Control method, processor, control device and work platform for work platform

Abstract

The application relates to the technical field of engineering machinery, and discloses a control method for a work platform, a processor, a control device and the work platform. A sensor is arranged on an outer plane of the work platform, and the sensor is used for forming a horizontal light line and a vertical light line on a work plane; the method comprises the following steps: determining the horizontal light line and the vertical light line in a coordinate system of the work platform; determining a deflection posture and a deflection angle of the outer plane relative to the work plane according to a first included angle between the horizontal light line and a horizontal axis in the coordinate system; determining an inclination posture and an inclination angle of the work plane relative to the outer plane according to a second included angle between the vertical light line and a vertical axis in the coordinate system; horizontally rotating the work platform according to the deflection posture and the deflection angle; and adjusting the distance between the work platform and a work object according to the inclination posture and the inclination angle. The distance and parallelism between the work platform and the work plane are automatically adjusted, precise work following a wall is realized, the staff is liberated from the tedious fine position adjustment, and the work efficiency is improved.

Description

Technical Field

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

[0002] Taking an aerial work platform (AWP) as an example, an AWP is a specialized vehicle used to transport workers and equipment to the site for aerial work. An AWP typically includes a main boom, turntable, boom arm, and working platform. Workers can stand or squat on the working platform to perform tasks such as high-altitude wall painting, glass curtain wall installation, and window cleaning. The distance and parallelism between the working platform and the working surface are key factors affecting work efficiency. Using a wall as an example, when working on a high wall, the spatial position of the working platform needs to be constantly changed, and the structure of the working surface (such as a wall or the outer surface of glass) varies. Currently, workers continuously adjust the working platform to the optimal working position relative to the working surface by performing operations such as main boom extension and retraction, main boom luffing, turntable rotation, and boom luffing, based on the site conditions. Due to the worker's skill level and visual judgment biases, repeated adjustments to the spatial position and angle of the working platform are necessary to achieve the optimal working position. In severe cases, the time spent adjusting the spatial position and angle of the working platform can account for more than a quarter of the work time, resulting in low worker efficiency. Summary of the Invention

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

[0004] To achieve the above objectives, a first aspect of the present invention provides a control method for a work platform, wherein a sensor is disposed on the outer plane of the work platform opposite to the work object, and the sensor is used to generate horizontal and vertical light rays on the work plane of the work object; the control method includes:

[0005] Determine the horizontal and vertical light rays in the coordinate system of the work platform;

[0006] The deflection attitude and deflection angle of the outer plane relative to the working plane are determined based on the first angle between the horizontal ray and the horizontal axis in the coordinate system.

[0007] The tilt attitude and tilt angle of the working plane relative to the external plane are determined by the second angle between the vertical ray and the vertical axis in the coordinate system.

[0008] The work platform is rotated horizontally based on the deflection attitude and deflection angle.

[0009] Adjust the distance between the work platform and the work object according to the tilt posture and tilt angle.

[0010] In this embodiment of the invention, the deflection attitude includes a right rearward deflection; determining the deflection attitude and deflection angle of the outer plane relative to the working plane based on the first angle between the horizontal ray and the horizontal axis in the coordinate system includes:

[0011] When the first angle between the horizontal ray and the horizontal axis in the coordinate system is less than 90 degrees, the deflection attitude of the outer plane relative to the working plane is determined to be right rear deflection, and the deflection angle of the right rear deflection is the first angle.

[0012] Based on the deflection attitude and deflection angle, the horizontal rotating work platform includes:

[0013] With the deflection attitude at right rear deflection, rotate the work platform horizontally by the first included angle in the counterclockwise direction.

[0014] In this embodiment of the invention, the deflection attitude includes left rearward deflection; determining the deflection attitude and deflection angle of the outer plane relative to the working plane based on the first angle between the horizontal ray and the horizontal axis in the coordinate system includes:

[0015] When the first angle between the horizontal ray and the horizontal axis in the coordinate system is greater than 90 degrees, the deflection attitude of the outer plane relative to the working plane is determined to be left rear deflection, and the deflection angle of the left rear deflection is the first difference angle between 180 degrees and the first angle.

[0016] The horizontal rotation of the work platform, based on the deflection attitude and deflection angle, includes:

[0017] With the deflection attitude being left rearward, the work platform is rotated horizontally in a clockwise direction by the first difference angle.

[0018] In this embodiment of the invention, the tilting posture includes forward tilting; determining the tilting posture and tilting angle of the working plane relative to the outer plane based on the second angle between the vertical ray and the vertical axis in the coordinate system includes:

[0019] When the second angle between the vertical ray and the vertical axis in the coordinate system is greater than 90 degrees, the tilt of the working plane relative to the outer plane is determined to be forward tilt, and the tilt angle of forward tilt is the difference between 180 degrees and the second angle.

[0020] In this embodiment of the invention, the tilting posture includes backward tilting; determining the tilting posture and tilting angle of the working plane relative to the outer plane based on the second angle between the vertical ray and the vertical axis in the coordinate system includes:

[0021] When the second angle between the vertical ray and the vertical axis in the coordinate system is less than 90 degrees, the tilt of the working plane relative to the outer plane is determined to be backward tilt, and the tilt angle of backward tilt is the second angle.

[0022] In this embodiment of the invention, adjusting the distance between the work platform and the work object based on the tilt posture and tilt angle includes:

[0023] Determine the equation of the curve of the vertical ray in the vertical axis-vertical axis plane in the coordinate system based on the tilt posture and tilt angle;

[0024] Determine the working height of the work points on the outer plane;

[0025] Determine the first horizontal distance between the work point and the work plane based on the work height and the curve equation;

[0026] If the first horizontal distance is less than the preset standard distance, determine the first difference between the preset standard distance and the first horizontal distance, and move the work platform away from the work object by the first difference.

[0027] In this embodiment of the invention, the control method further includes:

[0028] If the first horizontal distance is greater than the preset standard distance, determine the second difference between the first horizontal distance and the preset standard distance;

[0029] When the tilted posture is backward, determine the first height coordinate of the bottom edge of the outer plane;

[0030] Determine the second horizontal distance between the bottom edge and the working plane based on the first elevation coordinates and the curve equation;

[0031] If the second difference is less than or equal to the second horizontal distance, move the work platform toward the work object by the second difference.

[0032] If the second difference is greater than the second horizontal distance, move the work platform towards the work object by the second horizontal distance.

[0033] In this embodiment of the invention, after determining a second difference between the first horizontal distance and the preset standard distance when the first horizontal distance is greater than a preset standard distance, the control method further includes:

[0034] When the tilt attitude is forward, determine the second height coordinates of the top edge of the outer plane;

[0035] The third horizontal distance between the top edge and the working plane is determined based on the second height coordinates and the curve equation;

[0036] If the second difference is less than or equal to the third horizontal distance, move the work platform toward the work object by the second difference.

[0037] If the second difference is greater than the third horizontal distance, move the work platform towards the work object by the third horizontal distance.

[0038] A second aspect of the present invention provides a processor configured to execute the above-described control method for an operating platform.

[0039] A third aspect of the present invention provides a control device for a work platform, comprising:

[0040] The sensor, positioned on the outer plane of the work platform opposite the work object, is used to generate horizontal and vertical light rays on the work surface of the work object; and

[0041] The processor mentioned above.

[0042] In this embodiment of the invention, the sensor includes at least four sub-sensors. Among the at least four sub-sensors, the first sub-sensor and the second sub-sensor have equal vertical and horizontal coordinates in the coordinate system of the work platform and are used to form horizontal light rays. Among the at least four sub-sensors, the third sub-sensor and the fourth sub-sensor have equal horizontal and vertical coordinates in the coordinate system and are used to form vertical light rays.

[0043] A fourth aspect of the present invention provides a work platform including the control device described above.

[0044] The fifth aspect of the present invention provides an aerial work platform vehicle, including the aforementioned work platform.

[0045] In this embodiment of the invention, a sensor is installed on the outer plane of the work platform opposite to the work object. The sensor is used to form horizontal and vertical light rays on the work plane of the work object. The control method includes: determining the horizontal and vertical light rays in the coordinate system of the work platform; determining the deflection posture and deflection angle of the outer plane relative to the work plane based on the first angle between the horizontal light ray and the horizontal axis in the coordinate system; determining the tilt posture and tilt angle of the work plane relative to the outer plane based on the second angle between the vertical light ray and the vertical axis in the coordinate system; horizontally rotating the work platform according to the deflection posture and deflection angle; and adjusting the distance between the work platform and the work object according to the tilt posture and tilt angle.

[0046] In this way, the fusion information based on sensors can detect the posture information of the working plane (such as a wall) and the working platform in real time. Then, based on different posture information, different dynamic adjustments are made to automatically adjust the distance and parallelism between the working platform and the working plane (such as a wall), so that the working platform can follow the wall for precise operation. This frees the workers from tedious micro-position adjustments, improves the workers' work efficiency, and achieves high efficiency in exterior wall operations. In addition, the one-click intelligent wall following method is safe and cost-effective. Attached Figure Description

[0047] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0048] Figure 1 The diagram illustrates the installation of the work platform according to an embodiment of the present invention;

[0049] Figure 2 The schematic diagram illustrates the installation of sensors in a work platform according to an embodiment of the present invention;

[0050] Figure 3 The diagram illustrates, schematically, horizontal and vertical light rays according to embodiments of the present invention;

[0051] Figure 4 A flowchart illustrating a control method for a work platform according to an embodiment of the present invention is shown schematically;

[0052] Figure 5 The diagram illustrates the posture of the outer plane of the work platform relative to the right rear of the work plane according to an embodiment of the present invention.

[0053] Figure 6 This schematic diagram illustrates the posture of the outer plane of the work platform, which is deflected to the left and rear relative to the work plane according to an embodiment of the present invention.

[0054] Figure 7 The diagram illustrates the posture of the working plane tilted forward relative to the outer plane of the working platform according to an embodiment of the present invention.

[0055] Figure 8 A schematic diagram illustrating the tilt angle of the working plane tilting forward according to an embodiment of the present invention;

[0056] Figure 9 A schematic diagram of a vertical ray in the oyz-plane coordinate system according to an embodiment of the present invention is shown.

[0057] Figure 10 This schematic diagram illustrates the posture of the working plane tilting backward relative to the outer plane of the working platform according to an embodiment of the present invention;

[0058] Figure 11 This schematic diagram illustrates the tilt angle of the working plane backward according to an embodiment of the present invention;

[0059] Figure 12 A schematic diagram illustrating the working components involved in the control method for a work platform according to an embodiment of the present invention is shown.

[0060] Figure 13The schematic diagram illustrates the steps involved in one-click smart wall following according to an embodiment of the present invention.

[0061] Explanation of reference numerals in the attached figures

[0062] 10-G1 sensor; 11-G2 sensor;

[0063] 12-G3 sensor; 13-G4 sensor;

[0064] 14-Industrial controller; 15-Flying arm;

[0065] 16-Main arm; 17-Input unit;

[0066] 18-Radar rangefinder; 19-Four-phase laser vision sensor;

[0067] 20 - Intelligent motion switch; 21 - Boom length sensor;

[0068] 22-Boom angle sensor; 23-Platform leveling angle sensor;

[0069] 24 - Platform rotation angle sensor; 25 - Flying arm angle sensor;

[0070] 26 - Image processing module; 27 - Industrial controller;

[0071] 28 - Industrial display screen; 29 - Boom telescopic solenoid valve;

[0072] 30 - Boom luffing solenoid valve; 31 - Flying boom luffing solenoid valve;

[0073] 32 - Platform leveling solenoid valve; 33 - Platform rotary solenoid valve;

[0074] 34 - Output Unit. Detailed Implementation

[0075] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0076] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0077] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0078] Taking an aerial work platform (ALP) as an example, an ALP is a specialized vehicle used to transport workers and equipment to the site for aerial work. An ALP typically includes a main boom (16), a turntable, a boom (15), and a working platform. Through operations such as boom extension / retraction, boom luffing, turntable rotation, and boom luffing, the working platform can be adjusted to the target position. Workers can stand or squat on the working platform to perform tasks such as high-altitude wall painting, glass curtain wall installation, and window cleaning. Sensors are installed on the outer plane of the working platform opposite the work object. These sensors are used to generate horizontal and vertical light rays on the working plane of the work object. The work object is a wall or glass, etc. In this embodiment, the working plane is illustrated as a wall, but it is not limited to a wall; it can also refer to the working plane of other work objects such as the outer surface of glass.

[0079] The sensor is positioned on the outer plane of the work platform, forming horizontal and vertical light rays on the work surface. The outer plane of the work platform is opposite to the work surface. In this embodiment of the invention, the number and installation position of the sensors are not limited. For example, the number of sensors can be one, and the sensor can be installed at the center of the outer plane of the work platform. After the sensor forms a horizontal light ray, its direction can be automatically rotated by 90 degrees to form a vertical light ray. The number of sensors can also be two, with one sensor forming a horizontal light ray and the other forming a vertical light ray.

[0080] In one embodiment, an example is given using four sensors. Figure 1 This diagram schematically illustrates the installation of a work platform according to an embodiment of the present invention. Figure 2 This diagram illustrates the installation of sensors in a work platform according to an embodiment of the present invention. Figure 1 and Figure 2A three-dimensional coordinate system is established with a corner point of the work platform as the base point. The coordinates of the base point G0 are (0,0,0). The length of the work platform is 'a', the width of the work platform is 'b', and the height of the work platform is 'c'. The coordinates of the four sensors G1, G2, G3, and G4 are G1(a,b,0.5c), G2(0.5a,b,c), G3(0,b,0.5c), and G4(0.5a,b,c), respectively. For example, a laser vision sensor can be used. Figure 3 The schematic diagram illustrates horizontal and vertical light rays according to an embodiment of the present invention. The vertical and axial coordinates of sensors G1 and G3 are equal, forming a (G1'G3') horizontal light ray on the working plane (wall). The horizontal and axial coordinates of sensors G2 and G4 are equal, forming a (G2'G4') vertical light ray on the working plane (wall). It should also be noted that... Figure 3 In this state, the outer plane of the work platform is parallel to the wall, and the distance from the outer plane of the work platform to the wall is also the optimal working distance. This is the ideal working state of the work platform.

[0081] Figure 4 A flowchart illustrating a control method for a work platform according to an embodiment of the present invention is shown schematically. Figure 4 As shown, in one embodiment of the present invention, a control method for a work platform is provided, comprising the following steps:

[0082] Step 401: Determine the horizontal and vertical light rays in the coordinate system of the work platform;

[0083] Step 402: Determine the deflection attitude and deflection angle of the outer plane (i.e., the outer plane of the work platform) relative to the work plane based on the first angle between the horizontal ray and the horizontal axis in the coordinate system.

[0084] Step 403: Determine the tilt attitude and tilt angle of the working plane relative to the outer plane based on the second angle between the vertical ray and the vertical axis in the coordinate system;

[0085] Step 404: Rotate the work platform horizontally according to the deflection posture and deflection angle;

[0086] Step 405: Adjust the distance between the work platform and the work object according to the tilt posture and tilt angle.

[0087] In this embodiment of the invention, the fusion information based on sensors can detect the posture information of the working plane (e.g., wall) and the working platform in real time. Then, based on different posture information, different dynamic adjustments are made to automatically adjust the distance and parallelism between the working platform and the working plane (e.g., wall), so that the working platform can follow the wall for precise operation, freeing workers from tedious micro-position adjustments, improving the work efficiency of workers, and achieving high efficiency in exterior wall operations. In addition, the one-click intelligent wall following method is safe and cost-effective.

[0088] In one embodiment, the deflection attitude includes a right rearward deflection. Determining the deflection attitude and deflection angle of the outer plane relative to the working plane based on the first angle between the horizontal ray and the horizontal axis in the coordinate system includes: if the first angle between the horizontal ray and the horizontal axis in the coordinate system is less than 90 degrees, determining the deflection attitude of the outer plane relative to the working plane as a right rearward deflection, and the deflection angle of the right rearward deflection is the first angle. Based on the deflection attitude and deflection angle, horizontally rotating the working platform includes: if the deflection attitude is a right rearward deflection, rotating the working platform horizontally in a counterclockwise direction by the first angle.

[0089] Figure 5 This diagram schematically illustrates the posture of the outer plane of the work platform relative to the work plane, tilted to the right rearward relative to the wall. When the outer plane of the work platform is tilted to the right rearward relative to the wall, the distance from the left side of the work platform (i.e., near the position of sensor G3) to the wall is less than the distance from the right side of the work platform (i.e., near the position of sensor G1) to the wall. At this time, the bottom surface of the work platform remains horizontal, and both the work platform and the wall are vertical, without any forward or backward tilt. The side of the work platform where the four sensors G1, G2, G3, and G4 are installed is called the platform surface, also known as the outer plane of the work platform. Each sensor emits a line laser beam. Figure 5 The area marked with dashed lines represents the sensor scanning area. Data collected by paired sensors is fused and compared. When sensors G1 and G3 hit the wall, two light paths (G1'M) and (G3'M) appear, forming horizontal light rays (G1'G3'). (G1'M) and (G3'M) are each composed of n spatial data points collected from the wall, which can be represented as (the matrix includes three rows: the first row represents the x-coordinate, the second row represents the y-coordinate, and the third row represents the z-coordinate):

[0090]

[0091]

[0092] As can be seen, when the outer plane of the work platform is deflected to the right rear relative to the wall, the x and y coordinates of each data point in the horizontal light rays (G1'G3') on the wall are different, but the z coordinate is equal, both being 0.5c. This means that the z coordinates scanned and received by the G1 and G3 laser vision sensors are consistently 0.5c in three-dimensional space. Numerical analysis can be performed on the data (G1'M) and (G3'M) acquired by the G1 and G3 sensors. Since the sensors cannot directly obtain the coordinate values ​​of the farthest point (G1' and G3'), a numerical sorting algorithm can be used to obtain the point in the (G1'M) data points with the largest x and y values ​​and label it as G1'(x'M). max ,y max The point with the smallest x and y values ​​among the data points (G3'M), 0.5c), is labeled as G3'(x). min ,y min (0.5c). Using the coordinates of point G1' and point G3', the angle θ1 required for the outer plane of the work platform to rotate to be parallel with the wall can be calculated. The two sets of extracted data are compared, and the coordinates of the coincident point are calibrated as M.

[0093]

[0094] Because G1' corresponds to the point in the (G1'M) data points where both x and y values ​​are the largest, and G3' corresponds to the point in the (G3'M) data points where both x and y values ​​are the smallest, then according to G1'(x max ,y max ,0.5c) and G3'(x min ,y min Using the x and y coordinates of 0.5c) to calculate the deflection angle of the outer plane of the work platform relative to the wall can improve the accuracy of angle calculation. It should be noted that the first angle θ1 between the horizontal ray and the x-axis in the coordinate system can also be obtained by other methods.

[0095] The G2 and G4 sensors are primarily used to determine the tilt posture and tilt angle of the wall relative to the work platform. Figure 5 As can be seen, in the data (G2'M) and (G4'M) obtained by sensors G2 and G4, the x and y coordinates of each point are equal, only the z coordinate values ​​are unequal, varying between 0 and c. This indicates that both the work platform and the wall are vertical, without any forward or backward tilt. Simply rotating the work platform by an angle θ1 along the Z-axis; that is, with the deflection attitude at right rearward, rotating the work platform horizontally by the first included angle θ1 in the counterclockwise direction, will make the work platform parallel to the wall. Once the outer plane of the work platform is parallel to the wall, the distance from the outer plane of the work platform to the wall should then be adjusted to the optimal working distance (i.e., the preset standard distance).

[0096] In one embodiment, the deflection attitude includes left rearward deflection; determining the deflection attitude and deflection angle of the outer plane relative to the working plane based on the first angle between the horizontal ray and the horizontal axis in the coordinate system includes: when the first angle between the horizontal ray and the horizontal axis in the coordinate system is greater than 90 degrees, determining the deflection attitude of the outer plane relative to the working plane as left rearward deflection, and the deflection angle of the left rearward deflection is the first difference angle between 180 degrees and the first angle; horizontally rotating the working platform based on the deflection attitude and the deflection angle includes: when the deflection attitude is left rearward deflection, horizontally rotating the working platform in a clockwise direction by the first difference angle.

[0097] Figure 6 This diagram schematically illustrates the posture of the outer plane of the work platform relative to the work plane, which is tilted to the left and rearward relative to the work surface according to an embodiment of the present invention. When the outer plane of the work platform is tilted to the left and rearward relative to the wall, the distance from the left side of the work platform (i.e., the position near the G3 sensor) to the wall is greater than the distance from the right side of the work platform (i.e., the position near the G1 sensor) to the wall. At this time, the bottom surface of the work platform remains horizontal, and both the work platform and the wall are vertical, without any forward or backward tilt. The data (G1'M) and (G3'M) acquired by the G1 and G3 sensors can be represented as follows:

[0098]

[0099]

[0100] Two light paths (G1'M) and (G3'M) form a horizontal ray (G1'G3'). From the coordinate system, we can see that within the horizontal ray (G1'G3'), the x-coordinate value is largest and the y-coordinate value is smallest at point G1'; while the x-coordinate value is smallest and the y-coordinate value is largest at point G3'. G1'(x) can be determined by numerical sorting. max ,y min ,0.5c) and G3'(x min ,y max ,0.5c), using the coordinates of point G1' and point G3', the angle 180°-θ1 required for the outer plane of the work platform to rotate to be parallel to the wall can be calculated, where θ1 is the first angle between the horizontal ray and the horizontal axis in the coordinate system.

[0101]

[0102] Because G1' corresponds to the point with the largest x-coordinate and the smallest y-coordinate among the (G1'G3') data points, and G3' corresponds to the point with the smallest x-coordinate and the largest y-coordinate among the (G1'G3') data points, according to G1'(x max ,y min ,0.5c) and G3'(x min ,y maxUsing the x and y coordinates of 0.5c) to calculate the deflection angle of the outer plane of the work platform relative to the wall can improve the accuracy of angle calculation. It should be noted that the first angle θ1 between the horizontal ray and the positive direction of the horizontal axis (i.e., the x-axis) in the coordinate system can also be obtained by other methods.

[0103] from Figure 6 As can be seen, in the data (G2'M) and (G4'M) obtained by sensors G2 and G4, the x and y coordinate values ​​of each point are equal, only the z coordinate values ​​are unequal, varying between 0 and c. This indicates that both the work platform and the wall are vertical, without any forward or backward tilt. Simply rotating the work platform 180-θ1 degrees along the Z-axis; that is, with the deflection attitude at left rearward, rotating the work platform horizontally 180-θ1 degrees clockwise will make the work platform parallel to the wall. Once the outer plane of the work surface is parallel to the wall, the distance from the outer plane of the work surface to the wall should then be adjusted to the optimal working distance (i.e., the preset standard distance).

[0104] In one embodiment, the tilting posture includes forward tilting. Determining the tilting posture and tilt angle of the working plane relative to the outer plane based on the second angle between the vertical ray and the vertical axis in the coordinate system includes: when the second angle between the vertical ray and the vertical axis in the coordinate system is greater than 90 degrees, determining that the tilting posture of the working plane relative to the outer plane is forward tilting, and the tilt angle of forward tilting is the difference between 180 degrees and the second angle.

[0105] Figure 7 This diagram schematically illustrates the posture of the working plane tilted forward relative to the outer plane of the working platform according to an embodiment of the present invention. When the wall is tilted forward relative to the outer plane of the working platform, the distance from the upper end of the working platform (i.e., the position near sensor G2) to the wall is less than the distance from the lower end of the working platform (i.e., the position near sensor G4) to the wall. At this time, the bottom surface of the working platform remains horizontal, while the working platform is in a vertical state and does not deflect, while the wall is tilted forward. Figure 7 It can be seen that in the data (G1'M) and (G3'M) acquired by sensors G1 and G3, the y and z coordinates of each point are equal, only the x coordinates are unequal, and the x coordinates vary between 0 and a. The two optical paths (G2'M) and (G4'M) form a vertical ray (G2'G4'). The data collected by sensors G2 and G4 can be represented as (G2'M) and (G4'M), respectively composed of n collected wall space data points, and can be expressed as:

[0106]

[0107]

[0108] Point M is still marked with coordinates coinciding with (G2'M) and (G4'M). Simultaneously, we can perform numerical calculations based on the data from G2 and G4 to obtain the coordinate values ​​of G2' and G4' respectively, thereby determining the tilt angle of the wall relative to the work platform. From Figure 7 It can be seen that in the perpendicular ray (G2'G4'), G2' has the smallest z-axis coordinate (c), x-axis coordinate (0.5a), and y-axis coordinate (0). G4' has the largest z-axis coordinate (0), x-axis coordinate (0.5a), and y-axis coordinate (0). G2'(0.5, y) can be determined by numerical sorting. min ,), G4'(0.5,y max Based on the coordinates of points G2' and G4', the vertical tilt angle of the wall relative to the outer plane of the work platform can be calculated as 180° - θ2, where θ2 is the second angle between the vertical ray and the positive direction of the vertical axis (i.e., the z-axis) in the coordinate system. It should be noted that the tilt angle can also be obtained using other methods; the above is just an example.

[0109]

[0110] In one embodiment, adjusting the distance between the work platform and the work object based on the tilt posture and tilt angle includes: determining the curve equation of the vertical ray in the longitudinal axis-vertical axis plane of the coordinate system based on the tilt posture and tilt angle; determining the work height of the work point on the outer plane; determining the first horizontal distance between the work point and the work plane based on the work height and the curve equation; if the first horizontal distance is less than a preset standard distance, determining the first difference between the preset standard distance and the first horizontal distance, and moving the work platform away from the work object by the first difference.

[0111] Figure 8 The diagram schematically illustrates the tilt angle of the working plane according to an embodiment of the present invention. The second angle between the vertical ray and the positive direction of the vertical axis (i.e., the z-axis) in the coordinate system is θ2, and the tilt angle of the wall relative to the outer plane of the working platform is 180° - θ2. The working height of the working point on the outer plane of the working platform is denoted as H. Workers can stand or squat on the working platform to perform high-altitude wall painting, glass curtain wall installation, and window washing, etc. Therefore, H is related to whether the worker is standing or squatting, and also to factors such as the worker's height. See also... Figure 8 The diagram illustrates a work platform with the wall tilted forward. Since personnel stand on the platform, for safety reasons, the platform's bottom surface must be strictly level with the horizontal plane. However, since the wall is tilted forward, it's impossible to adjust the platform's outer plane to be parallel to the wall. Nevertheless, while ensuring safety, the distance between the platform and the wall can be adjusted to achieve the optimal working distance (i.e., the preset standard distance d). Figure 8As can be seen, the horizontal distance D from the work point to the wall on the outer plane of the work platform is mainly determined by the work height H and the tilt angle 180°-θ2. The optimal work distance d for the human body (i.e., the preset standard distance) can be obtained through empirical values, so the relative displacement ΔD required to adjust the work platform to the optimal work distance can be calculated.

[0112] Figure 9 A schematic diagram of a vertical ray in the oyz-plane coordinate system according to an embodiment of the present invention is shown. (See also...) Figure 9 When the wall surface is tilted forward relative to the outer plane of the work platform, the equation of the curve of the vertical ray in the coordinate system between the vertical axis and the longitudinal axis is:

[0113] z = -tan(θ² - 90)y + (G₄'y) max )tan(θ2-90)

[0114] Substituting z = H, the horizontal distance from the working point on the outer plane of the current working platform to the wall is:

[0115]

[0116] The angle between the previously calculated forward tilt angle of 180 degrees and the second angle is:

[0117]

[0118] Then, the relative displacement required to adjust the work platform to the optimal working distance can be obtained:

[0119] △D=Dd

[0120] In other words, if the first horizontal distance (D) is less than the preset standard distance (d), the first difference (△D) between the preset standard distance and the first horizontal distance is determined, and the work platform is moved away from the work object by the first difference (△D). Since the work platform is moved away from the work object, there is no need to worry about the work platform colliding with the wall.

[0121] If the first horizontal distance (D) from the work point on the outer plane of the current work platform to the wall is greater than the preset standard distance (d), the work platform needs to be moved towards the wall (i.e., moved forward). However, the wall is tilted forward, so during this forward movement, it's necessary to consider whether the top edge of the work platform's outer plane will collide with the wall. Therefore, when the first horizontal distance (D) is greater than the preset standard distance (d), after determining the second difference between the first horizontal distance and the preset standard distance, the control method further includes: determining the second height coordinate of the top edge of the outer plane when the tilt posture is forward; determining the third horizontal distance between the top edge and the work plane based on the second height coordinate and the curve equation; moving the work platform towards the work object by the second difference when the second difference is less than or equal to the third horizontal distance; and moving the work platform towards the work object by the third horizontal distance when the second difference is greater than the third horizontal distance. This avoids collisions with the wall during the movement of the work platform, ensuring safety while achieving automatic adjustment.

[0122] In one embodiment, the tilting posture includes backward tilting; determining the tilting posture and tilting angle of the working plane relative to the outer plane based on the second angle between the vertical ray and the vertical axis in the coordinate system includes: when the second angle between the vertical ray and the vertical axis in the coordinate system is less than 90 degrees, determining the tilting posture of the working plane relative to the outer plane as backward tilting, and the tilting angle of backward tilting as the second angle.

[0123] Figure 10 The diagram illustrates the posture of the working plane tilted backward relative to the outer plane of the working platform according to an embodiment of the present invention. When the wall is tilted backward relative to the outer plane of the working platform, the distance from the upper end of the working platform (i.e., near the position of sensor G2) to the wall is greater than the distance from the lower end of the working platform (i.e., near the position of sensor G4) to the wall. At this time, the bottom surface of the working platform remains horizontal, while the working platform is in a vertical state and does not deflect, and the wall tilts backward. Similarly, in the data (G1'M) and (G3'M) acquired by sensors G1 and G3, the y and z coordinate values ​​of each point are equal, only the x coordinate values ​​are unequal, and the x-axis coordinate value varies from 0 to a. The data (G2'M) and (G4'M) acquired by sensors G2 and G4 can be represented as:

[0124]

[0125]

[0126] from Figure 10 As can be seen, due to the wall tilting backward, G2' has a z-axis coordinate of c, an x-axis coordinate of 0.5a, and a maximum y-axis coordinate. G4' has a z-axis coordinate of 0, an x-axis coordinate of 0.5a, and a minimum y-axis coordinate. Therefore, G2'(0.5, y...) can be determined by sorting the values.max ,), G4'(0.5,y min Based on the coordinates of points G2' and G4', the tilt angle θ2 of the wall relative to the work platform can be calculated. The two light paths (G2'M) and (G4'M) form a vertical ray, and θ2 is the second angle between the vertical ray and the vertical axis (positive direction) in the coordinate system.

[0127]

[0128] Figure 11 The diagram illustrates the tilt angle of the working platform according to an embodiment of the present invention. The second angle between the vertical ray and the positive direction of the vertical axis (i.e., the z-axis) in the coordinate system is θ2, representing the tilt angle θ2 of the wall relative to the outer plane of the working platform. For safety considerations, the actual working conditions are incorporated into the intelligent algorithm. Because the wall is tilted backward relative to the working platform, the upper part of the working platform is relatively far from the wall, and the lower part is relatively close to the wall. The distance between the working platform and the wall is wider at the top and narrower at the bottom. Since the bottom surface of the working platform needs to remain parallel to the horizontal plane at all times, the optimal standing working distance is not used as the control basis in this case, as there is a risk of the lower part of the working platform touching the wall. Workers can crouch on the working platform to perform their work. Figure 11 As shown, the crouching working height S is selected as the working height of the working point. Then, based on the crouching working height S and the tilt angle θ2, the relative displacement △D required to adjust the working platform to the optimal working distance d from the wall is calculated, while ensuring that the lower end of the working platform does not touch the wall.

[0129] The solutions for the backward tilt and forward tilt are similar in terms of curve equation and distance travel. Therefore, the solutions for the backward tilt can be found in the forward tilt case, and will not be repeated here. If the first horizontal distance from the work point on the outer plane of the current work platform to the wall is greater than the preset standard distance, the work platform needs to be moved towards the wall (i.e., moved forward). However, if the wall is tilted backward, it is necessary to consider whether the bottom edge of the outer plane of the work platform will hit the wall during the forward movement. Therefore, the control method for the work platform also includes: determining the second difference between the first horizontal distance and the preset standard distance when the first horizontal distance is greater than the preset standard distance; determining the first height coordinate of the bottom edge of the outer plane when the tilt posture is backward; determining the second horizontal distance between the bottom edge and the work plane based on the first height coordinate and the curve equation; moving the work platform towards the work object by the second difference when the second difference is less than or equal to the second horizontal distance; and moving the work platform towards the work object by the second horizontal distance when the second difference is greater than the second horizontal distance. This avoids the work platform hitting the wall during movement, ensuring safety while achieving automatic adjustment.

[0130] When the wall is parallel to the outer plane of the work platform, only the distance between the work platform and the wall needs to be adjusted to move the work platform to the optimal working distance. When the outer plane of the work platform is relative to the wall, deflected to the right or left, or when the wall is tilted forward or backward relative to the outer plane of the work platform, the corresponding automatic adjustment methods are also as described above. All of these methods can automatically adjust the work platform to the optimal working distance while ensuring safe operation, facilitating work on the platform and improving worker efficiency. The above five situations (parallel, deflected to the right, deflected to the left, tilted forward, and tilted backward) represent five basic postures of the work platform relative to the wall (i.e., the work object) in space. Based on visual fusion to obtain the spatial information of the wall, and simultaneously based on the spatial information of the four sensors, the angle of rotation and / or the distance of movement required for the work platform to reach the optimal working position from the wall can be obtained through coordinate judgment and calculation. Other complex working conditions can be decomposed into the above five basic postures.

[0131] In this way, the fusion information based on sensors can detect the posture information of the working plane (such as a wall) and the working platform in real time. Then, based on different posture information, different dynamic adjustments are made to automatically adjust the distance and parallelism between the working platform and the working plane (such as a wall), so as to achieve precise wall-following operation. This frees workers from tedious micro-position adjustments, improves their work efficiency, and achieves high efficiency in exterior wall operations. In addition, the one-click intelligent wall-following method is safe and cost-effective.

[0132] Figure 12 A schematic diagram illustrates the working components involved in the control method for an aerial work platform according to an embodiment of the present invention. In this embodiment, an adaptive control system for wall-following aerial work platforms is provided. The system mainly involves the following working components: a four-phase laser vision sensor 19, a radar rangefinder 18, an intelligent action switch 20, a boom length sensor 21, a boom angle sensor 22, a platform leveling angle sensor 23, a platform rotation angle sensor 24, a boom angle sensor 25, an image processing module 26, an industrial controller 27, an industrial display screen 28, and hydraulic valve groups for controlling actions (boom extension solenoid valve 29, boom luffing solenoid valve 30, boom luffing solenoid valve 31, platform leveling solenoid valve 32, platform rotation solenoid valve 33), etc. In this embodiment, "laser vision sensor" and "vision sensor, etc." refer to sensors disposed on the outer plane of the work platform.

[0133] Figure 13The illustration shows the steps involved in one-click intelligent wall following according to an embodiment of the present invention. The one-click intelligent wall following technology involves three parts: image processing, control algorithm, and intelligent action. Image processing mainly includes joint calibration of four-phase visual sensors, visual recognition, and multi-phase visual fusion; the control algorithm mainly includes mathematical modeling of wall space, extraction of wall space posture matrix, extraction of platform-wall offset matrix, extraction of platform-wall rotation matrix, and controller feedback control; intelligent action mainly includes one-click control of the movement direction and real-time maintenance of wall parallelism.

[0134] In this embodiment of the invention, multi-phase laser vision fusion is used for mathematical modeling of the wall space. Based on the position information extracted from the wall space model, the controller realizes real-time adjustment of the spatial position of the work platform, thereby maintaining the optimal working state of the work platform in real time. Regarding the coordinate system of the work platform, the following supplementary explanation is made: the fixed corner point of the work platform is used as the base point of the spatial coordinate system. By inputting the size information of the work platform and the spatial position information of the four vision sensors, a unified spatial system based on the base point is calibrated. The data collected by the four vision sensors are fused to extract their edge position information and overlap position information, thereby determining the spatial mathematical information of the wall within the entire work platform range. By performing a joint operation on the spatial mathematical matrix of the work platform and the spatial mathematical matrix of the wall, the rotation angle and movement distance required to adjust the work platform to the optimal working position can be determined. Then, the current value of the boom action can be automatically adjusted to control the boom luffing, boom extension and retraction, boom luffing, platform leveling, platform rotation and other actions of the hydraulic system, realizing the real-time following function of the work platform to the wall.

[0135] In this embodiment of the invention, laser vision sensors and vision sensors refer to sensors mounted on the outer plane of the work platform. Regarding the initial position calibration of the vision sensors, the following supplementary explanation is provided: The acquisition of target position data by the vision sensors requires calculation based on the relative position within a fundamental coordinate system. Since multiple vision sensors operate simultaneously, and their assembly positions differ, simultaneous acquisition by multiple vision sensors necessitates calibration of a unified base point coordinate system. This allows for the acquisition of spatial point values ​​from the same reference coordinates obtained by different vision sensors, enabling data fusion to obtain the spatial position information of the entire wall surface. The work platform at the end of the aerial work platform is a standard component; therefore, we can select a corner point of the work platform as a reference point (i.e., the base point), calculate the spatial coordinate difference between each vision sensor and the base point, and calibrate the four vision sensors based on these differences, thus unifying the vision sensors with the reference coordinate system.

[0136] Specifically, (1) Operate the boom to bring the work platform close to the wall. When the radar rangefinder 18 sends a signal indicating that the work platform is less than 1m from the wall, the display screen will prompt whether to enter the wall-following calibration; (2) Click the screen to confirm, activate the wall-following system, and begin sensor calibration; (3) If... Figure 2 As shown, a, b, and c are the platform's size parameters, respectively. The coordinates of the base point G0 (0,0,0), the coordinates of the G1 vision sensor (a,b,0.5c), the coordinates of the G2 vision sensor (0.5a,b,c), the coordinates of the G3 vision sensor (0,b,0.5c), and the coordinates of the G4 vision sensor (0.5a,b,0) are input into the calibration system. The system determines the x, y, and z axes of the reference coordinate system based on the input coordinate values ​​and automatically records the calibrated coordinate axis directions and coordinate points into the four vision sensors. (4) After calibration is completed, the display screen will indicate that the calibration is successful. Click to confirm. After successful joint calibration of the sensors, click "Confirm". The calibrated sensors can then collect data from the wall space. By fitting the data collected by the four sensors, the spatial coordinates of the wall plane can be obtained. The plane determined by the side of the work platform where the four sensors are installed is used as the reference plane (also known as the outer plane of the work platform). The wall space plane obtained after the four sensors are fused is determined as the working plane. Based on the calculations of the reference plane and the working plane, the required rotation angle and / or translation distance of the work platform from its current position to the optimal working state can be obtained.

[0137] In this embodiment of the invention, a sensor is installed on the outer plane of the work platform opposite to the work object. The sensor is used to form horizontal and vertical light rays on the work plane of the work object. The control method includes: determining the horizontal and vertical light rays in the coordinate system of the work platform; determining the deflection posture and deflection angle of the outer plane relative to the work plane based on the first angle between the horizontal light ray and the horizontal axis in the coordinate system; determining the tilt posture and tilt angle of the work plane relative to the outer plane based on the second angle between the vertical light ray and the vertical axis in the coordinate system; horizontally rotating the work platform according to the deflection posture and deflection angle; and adjusting the distance between the work platform and the work object according to the tilt posture and tilt angle.

[0138] In this way, sensor-fused information can detect the posture information of the working plane (e.g., a wall) and the working platform in real time. Then, based on different posture information, different dynamic adjustments are made to automatically adjust the distance and parallelism between the working platform and the working plane (e.g., the wall), achieving precise wall-following operation. This frees workers from tedious micro-adjustments, improving work efficiency and achieving high efficiency in exterior wall operations. Furthermore, the one-click intelligent wall-following technology is safe and cost-effective. When an abnormal state of the working platform is detected, any input action can cut off the automatic operation to ensure work safety.

[0139] This invention provides a processor configured to execute any of the control methods for an operating platform described in the above embodiments.

[0140] Sensors are installed on the outer plane of the work platform opposite the work object. These sensors are used to generate horizontal and vertical light rays on the work surface of the work object. Specifically, the processor can be configured to:

[0141] Determine the horizontal and vertical light rays in the coordinate system of the work platform;

[0142] The deflection attitude and deflection angle of the outer plane relative to the working plane are determined based on the first angle between the horizontal ray and the horizontal axis in the coordinate system.

[0143] The tilt attitude and tilt angle of the working plane relative to the external plane are determined by the second angle between the vertical ray and the vertical axis in the coordinate system.

[0144] The work platform is rotated horizontally based on the deflection attitude and deflection angle.

[0145] Adjust the distance between the work platform and the work object according to the tilt posture and tilt angle.

[0146] In this embodiment of the invention, the deflection attitude includes a right rearward deflection; the processor is configured to:

[0147] The deflection attitude and angle of the outer plane relative to the working plane are determined based on the first angle between the horizontal ray and the horizontal axis in the coordinate system, including:

[0148] When the first angle between the horizontal ray and the horizontal axis in the coordinate system is less than 90 degrees, the deflection attitude of the outer plane relative to the working plane is determined to be right rear deflection, and the deflection angle of the right rear deflection is the first angle.

[0149] Based on the deflection attitude and deflection angle, the horizontal rotating work platform includes:

[0150] With the deflection attitude at right rear deflection, rotate the work platform horizontally by the first included angle in the counterclockwise direction.

[0151] In this embodiment of the invention, the deflection attitude includes a left rearward deflection; the processor is configured to:

[0152] The deflection attitude and angle of the outer plane relative to the working plane are determined based on the first angle between the horizontal ray and the horizontal axis in the coordinate system, including:

[0153] When the first angle between the horizontal ray and the horizontal axis in the coordinate system is greater than 90 degrees, the deflection attitude of the outer plane relative to the working plane is determined to be left rear deflection, and the deflection angle of the left rear deflection is the first difference angle between 180 degrees and the first angle.

[0154] The horizontal rotation of the work platform, based on the deflection attitude and deflection angle, includes:

[0155] With the deflection attitude being left rearward, the work platform is rotated horizontally in a clockwise direction by the first difference angle.

[0156] In this embodiment of the invention, the tilting posture includes forward tilting; the processor is configured to:

[0157] The tilt attitude and tilt angle of the working plane relative to the external plane are determined based on the second angle between the vertical ray and the vertical axis in the coordinate system, including:

[0158] When the second angle between the vertical ray and the vertical axis in the coordinate system is greater than 90 degrees, the tilt of the working plane relative to the outer plane is determined to be forward tilt, and the tilt angle of forward tilt is the difference between 180 degrees and the second angle.

[0159] In this embodiment of the invention, the tilting posture includes a backward tilt; the processor is configured to:

[0160] The tilt attitude and tilt angle of the working plane relative to the external plane are determined based on the second angle between the vertical ray and the vertical axis in the coordinate system, including:

[0161] When the second angle between the vertical ray and the vertical axis in the coordinate system is less than 90 degrees, the tilt of the working plane relative to the outer plane is determined to be backward tilt, and the tilt angle of backward tilt is the second angle.

[0162] In this embodiment of the invention, the processor is configured to:

[0163] Adjusting the distance between the work platform and the work object based on the tilt posture and tilt angle includes:

[0164] Determine the equation of the curve of the vertical ray in the vertical axis-vertical axis plane in the coordinate system based on the tilt posture and tilt angle;

[0165] Determine the working height of the work points on the outer plane;

[0166] Determine the first horizontal distance between the work point and the work plane based on the work height and the curve equation;

[0167] If the first horizontal distance is less than the preset standard distance, determine the first difference between the preset standard distance and the first horizontal distance, and move the work platform away from the work object by the first difference.

[0168] In this embodiment of the invention, the processor is further configured to:

[0169] If the first horizontal distance is greater than the preset standard distance, determine the second difference between the first horizontal distance and the preset standard distance;

[0170] When the tilted posture is backward, determine the first height coordinate of the bottom edge of the outer plane;

[0171] Determine the second horizontal distance between the bottom edge and the working plane based on the first elevation coordinates and the curve equation;

[0172] If the second difference is less than or equal to the second horizontal distance, move the work platform toward the work object by the second difference.

[0173] If the second difference is greater than the second horizontal distance, move the work platform towards the work object by the second horizontal distance.

[0174] In this embodiment of the invention, after determining a second difference between the first horizontal distance and the preset standard distance when the first horizontal distance is greater than a preset standard distance, the processor is further configured to:

[0175] When the tilt attitude is forward, determine the second height coordinates of the top edge of the outer plane;

[0176] The third horizontal distance between the top edge and the working plane is determined based on the second height coordinates and the curve equation;

[0177] If the second difference is less than or equal to the third horizontal distance, move the work platform toward the work object by the second difference.

[0178] If the second difference is greater than the third horizontal distance, move the work platform towards the work object by the third horizontal distance.

[0179] This invention provides a control device for a work platform, comprising:

[0180] The sensor, positioned on the outer plane of the work platform opposite the work object, is used to generate horizontal and vertical light rays on the work surface of the work object; and

[0181] The processor mentioned above.

[0182] In this embodiment of the invention, the sensor includes at least four sub-sensors. Among the at least four sub-sensors, the first sub-sensor and the second sub-sensor have equal vertical and horizontal coordinates in the coordinate system of the work platform and are used to form horizontal light rays. Among the at least four sub-sensors, the third sub-sensor and the fourth sub-sensor have equal horizontal and vertical coordinates in the coordinate system and are used to form vertical light rays.

[0183] This invention provides a working platform including the control device described above.

[0184] This invention provides an aerial work platform vehicle, including the aforementioned work platform.

[0185] This invention provides a machine-readable storage medium storing instructions that cause a machine to execute the aforementioned control method for an operating platform.

[0186] 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.

[0187] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0188] 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.

[0189] 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.

[0190] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0191] 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.

[0192] 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.

[0193] 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.

[0194] 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 a work platform, characterized in that, A sensor is installed on the outer plane of the work platform opposite to the work object. The sensor is used to generate horizontal and vertical light rays on the work plane of the work object. The control method includes: Determine the horizontal and vertical light rays in the coordinate system of the work platform; The deflection attitude and deflection angle of the outer plane relative to the working plane are determined based on the first angle between the horizontal ray and the horizontal axis in the coordinate system. The tilt attitude and tilt angle of the working plane relative to the outer plane are determined based on the second angle between the vertical ray and the vertical axis in the coordinate system. The working platform is rotated horizontally according to the deflection posture and the deflection angle; The distance between the work platform and the work object is adjusted according to the tilt posture and the tilt angle; The step of adjusting the distance between the work platform and the work object based on the tilt posture and the tilt angle includes: determining the curve equation of the vertical ray in the coordinate system (vertical axis-vertical axis plane) based on the tilt posture and the tilt angle; determining the work height of the work point on the outer plane; determining a first horizontal distance between the work point and the work plane based on the work height and the curve equation; and, if the first horizontal distance is less than a preset standard distance, determining a first difference between the preset standard distance and the first horizontal distance, and moving the work platform away from the work object by the first difference.

2. The control method according to claim 1, characterized in that, The deflection attitude includes a right rearward deflection; determining the deflection attitude and deflection angle of the outer plane relative to the working plane based on the first angle between the horizontal ray and the horizontal axis in the coordinate system includes: When the first angle between the horizontal ray and the horizontal axis in the coordinate system is less than 90 degrees, the deflection posture of the outer plane relative to the working plane is determined to be the right rear deflection, and the deflection angle of the right rear deflection is the first angle. The step of horizontally rotating the work platform according to the deflection posture and the deflection angle includes: When the deflection posture is the right rear deflection, the work platform is rotated horizontally in a counterclockwise direction by the first included angle.

3. The control method according to claim 1, characterized in that, The deflection attitude includes left rearward deflection; determining the deflection attitude and deflection angle of the outer plane relative to the working plane based on the first angle between the horizontal ray and the horizontal axis in the coordinate system includes: When the first angle between the horizontal ray and the horizontal axis in the coordinate system is greater than 90 degrees, the deflection posture of the outer plane relative to the working plane is determined to be the left rear deflection, and the deflection angle of the left rear deflection is the first difference angle between 180 degrees and the first angle. The step of horizontally rotating the work platform according to the deflection posture and the deflection angle includes: When the deflection posture is the left rearward deflection, the work platform is rotated horizontally in a clockwise direction by the first difference angle.

4. The control method according to claim 1, characterized in that, The tilting posture includes leaning forward; determining the tilting posture and tilt angle of the working plane relative to the outer plane based on the second angle between the vertical ray and the vertical axis in the coordinate system includes: When the second angle between the vertical ray and the vertical axis in the coordinate system is greater than 90 degrees, the tilt of the working plane relative to the outer plane is determined to be forward tilt, and the tilt angle of forward tilt is the difference between 180 degrees and the second angle.

5. The control method according to claim 1, characterized in that, The tilting posture includes backward tilting; determining the tilting posture and tilting angle of the working plane relative to the outer plane based on the second angle between the vertical ray and the vertical axis in the coordinate system includes: When the second angle between the vertical ray and the vertical axis in the coordinate system is less than 90 degrees, the tilt posture of the working plane relative to the outer plane is determined to be backward tilt, and the tilt angle of backward tilt is the second angle.

6. The control method according to claim 1, characterized in that, Also includes: If the first horizontal distance is greater than the preset standard distance, a second difference between the first horizontal distance and the preset standard distance is determined; When the tilted posture is backward, determine the first height coordinate of the bottom edge of the outer plane; The second horizontal distance between the bottom edge and the working plane is determined based on the first height coordinates and the curve equation. If the second difference is less than or equal to the second horizontal distance, the work platform is moved toward the work object by the second difference. If the second difference is greater than the second horizontal distance, the work platform is moved towards the work object by the second horizontal distance.

7. The control method according to claim 6, characterized in that, After determining a second difference between the first horizontal distance and the preset standard distance when the first horizontal distance is greater than the preset standard distance, the control method further includes: When the tilt posture is forward tilting, determine the second height coordinates of the top edge of the outer plane; The third horizontal distance between the top edge and the working plane is determined based on the second height coordinates and the curve equation; If the second difference is less than or equal to the third horizontal distance, the work platform is moved toward the work object by the second difference. If the second difference is greater than the third horizontal distance, the work platform is moved by the third horizontal distance toward the work object.

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

9. A control device for a work platform, characterized in that, include: A sensor is disposed on the outer plane of the work platform opposite to the work object. The sensor is used to generate horizontal and vertical light rays on the work plane of the work object. as well as The processor according to claim 8.

10. The control device according to claim 9, characterized in that, The sensor includes at least four sub-sensors. Among the at least four sub-sensors, the first sub-sensor and the second sub-sensor have equal vertical and horizontal coordinates in the coordinate system of the work platform and are used to form the horizontal light ray. Among the at least four sub-sensors, the third sub-sensor and the fourth sub-sensor have equal horizontal and vertical coordinates in the coordinate system and are used to form the vertical light ray.

11. A working platform, characterized in that, Includes the control device according to claim 9 or 10.

12. An aerial work platform vehicle, characterized in that, Includes the operating platform as described in claim 11.

Images