boom telescopic cylinder to perform a telescopic action, so that the first telescopic length of the boom is less than or equal to a first preset length; controlling the main boom luffing cylinder to perform a raising or lowering action, so that the first luffing angle of the main boom is at a first preset angle. Within the set angle range; control the main boom extension cylinder to perform the extension action, so that the second extension length of the main boom is less than or equal to the second preset length; control the boom luffing cylinder to perform the luffing action, so that the second luffing angle of the boom is within the second preset angle range; control the boom leveling cylinder to perform the lowering action, so that the platform angle of the work platform assembly is within the third preset angle range; control the main boom leveling cylinder to perform the lowering action, so that the boom seat angle of the boom base is within the fourth preset angle range; control the main boom luffing cylinder to perform the lowering action until the first luffing angle of the main boom is within the fifth preset angle range, so that the aerial work platform completes the automatic retraction operation.

[0048] Aerial work platforms may include a work platform assembly, a main boom, a boom extension cylinder, a main boom luffing cylinder, a boom telescopic cylinder, a main boom telescopic cylinder, a boom luffing cylinder, a boom leveling cylinder, and a main boom leveling cylinder. When the controller receives a one-button retraction command, it first controls the boom extension cylinder to extend or retract, ensuring the first extension length of the boom controlled by the extension cylinder is less than or equal to a first preset length set by the controller. After adjusting the first extension length, the controller controls the main boom luffing cylinder to raise or lower the boom, ensuring the first luffing angle of the main boom is within the first preset angle range set by the controller. After adjusting the first luffing angle, the controller controls the main boom extension cylinder to extend or retract, ensuring the second extension length of the main boom is less than or equal to a second preset length set by the controller. After confirming the second extension length adjustment is complete, the controller controls the boom luffing cylinder to luff, ensuring the second luffing angle of the boom is within the second preset angle range. After confirming the completion of the second luffing angle adjustment for the boom, the controller can control the boom leveling cylinder to lower the boom, bringing the platform angle of the work platform assembly within the third preset angle range set by the controller. After confirming the completion of the platform angle adjustment for the work platform assembly, the controller can control the main boom leveling cylinder to lower the boom mount angle, bringing it within the fourth preset angle range set by the controller. After confirming the completion of the boom mount angle adjustment, the controller can control the main boom luffing cylinder to lower the main boom until the first luffing angle of the main boom is within the fifth preset angle range. At this point, the controller can determine that the aerial work platform has completed its automatic retraction operation.

[0049] In one embodiment, the aerial work platform further includes a boom mount and a work platform assembly. When the control command is a one-button deployment command, controlling multiple execution components to execute corresponding second actions in a second preset order to control the aerial work platform to complete the automatic deployment operation further includes: when the control command is a one-button deployment command, obtaining the boom mount angle and the work platform assembly platform angle; when the boom mount angle is within a fourth preset angle range and the platform angle is within a third preset angle range, controlling multiple execution components to execute corresponding second actions to control the aerial work platform to complete the automatic deployment operation.

[0050] When the controller receives a one-key deployment command, it can acquire the boom mount angle and the platform angle of the work platform assembly, and detect these angles. If the controller determines that the boom mount angle is within the fourth preset angle range and the platform angle is within the third preset angle range, it can control multiple actuators to execute their corresponding second actions in a second preset order to automatically deploy the aerial work platform. In other words, the controller needs to confirm that the aerial work platform is in a retracted state before deploying its actuators based on the one-key deployment command. Conversely, if the aerial work platform is not retracted, and the controller receives the one-key deployment command, it will not control the actuators to execute the second action.

[0051] In one embodiment, the aerial work platform includes a main boom, a boom base, a boom, a main boom luffing cylinder, a boom telescopic cylinder, a main boom telescopic cylinder, a boom luffing cylinder, a boom leveling cylinder, and a main boom leveling cylinder. When the control command is a one-button deployment command, controlling multiple execution components of the aerial work platform to perform corresponding second actions in a second preset order to control the aerial work platform to complete the automatic deployment operation includes: controlling the main boom luffing cylinder to perform a raising or lowering action, so that the first luffing angle of the main boom is within a sixth preset angle range; controlling the main boom leveling cylinder to perform a raising action, so that the boom base angle is within a seventh preset angle range; controlling the boom leveling cylinder to perform a raising action until the platform angle of the work platform assembly is within an eighth preset angle range; controlling the boom luffing cylinder to perform a raising or lowering action until the second luffing angle of the boom is within a ninth preset angle range; and controlling the main boom luffing cylinder to perform a lowering action until the first luffing angle of the main boom is within a fifth preset angle range, so that the aerial work platform completes the automatic deployment operation.

[0052] When the controller receives a one-button deployment command, it can control the execution components according to a preset second sequence. First, the controller can control the boom luffing cylinder to raise or lower the boom, bringing the first luffing angle of the boom within a sixth preset angle range. After confirming the first luffing angle is within the sixth preset angle range, the controller controls the boom leveling cylinder to raise the boom mount angle, bringing it within a seventh preset angle range. After confirming the boom mount angle is within the seventh preset angle range, the controller controls the boom leveling cylinder to raise the boom until the platform angle of the work platform assembly is within an eighth preset angle range. After confirming the platform angle is within the eighth preset angle range, the controller controls the boom luffing cylinder to raise or lower the boom until the second luffing angle is within a ninth preset angle range. Finally, if the controller confirms the second luffing angle is within the ninth preset angle range, it controls the boom luffing cylinder to lower the boom until the first luffing angle is within a fifth preset angle range, thus completing the automatic deployment of the aerial work platform.

[0053] In one embodiment, the aerial work platform includes a boom angle sensor, a main boom angle sensor, a boom mount angle sensor, a platform angle sensor, a main boom length sensor, and a boom length sensor. The control method further includes: obtaining a first extension length of the boom using the boom length sensor, and controlling the boom extension cylinder based on the first extension length; obtaining a first luffing angle of the main boom using the main boom angle sensor, and controlling the main boom luffing cylinder based on the first luffing angle; obtaining a second extension length of the main boom using the main boom length sensor, and controlling the boom extension cylinder based on the second extension length; obtaining a second luffing angle of the boom using the boom angle sensor, and controlling the boom luffing cylinder based on the second luffing angle; obtaining the platform angle of the work platform assembly using the platform angle sensor, and controlling the boom leveling cylinder based on the platform angle; and obtaining the boom mount angle of the boom mount using the boom mount angle sensor, and controlling the main boom leveling head cylinder based on the boom mount angle.

[0054] The aerial work platform includes multiple sensors. The controller can acquire the operating parameters of each component of the aerial work platform through these sensors, and then control the corresponding execution components based on these parameters.

[0055] In one embodiment, the aerial work platform includes a main boom leveling valve assembly, a boom luffing valve assembly, a boom leveling valve assembly, a boom luffing valve assembly, a main boom telescopic valve assembly, and a boom telescopic valve assembly. The control method further includes: controlling the main boom leveling cylinder to perform raising or lowering actions via the main boom leveling valve assembly; controlling the boom luffing cylinder to perform raising or lowering actions via the boom luffing valve assembly; controlling the boom leveling cylinder to perform raising or lowering actions via the boom leveling valve assembly; controlling the main boom luffing cylinder to perform raising or lowering actions via the main boom luffing valve assembly; controlling the main boom telescopic valve cylinder to perform extension or retraction actions via the main boom telescopic valve assembly; and controlling the boom telescopic valve cylinder to perform extension or retraction actions via the boom telescopic valve assembly.

[0056] When controlling the various actuators, the controller can control the actuators by controlling the valve groups corresponding to the actuators.

[0057] In one embodiment, a controller is provided, configured to perform any of the control methods for aerial work platforms described above.

[0058] The structure of an aerial work platform is as follows Figure 2 As shown, it includes a main boom 1, a main boom angle sensor 2, a main boom leveling cylinder 3, a main boom leveling auxiliary connecting rod 4, a main boom leveling main connecting rod 5, a boom mount angle sensor 6, a boom mount 7, a boom 8, a boom luffing cylinder 9, a boom leveling cylinder 10, a boom leveling main connecting rod 11, a boom leveling auxiliary connecting rod 12, a platform angle sensor 13, a work platform assembly 14, a chassis assembly 15, and a main boom luffing cylinder 16.

[0059] Before transporting the aerial work platform, the user can control it to enter a storage mode via control commands. When the aerial work platform is in storage mode, and the controller determines that all outriggers of the chassis assembly 15 are retracted and the turntable is in the neutral position, it can receive the user's control commands for the aerial work platform. If the controller receives a one-button retraction command, the first step is for the controller to obtain the first extension length of the boom via the boom length sensor. When the first extension length of the boom is greater than a first preset length, such as... Figure 3 The working posture is shown. The controller can control the boom extension valve assembly, which in turn controls the boom extension cylinder to retract until the boom length sensor detects that the first extension length of the boom is less than or equal to a first preset length, such as... Figure 4 The working posture is shown. When the first extension length of the boom is less than or equal to the first preset length, the controller can execute the second step of one-button retraction. The controller can obtain the first amplitude angle of the main boom through the main boom angle sensor. Assuming that the first amplitude angle of the main boom is not within the first preset angle range set by the controller, such as... Figure 4As shown in the working posture, the controller can control the boom luffing valve assembly to control the boom luffing cylinder to perform raising or lowering actions until the first luffing angle of the boom is within the first preset angle range set by the controller, such as... Figure 5 The working posture is shown. When the first luffing angle of the main boom is within the first preset angle range set by the controller, the controller can execute the third step of one-button retraction. The controller can determine the second extension length of the main boom through the main boom length sensor. If it is determined that the second extension length of the main boom is greater than the second preset length, the controller can control the main boom extension cylinder to perform a retraction action by controlling the main boom extension valve group until the second extension length of the main boom is less than or equal to the second preset length. Figure 6 The working posture is shown. When the second extension length of the main boom is less than or equal to the second preset length, the controller can execute the fourth step of one-button retraction. The second luffing angle of the boom is determined by the boom angle sensor. If the second luffing angle is not within the second preset angle range, the controller can control the boom luffing cylinder to perform a lowering action by controlling the boom luffing valve assembly, until the boom angle sensor detects that the second luffing angle of the boom is within the second preset angle range. Figure 7 The working posture is shown. If the second luffing angle of the boom is determined to be within the second preset angle range, the controller can execute the fifth step of one-button retraction. The controller can determine the platform angle of the work platform assembly based on the platform angle sensor. If the platform angle is determined not to be within the third preset angle range set by the controller, the controller can control the boom leveling valve assembly to control the boom leveling cylinder to perform a lowering action until the platform angle of the work platform assembly is within the third preset angle range. Figure 8 The working posture is shown. When the platform angle of the platform assembly is determined to be within the third preset angle range, the controller can execute the sixth step of one-button retraction. The controller can obtain the boom angle of the boom mount through the boom mount angle sensor. If the boom mount angle is not within the fourth preset angle range set by the controller, the controller can control the main boom leveling valve assembly to control the main boom leveling cylinder to perform the lowering action until the boom mount angle detected by the boom mount angle sensor is within the fourth preset angle range. Figure 9 The working posture is shown. When the boom angle detected by the boom angle sensor is within the fourth preset angle range, the controller can execute the seventh step of one-button retraction. The controller can obtain the first luffing angle of the main boom through the main boom angle sensor. If it is determined that the first luffing angle of the main boom is not within the fifth preset angle range, the controller can control the main boom luffing cylinder to perform the lowering action by controlling the main boom luffing valve assembly until the first luffing angle of the main boom is within the fifth preset angle range. Figure 10The aerial work platform is shown in its working posture. At this point, the controller can confirm that the aerial work platform has completed the one-click retraction operation.

[0060] Once the aerial work platform has been transported, the operator can switch it from a "retired" state to a "ready to work" state, facilitating quick deployment by subsequent operators. At this point, the operator can send a one-button deployment command. If the controller receives a one-button deployment command, it can use the boom mount angle sensor and platform angle sensor to obtain the boom mount angle and platform angle. Only when the controller determines that the boom mount angle is within a fourth preset angle range and the platform angle is within a third preset angle range will it execute the second action of one-button deployment on the actuators.

[0061] The first step involves the controller obtaining the first luffing angle of the boom from the boom angle sensor. If the controller determines that the first luffing angle is not within the sixth preset angle range, it can control the boom luffing cylinder to perform a lifting action by controlling the boom luffing valve assembly, thereby bringing the first luffing angle of the boom within the sixth preset angle range, which means raising the aerial work platform from... Figure 10 The vehicle's retraction posture is adjusted as shown. Figure 9 The working posture is shown. If the first luffing angle of the main boom is determined to be within the sixth preset angle range, the controller can proceed to the second step of one-button deployment. The controller can obtain the boom angle from the boom mount angle sensor. If the boom angle is not within the seventh preset angle range, the controller can control the main boom leveling cylinder to perform a lifting action by controlling the main boom leveling valve assembly, so that the boom angle is within the seventh preset angle range. Figure 8 The working posture is shown. When the angle of the boom mount is determined by the boom mount angle sensor to be within the seventh preset angle range, the controller can enter the third step of one-button deployment. The controller can obtain the platform angle of the work platform assembly based on the platform angle sensor. If it is determined that the platform angle is not within the eighth preset angle range, the controller controls the boom leveling cylinder to perform a lifting action by controlling the boom leveling valve assembly until the platform angle of the work platform assembly is within the eighth preset angle range. Figure 7 The working posture is shown. If the platform angle of the work platform assembly is determined to be within the eighth preset angle range, the controller can proceed to the fourth step of one-button deployment. The second luffing angle of the boom is obtained through the boom angle sensor. If the second luffing angle is not within the ninth preset angle range, the boom luffing valve assembly is controlled to control the boom luffing cylinder to perform raising or lowering actions until the second luffing angle falls within the ninth preset angle range. Figure 6The working posture is shown. If the second luffing angle of the boom is determined to be within the ninth preset angle range, the controller can proceed to the fifth step of one-button deployment. The controller obtains the first luffing angle of the boom through the boom angle sensor. If the first luffing angle is not within the fifth preset angle range, the controller can control the boom luffing valve assembly to control the boom luffing cylinder to perform a lowering action until the first luffing angle of the boom is within the fifth preset angle range. Figure 2 The working posture shown. At this time, the controller can confirm that the aerial work platform has completed the one-click deployment operation.

[0062] The above technical solution, when the aerial work platform is in its folded-down mode, controls the execution components to perform corresponding actions according to a preset sequence based on received control commands for the aerial work platform. This allows the aerial work platform to automatically fold down, effectively shortening the vehicle length during transportation and reducing transportation costs. Furthermore, after transportation is complete, a one-button deployment command can quickly adjust the vehicle to a user-friendly position. When the controller receives one-button folding and deployment commands, it can automatically control the execution components according to a preset sequence, greatly reducing labor costs and avoiding the dangers caused by improper manual operation.

[0063] In one embodiment, an aerial work platform is provided, comprising: a chassis assembly including a plurality of outriggers for supporting the aerial work platform; a turntable for controlling the rotation of the upper part of the aerial work platform; and a controller.

[0064] In one embodiment, the aerial work platform further includes: a main boom; a boom; a work platform assembly for carrying personnel or objects; a boom mount; multiple sensors, including a boom angle sensor, a main boom angle sensor, a boom mount angle sensor, a platform angle sensor, a main boom length sensor, and a boom length sensor; multiple hydraulic cylinders, including a main boom luffing cylinder, a main boom telescopic cylinder, a boom luffing cylinder, a boom telescopic cylinder, a main boom leveling cylinder, and a boom leveling cylinder; and multiple valve assemblies, including a main boom leveling valve assembly, a boom luffing valve assembly, a boom leveling valve assembly, a boom luffing valve assembly, a main boom telescopic valve assembly, and a boom telescopic valve assembly.

[0065] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0066] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 11As shown. The computer device includes a controller A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The controller A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database stores relevant data about the construction machinery and data input by the operators. The network interface A02 communicates with external terminals via a network connection. When the computer program B02 is executed by the controller A01, it implements a control method for an aerial work platform.

[0067] Figure 1 This is a flowchart illustrating 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 sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0068] This application provides a device including a controller, a memory, and a program stored in the memory and executable on the controller. When the controller executes the program, it performs the following steps: When it is determined that the aerial work platform is in a retracted mode, it acquires the working status of each outrigger and the current position of the turntable. The retracted mode refers to a working condition where the aerial work platform is controlled to swing into a transport state before transport. When it is determined that all outriggers are in a retracted state and their current positions are within a preset range, it acquires a control command for the aerial work platform. If the control command is a one-click retraction command, it controls multiple execution components of the aerial work platform to execute corresponding first actions in a first preset order to control the aerial work platform to complete an automatic retraction operation. If the control command is a one-click deployment command, it controls multiple execution components of the aerial work platform to execute corresponding second actions in a second preset order to control the aerial work platform to complete an automatic deployment operation.

[0069] In one embodiment, when the control command is a one-click retraction command, controlling multiple execution components of the aerial work platform to execute corresponding first actions in a first preset order to control the aerial work platform to complete the automatic retraction operation includes:

[0070] The boom extension cylinder is controlled to extend or retract, ensuring the first extension length of the boom is less than or equal to a first preset length. The main boom luffing cylinder is controlled to raise or lower, ensuring the first luffing angle of the main boom is within a first preset angle range. The main boom extension cylinder is controlled to extend or retract, ensuring the second extension length of the main boom is less than or equal to a second preset length. The boom luffing cylinder is controlled to luff, ensuring the second luffing angle of the boom is within a second preset angle range. The boom leveling cylinder is controlled to lower, ensuring the platform angle of the work platform assembly is within a third preset angle range. The main boom leveling cylinder is controlled to lower, ensuring the boom seat angle is within a fourth preset angle range. The main boom luffing cylinder is controlled to lower until the first luffing angle of the main boom is within a fifth preset angle range, thus enabling the aerial work platform to complete its automatic retraction operation.

[0071] In one embodiment, when the control command is a one-click deployment command, controlling multiple execution components to execute corresponding second actions in a second preset order to control the aerial work platform to complete the automatic deployment operation further includes: when the control command is a one-click deployment command, obtaining the boom angle of the boom mount and the platform angle of the work platform assembly; when the boom angle is within a fourth preset angle range and the platform angle is within a third preset angle range, controlling multiple execution components to execute corresponding second actions in a second preset order to control the aerial work platform to complete the automatic deployment operation.

[0072] In one embodiment, when the control command is a one-button deployment command, controlling multiple execution components of the aerial work platform to execute corresponding second actions in a second preset order to control the aerial work platform to complete the automatic deployment operation includes: controlling the main boom luffing cylinder to perform a raising or lowering action, so that the first luffing angle of the main boom is within a sixth preset angle range; controlling the main boom leveling cylinder to perform a raising action, so that the angle of the boom seat is within a seventh preset angle range; controlling the boom leveling cylinder to perform a raising action, until the platform angle of the work platform assembly is within an eighth preset angle range; controlling the boom luffing cylinder to perform a raising or lowering action, until the second luffing angle of the boom is within a ninth preset angle range; and controlling the main boom luffing cylinder to perform a lowering action, until the first luffing angle of the main boom is within a fifth preset angle range, so that the aerial work platform completes the automatic deployment operation.

[0073] In one embodiment, the control method further includes: obtaining a first telescopic length of the boom using a boom length sensor, and controlling the boom telescopic cylinder based on the first telescopic length; obtaining a first luffing angle of the main boom using a main boom angle sensor, and controlling the main boom luffing cylinder based on the first luffing angle; obtaining a second telescopic length of the main boom using a main boom length sensor, and controlling the boom telescopic cylinder based on the second telescopic length; obtaining a second luffing angle of the boom using a boom angle sensor, and controlling the boom luffing cylinder based on the second luffing angle; obtaining the platform angle of the work platform assembly using a platform angle sensor, and controlling the boom leveling cylinder based on the platform angle; and obtaining the boom seat angle of the boom seat using a boom seat angle sensor, and controlling the main boom leveling head cylinder based on the boom seat angle.

[0074] In one embodiment, the control method further includes: controlling the main boom leveling cylinder to perform raising or lowering actions via the main boom leveling valve group; controlling the boom luffing cylinder to perform raising or lowering actions via the boom luffing valve group; controlling the boom leveling cylinder to perform raising or lowering actions via the boom leveling valve group; controlling the main boom luffing cylinder to perform raising or lowering actions via the main boom luffing valve group; controlling the main boom telescopic cylinder to perform extension or retraction actions via the main boom telescopic valve group; and controlling the boom telescopic cylinder to perform extension or retraction actions via the boom telescopic valve group.

[0075] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0076] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a controller of a general-purpose computer, special-purpose computer, embedded controller, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the controller of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0077] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0078] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0079] In a typical configuration, a computing device includes one or more controllers (CPUs), input / output interfaces, network interfaces, and memory.

[0080] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0081] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0082] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0083] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for aerial work platforms, characterized in that, The aerial work platform includes a chassis assembly, a turntable, a work platform assembly, a main boom, a boom, a boom base, a main boom luffing cylinder, a boom telescopic cylinder, a main boom telescopic cylinder, a boom luffing cylinder, a boom leveling cylinder, and a main boom leveling cylinder. The chassis assembly includes multiple outriggers. The control method includes: When it is determined that the aerial work platform is in the storage mode, the working status of each outrigger and the current position of the turntable are obtained. The storage mode refers to the working condition mode in which the aerial work platform is controlled to swing into the transportation state before transporting the aerial work platform. If it is determined that all outriggers are in the retracted state and the current position is within a preset range, control commands are obtained for the aerial work platform. When the control command is a one-click retraction command, the multiple execution components of the aerial work platform are controlled to execute corresponding first actions in a first preset order, so as to control the aerial work platform to complete the automatic retraction operation. When the control command is a one-click deployment command, the multiple execution components of the aerial work platform are controlled to execute corresponding second actions in a second preset order, so as to control the aerial work platform to complete the automatic deployment operation. Wherein, when the control command is a one-click retraction command, controlling multiple execution components of the aerial work platform to execute corresponding first actions in a first preset order, so as to control the aerial work platform to complete the automatic retraction operation, includes: The telescopic cylinder of the boom is controlled to perform a telescopic action so that the first telescopic length of the boom is less than or equal to the first preset length. The main boom luffing cylinder is controlled to perform raising or lowering actions so that the first luffing angle of the main boom is within a first preset angle range. The main boom telescopic cylinder is controlled to perform a telescopic action so that the second telescopic length of the main boom is less than or equal to the second preset length. Control the boom luffing cylinder to perform a luffing action so that the second luffing angle of the boom is within a second preset angle range; The flying arm leveling cylinder is controlled to perform a lowering action so that the platform angle of the work platform assembly is within a third preset angle range; The main boom leveling cylinder is controlled to perform a lowering action so that the angle of the boom seat is within the fourth preset angle range; The main boom luffing cylinder is controlled to perform a lowering action until the first luffing angle of the main boom is within the fifth preset angle range, so that the aerial work platform can complete the automatic retraction operation.

2. The control method for an aerial work platform according to claim 1, characterized in that, The aerial work platform also includes a boom mount and a work platform assembly. When the control command is a one-button deployment command, controlling multiple execution components to perform corresponding second actions in a second preset order to control the aerial work platform to complete the automatic deployment operation further includes: When the control command is a one-key deployment command, the angle of the flying arm mount and the platform angle of the work platform assembly are obtained; When the angle of the boom mount is within the fourth preset angle range and the angle of the platform is within the third preset angle range, multiple execution components are controlled to execute corresponding second actions in the second preset order to control the aerial work platform to complete the automatic deployment operation.

3. The control method for an aerial work platform according to claim 1, characterized in that, The aerial work platform includes a main boom, a boom base, a boom, a main boom luffing cylinder, a boom telescopic cylinder, a main boom telescopic cylinder, a boom luffing cylinder, a boom leveling cylinder, and a main boom leveling cylinder. When the control command is a one-button deployment command, controlling multiple execution components of the aerial work platform to execute corresponding second actions in a second preset order to control the aerial work platform to complete the automatic deployment operation includes: The main boom luffing cylinder is controlled to perform raising or lowering actions so that the first luffing angle of the main boom is within a sixth preset angle range; The main boom leveling cylinder is controlled to perform a lifting action so that the angle of the boom seat is within the seventh preset angle range; Control the flying arm leveling cylinder to perform the lifting action until the platform angle of the work platform assembly is within the eighth preset angle range; Control the boom luffing cylinder to perform raising or lowering actions until the second luffing angle of the boom is within the ninth preset angle range; The main boom luffing cylinder is controlled to perform a lowering action until the first luffing angle of the main boom is within the fifth preset angle range, so that the aerial work platform can complete the automatic deployment operation.

4. The control method for an aerial work platform according to any one of claims 1 to 3, characterized in that, The aerial work platform includes a boom angle sensor, a main boom angle sensor, a boom mount angle sensor, a platform angle sensor, a main boom length sensor, and a boom length sensor. The control method further includes: The first telescopic length of the boom is obtained by the boom length sensor, and the boom telescopic cylinder is controlled according to the first telescopic length. The first luffing angle of the main boom is obtained by the main boom angle sensor, and the main boom luffing cylinder is controlled according to the first luffing angle. The second extension length of the main boom is obtained by the main boom length sensor, and the main boom extension cylinder is controlled according to the second extension length. The second luffing angle of the boom is obtained by the boom angle sensor, and the boom luffing cylinder is controlled according to the second luffing angle. The platform angle of the working platform assembly is obtained by the platform angle sensor, and the flying arm leveling cylinder is controlled according to the platform angle. The angle of the boom mount is obtained by the boom mount angle sensor, and the main boom leveling cylinder is controlled according to the boom mount angle.

5. The control method for an aerial work platform according to any one of claims 1 to 3, characterized in that, The aerial work platform includes a main boom leveling valve group, a main boom luffing valve group, a boom leveling valve group, a boom luffing valve group, a main boom telescopic valve group, and a boom telescopic valve group. The control method further includes: The main boom leveling valve group controls the main boom leveling cylinder to perform raising or lowering actions. The boom luffing valve group controls the boom luffing cylinder to perform raising or lowering actions. The boom leveling valve group controls the boom leveling cylinder to perform raising or lowering actions. The main boom luffing valve group controls the main boom luffing cylinder to perform raising or lowering actions. The main boom telescopic valve group controls the main boom telescopic cylinder to perform extension or retraction actions. The boom telescopic valve assembly controls the boom telescopic cylinder to perform extension or retraction actions.

6. A controller, characterized in that, It is configured to perform 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: The chassis assembly includes multiple outriggers for supporting the aerial work platform; A turntable is used to control the rotation of the upper part of the aerial work platform; as well as The controller as described in claim 6.

8. The aerial work platform according to claim 7, characterized in that, The aerial work platform also includes: Main arm; Flying arm; A work platform assembly used to carry people or objects; Flying arm mount; Multiple sensors, including boom angle sensor, main boom angle sensor, boom mount angle sensor, platform angle sensor, main boom length sensor and boom length sensor; Multiple hydraulic cylinders, including boom luffing cylinder, boom telescopic cylinder, boom luffing cylinder, boom telescopic cylinder, boom leveling cylinder, and boom leveling cylinder; Multiple valve assemblies, including the main boom leveling valve assembly, the main boom luffing valve assembly, the boom leveling valve assembly, the boom luffing valve assembly, the main boom telescopic valve assembly, and the boom telescopic valve assembly.

9. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by the controller, the instruction causes the controller to be configured to perform the control method for an aerial work platform according to any one of claims 1 to 5.

Images