High-altitude operation platform control method, device, system and high-altitude operation platform

Abstract

The present invention relates to the field of construction machinery, and provides a control method, device, system and aerial work platform for an aerial work platform. When it is determined that the aerial work platform is turning, the steering angle of a target wheel on the chassis of the aerial work platform and the current speed of the work bucket are obtained. A first turning radius is determined based on the steering angle of the target wheel, where the first turning radius is the turning radius of the chassis relative to the instantaneous turning center. A second turning radius is determined based on the first turning radius, where the second turning radius is the turning radius of the work bucket relative to the instantaneous turning center. Based on the ratio of the first turning radius to the second turning radius and the current speed of the work bucket, a target walking speed of the chassis is determined, and the chassis is controlled to walk based on the target walking speed. The problem that the work bucket is not stable enough during turning and walking and the operator experience is poor is solved, so that the work bucket can be kept stable during turning and walking, and the operator experience can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of working machinery, and in particular to a control method, device, system and aerial working platform of an aerial working platform. Background Art

[0002] Aerial work platform is a self-propelled work machine. There are many types of aerial work platforms, mainly scissor type, arm type, etc. Compared with scissor type aerial work platform, the center of gravity of the working bucket of arm type aerial work platform is not on the center of the vehicle body, so when the operator controls the aerial work platform to turn and walk in the working bucket, the working bucket will shake greatly.

[0003] Therefore, for boom-type aerial work platforms, how to make the working bucket smoother and more stable when the aerial work platform is turning and walking to improve the operator's experience is a problem that needs to be solved urgently in the field. Summary of the invention

[0004] The present invention provides an aerial work platform control method, device, system and aerial work platform, which are used to solve the problems in the prior art that the working bucket of the aerial work platform is not stable enough when turning and moving, and the operator experience is not good, so as to achieve the stability of the working bucket of the aerial work platform when turning and moving, so as to improve the operator experience.

[0005] The present invention provides a method for controlling an aerial work platform, comprising:

[0006] When it is determined that the aerial work platform is turning, the steering angle of the target wheel on the chassis of the aerial work platform and the current speed of the work bucket are obtained;

[0007] Determining a first turning radius based on the turning angle of the target wheel, wherein the first turning radius is a turning radius of the chassis relative to an instantaneous turning center;

[0008] Determining a second turning radius based on the first turning radius, the second turning radius being a turning radius of the working bucket relative to the instantaneous turning center;

[0009] Determining a target travel speed of the chassis based on a current speed of the working bucket and a ratio of the first turning radius to the second turning radius;

[0010] The chassis is controlled to travel based on the target travel speed.

[0011] According to a control method for an aerial work platform provided by the present invention, the working bucket is connected to the main arm through a flying arm, and the second turning radius is determined based on the first turning radius, comprising:

[0012] Determine the length of the projection of the main arm on the central axis of the chassis based on the current inclination angle and the current length of the main arm, and use it as the first length;

[0013] Determine the length of the projection of the fly arm on the central axis based on the current inclination angle and the length of the fly arm, and use it as the second length;

[0014] Use the length from the operating position of the work bucket to the fly arm as the third length;

[0015] Based on the first length, the second length, and the third length, determine a fourth length, where the fourth length represents the length between the projection point of the operating position of the work bucket on the central axis and the target position, and the target position is the intersection point of the first turning radius and the central axis;

[0016] Based on the first turning radius and the fourth length, determine the second turning radius.

[0017] According to a control method for an aerial work platform provided by the present invention, when the absolute value of the steering angle of the front wheels of the chassis is greater than zero and the steering angle of the rear wheels is zero, the instantaneous steering center is on the extension line of the rear axle, and the target position is the center of the rear axle;

[0018] When the steering angle of the front wheels of the chassis is zero and the absolute value of the steering angle of the rear wheels is greater than zero, the instantaneous steering center is on the extension line of the front axle, and the target position is the center of the front axle;

[0019] When the absolute value of the steering angle of the front wheels of the chassis is greater than zero and the absolute value of the steering angle of the rear wheels is greater than zero, the instantaneous steering center is on the straight line perpendicular to the central axis of the chassis and passing through the center of the chassis, and the target position is the center of the chassis.

[0020] According to a control method for an aerial work platform provided by the present invention, the aerial work platform includes multiple driving modes, and the control method for the aerial work platform further includes:

[0021] Obtain the steering angle of each driving wheel of the chassis in the current driving mode;

[0022] When the absolute value of the steering angle of any one of the driving wheels is greater than or equal to a set threshold, determine that the aerial work platform is turning.

[0023] According to a control method for an aerial work platform provided by the present invention, it further includes:

[0024] When the steering angles of all the driving wheels are less than the set threshold, control the chassis based on the current traveling speed of the chassis.

[0025] A control method for an aerial work platform provided by the present invention, when the aerial work platform is moving straight, the current speed of the work bucket is the current walking speed of the chassis.

[0026] A control method for an aerial work platform provided by the present invention, determining the target walking speed of the chassis based on the current speed of the work bucket and the ratio of the first turning radius to the second turning radius, includes:

[0027] Determining the target walking speed of the chassis based on the product of the current speed of the work bucket and the ratio of the first turning radius to the second turning radius.

[0028] The present invention also provides a control device for an aerial work platform, including:

[0029] An acquisition module, configured to acquire the steering angle of a target wheel on the chassis of the aerial work platform and the current speed of the work bucket when it is determined that the aerial work platform is turning;

[0030] A first turning radius determination module, configured to determine a first turning radius based on the steering angle of the target wheel, where the first turning radius is the turning radius of the chassis relative to the instantaneous turning center;

[0031] A second turning radius determination module, configured to determine a second turning radius based on the first turning radius, where the second turning radius is the turning radius of the work bucket relative to the instantaneous turning center;

[0032] A target walking speed determination module, configured to determine the target walking speed of the chassis based on the current speed of the work bucket and the ratio of the first turning radius to the second turning radius;

[0033] A control module, configured to control the walking of the chassis based on the target walking speed.

[0034] The present invention also provides a control system for an aerial work platform, including:

[0035] A corner sensor of a target wheel on the chassis of the aerial work platform, configured to collect the steering angle of the target wheel;

[0036] A first speed sensor, configured to collect the current speed of the work bucket of the aerial work platform;

[0037] A second speed sensor, configured to collect the current walking speed of the chassis;

[0038] A controller, electrically connected to the steering angle sensor of a target wheel on the chassis of the aerial work platform, the first speed sensor, and the second speed sensor respectively, is configured to execute the aerial work platform control method described in any one of the above.

[0039] The present invention further provides an aerial work platform, including: being configured to execute the aerial work platform control method described in any one of the above, or including the aerial work platform control device described in any one of the above, or including the aerial work platform control system described in any one of the above.

[0040] The present invention provides an aerial work platform control method, device, system, and aerial work platform. When it is determined that the aerial work platform is turning, the steering angle of a target wheel on the chassis of the aerial work platform and the current speed of the work bucket are obtained. Based on the steering angle of the target wheel, a first turning radius is determined, where the first turning radius is the turning radius of the chassis relative to the instantaneous turning center. Based on the first turning radius, a second turning radius is determined, where the second turning radius is the turning radius of the work bucket relative to the instantaneous turning center. Based on the ratio between these two turning radii and the current speed of the work bucket, the target walking speed of the chassis is determined to control the walking of the chassis. In this way, by controlling the chassis to walk at the corresponding target walking speed based on the current speed of the work bucket, it can ensure that the work bucket remains stable under different turning radii, improving the operating experience of the operator standing in the work bucket. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] Figure 1 is one of the flow schematic diagrams of the aerial work platform control method provided by the present invention;

[0043] Figure 2 is one of the structural schematic diagrams of the aerial work platform provided by the present invention;

[0044] Figure 3 is one of the top - view structural schematic diagrams of the aerial work platform provided by the present invention;

[0045] Figure 4 is the second of the top - view structural schematic diagrams of the aerial work platform provided by the present invention;

[0046] Figure 5 is the third of the top - view structural schematic diagrams of the aerial work platform provided by the present invention;

[0047] Figure 6 It is the fourth top view structural schematic diagram of the aerial work platform provided by the present invention;

[0048] Figure 7 It is the structural schematic diagram of the control device of the aerial work platform provided by the present invention;

[0049] Figure 8 It is the structural schematic diagram of the control system of the aerial work platform provided by the present invention;

[0050] Figure 9 It is the structural schematic diagram of the electronic device provided by the present invention;

[0051] Reference numerals:

[0052] 210: Chassis; 211: Left front wheel; 212: Right front wheel; 213: Left rear wheel;

[0053] 214: Right rear wheel; 215: Center of the chassis; 216: Central axis of the chassis;

[0054] 220: Turntable; 230: Folding arm; 240: Main arm; 250: Fly arm;

[0055] 260: Work bucket. Detailed implementation manners

[0056] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0057] The following combines Figures 1-6 to describe the aerial work platform control method provided by the present invention.

[0058] As Figure 1 shown, an embodiment of the present invention provides an aerial work platform control method, including:

[0059] Step 110, when it is determined that the aerial work platform is turning, obtain the steering angle of the target wheel on the chassis of the aerial work platform and the current speed of the work bucket;

[0060] Step 120, determine a first turning radius based on the steering angle of the target wheel, where the first turning radius is the turning radius of the chassis relative to the instantaneous turning center;

[0061] Step 130, determine a second turning radius based on the first turning radius, where the second turning radius is the turning radius of the work bucket relative to the instantaneous turning center;

[0062] Step 140: Determine the target traveling speed of the chassis based on the current speed of the work bucket and the ratio of the first turning radius to the second turning radius.

[0063] Step 150: Control the traveling of the chassis based on the target traveling speed.

[0064] Specifically, the aerial work platform in the embodiments of the present invention may be an articulated aerial work platform. Figure 2 is one of the structural schematic diagrams of the aerial work platform in this embodiment. The aerial work platform may include components such as a chassis 210, a turntable 220, a work bucket 260, and a boom. The boom includes a folding boom 230, a main boom 240, and a fly boom 250. The first end of the folding boom 230 is connected to one end of the turntable 220, the second end of the folding boom 230 is connected to the first end of the main boom 240, the second end of the main boom 240 is connected to the first end of the fly boom 250, and the second end of the fly boom 250 is connected to the work bucket 260. The work bucket 260 is the operating platform for the operator to control the aerial work platform.

[0065] As Figure 3 shown, the chassis 210 includes front wheels and rear wheels. The front wheels include a left front wheel 211 and a right front wheel 212, and the rear wheels include a left rear wheel 213 and a right rear wheel 214. The left front wheel 211 and the right front wheel 212 are connected by a front axle, and the left rear wheel 213 and the right rear wheel 214 are connected by a rear axle. Figure 3 The center 215 of the chassis and a central axis 216 of the chassis are also shown. The central axis 216 of the chassis passes through the center of the chassis and is perpendicular to the front axle and the rear axle.

[0066] It should be noted that when the aerial work platform is traveling, the boom may be in the fully retracted state of the boom, or in the partially extended state of the boom, or in the fully extended state of the boom. Regardless of which state the boom belongs to, the embodiments of the present invention are applicable to the case where the central axis of the boom coincides with the central axis of the above-mentioned chassis when the aerial work platform is traveling.

[0067] In practical applications, when the aerial work platform is turning, when each wheel only rolls without sliding, each wheel must rotate around a center point, and this center point is the instantaneous turning center in the embodiments of the present invention. It can also be said that when the aerial work platform is turning, the center of the circular arc line passed by the body of the aerial work platform is called the instantaneous turning center of the aerial work platform. The distance between the instantaneous turning center and the body of the aerial work platform can be called the turning radius. Correspondingly, each component on the aerial work platform has its own turning radius. Exemplarily, as Figure 4As shown in the figure, let the instantaneous turning center be O. The chassis has a turning radius relative to the instantaneous turning center O, that is, the first turning radius R1 in this embodiment; the working bucket has a turning radius relative to the instantaneous turning center O, that is, the second turning radius R2 in this embodiment. The left front wheel has a turning radius relative to the instantaneous turning center O, and the right front wheel has a turning radius relative to the instantaneous turning center O. And so on. Such details are not elaborated one by one in this embodiment.

[0068] Further, when the aerial work platform is turning, each component of the aerial work platform has its own linear velocity relative to the instantaneous turning center. At this time, the current speed of the working bucket is the current linear velocity of the working bucket relative to the instantaneous turning center; the current walking speed of the chassis is the current walking linear velocity of the chassis relative to the instantaneous turning center.

[0069] Since there is only one instantaneous turning center when the aerial work platform is turning instantaneously, each component of the aerial work platform has the same angular velocity. And each component of the aerial work platform has a different turning radius relative to the same instantaneous turning center. Therefore, each component of the aerial work platform has a different linear velocity, and the linear velocity of each component is proportional to its corresponding turning radius.

[0070] Based on this, in practical applications, when the aerial work platform is turning during walking, since the turning radius of the chassis is smaller than that of the working bucket, if the walking speed of the chassis remains unchanged, at this time, the speed of the working bucket, that is, the linear velocity of the working bucket, will suddenly increase, and the working bucket will shake significantly, resulting in instability and a poor experience for the operator standing in the working bucket.

[0071] For this reason, in this embodiment, the turning radius of the chassis and the turning radius of the working bucket are determined through the steering angle of the target wheels on the chassis, and based on the ratio between these two turning radii and the current speed of the working bucket, the target walking speed of the chassis is determined to control the walking of the chassis. In this way, controlling the chassis to walk at the corresponding target walking speed based on the current speed of the working bucket can ensure the stability of the working bucket under different turning radii and improve the operating experience of the operator standing in the working bucket.

[0072] In an exemplary embodiment, the aerial work platform may include multiple driving modes, including: the first driving mode, the second driving mode, and the third driving mode. The first driving mode can also be called the front-wheel drive mode. In the first driving mode, the front wheels are the driving wheels and the rear wheels are the driven wheels; the second driving mode can also be called the rear-wheel drive mode. In the second driving mode, the rear wheels are the driving wheels and the front wheels are the driven wheels; the third driving mode can also be called the four-wheel drive mode. In the third driving mode, both the front wheels and the rear wheels are driving wheels.

[0073] In practical applications, the road conditions during the turning of an aerial work platform are variable. In this embodiment, by embedding multiple driving modes in the same aerial work platform, the aerial work platform can select the optimal driving mode when turning in the face of variable road conditions, thus improving the operability and flexibility of the aerial work platform during turning.

[0074] In an exemplary embodiment, obtain the steering angle of each driving wheel of the chassis in the current driving mode; when the absolute value of the steering angle of any driving wheel is greater than or equal to a set threshold, determine that the aerial work platform is turning.

[0075] Specifically, when the aerial work platform is turning, the steering angle of the target wheel is collected in real time by a steering angle sensor installed on the target wheel.

[0076] In an exemplary embodiment, the target wheel can be any one of the driving wheels of the chassis in the current driving mode. Exemplarily, the target wheel can be the inner wheel of the driving wheels of the chassis in the current driving mode when the aerial work platform is turning.

[0077] Specifically, a first steering angle sensor can be installed on the left front wheel to obtain the first steering angle of the left front wheel, a second steering angle sensor can be installed on the right front wheel to obtain the second steering angle of the right front wheel, and then a third steering angle sensor can be installed on the left rear wheel to obtain the third steering angle of the left rear wheel, and a fourth steering angle sensor can be installed on the right rear wheel to obtain the fourth steering angle of the right rear wheel.

[0078] Exemplarily, in the first driving mode, the controller of the aerial work platform can obtain the first steering angle of the left front wheel in real time through the first steering angle sensor and obtain the second steering angle of the right front wheel in real time through the second steering angle sensor. When the absolute value of any one of the absolute values of the first steering angle and the second steering angle is greater than or equal to the set threshold, it can be determined that the aerial work platform is turning.

[0079] Exemplarily, in the first driving mode, when the aerial work platform turns to the left, the inner wheel of the driving wheel is the left front wheel. At this time, the target wheel can be the left front wheel, and the controller of the aerial work platform can obtain the first steering angle of the left front wheel in real time through the first steering angle sensor. When the absolute value of the first steering angle is greater than or equal to the set threshold, it can be determined that the aerial work platform is turning; when the aerial work platform turns to the right, the inner wheel of the driving wheel is the right front wheel. At this time, the target wheel can be the right front wheel, and the controller of the aerial work platform can obtain the second steering angle of the right front wheel in real time through the second steering angle sensor. When the absolute value of the second steering angle is greater than or equal to the set threshold, it can be determined that the aerial work platform is turning.

[0080] Exemplarily, in the second driving mode, the controller of the aerial work platform can obtain the third steering angle of the left rear wheel in real time through the third steering angle sensor, and obtain the fourth steering angle of the right rear wheel in real time through the fourth steering angle sensor. When the absolute value of any one of the absolute values of the third steering angle and the fourth steering angle is greater than or equal to the set threshold, it can be determined that the aerial work platform steers.

[0081] Exemplarily, in the second driving mode, when the aerial work platform turns left, the inner wheel of the driving wheel is the left rear wheel. At this time, the target wheel can be the left rear wheel. The controller of the aerial work platform can obtain the third steering angle of the left rear wheel in real time through the third steering angle sensor. When the absolute value of the third steering angle is greater than or equal to the set threshold, it can be determined that the aerial work platform steers; when the aerial work platform turns right, the inner wheel of the driving wheel is the right rear wheel, and the target wheel can be the right rear wheel. The controller of the aerial work platform can obtain the fourth steering angle of the right rear wheel in real time through the fourth steering angle sensor. When the absolute value of the fourth steering angle is greater than or equal to the set threshold, it can be determined that the aerial work platform steers.

[0082] Exemplarily, in the third driving mode, the controller of the aerial work platform can obtain the first steering angle of the left front wheel in real time through the first steering angle sensor, obtain the second steering angle of the right front wheel in real time through the second steering angle sensor, obtain the third steering angle of the left rear wheel in real time through the third steering angle sensor, and obtain the fourth steering angle of the right rear wheel in real time through the fourth steering angle sensor. When the absolute value of the steering angle of any wheel on the chassis is greater than or equal to the set threshold, it can be determined that the aerial work platform steers.

[0083] Exemplarily, in the third driving mode, when the aerial work platform turns left, the inner wheel of the driving wheel is the left wheel. The target wheels can be the left front wheel and the left rear wheel among the left wheels. The controller of the aerial work platform can obtain the first steering angle of the left front wheel in real time through the first steering angle sensor, and can obtain the third steering angle of the left rear wheel in real time through the third steering angle sensor. At this time, the first steering angle and the third steering angle are equal. Therefore, when the absolute value of any one of the absolute values of the first steering angle and the third steering angle is greater than or equal to the set threshold, it can be determined that the aerial work platform steers; when the aerial work platform turns right, the inner wheel of the driving wheel is the right wheel. The target wheels can be the right front wheel and the right rear wheel among the right wheels. The controller of the aerial work platform can obtain the second steering angle of the right front wheel in real time through the second steering angle sensor, and obtain the fourth steering angle of the right rear wheel in real time through the fourth steering angle sensor. At this time, the second steering angle and the fourth steering angle are equal. Therefore, when the absolute value of any one of the absolute values of the second steering angle and the fourth steering angle is greater than or equal to the set threshold, it can be determined that the aerial work platform steers.

[0084] In this embodiment, by installing corresponding corner sensors on each wheel of the chassis, different driving modes of the aerial work platform can be adapted, enabling the aerial work platform to accurately obtain the required steering angle in different driving modes to determine whether it is in the process of steering, thereby improving the operability of the control of the aerial work platform.

[0085] Furthermore, in this embodiment, the steering of the aerial work platform can be determined by using the steering angle of any one of the driving wheels. In this way, when one of the corner sensors fails, the other corner sensor can be used to continue the judgment of the steering of the aerial work platform and the implementation of the control method of the aerial work platform, further improving the reliability of the work bucket to remain stable during the steering of the aerial work platform.

[0086] In addition, since the steering angle of the inner wheel of the driving wheel is the largest when the aerial work platform is steering, in any embodiment, using the inner wheel of the driving wheel for corresponding judgment and control can ensure the stability of the work bucket to the greatest extent when the aerial work platform is steering.

[0087] In an exemplary embodiment, when the absolute value of the steering angle of the front wheels of the chassis is greater than zero and the steering angle of the rear wheels is zero, the instantaneous steering center is on the extension line of the rear axle.

[0088] When the steering angle of the front wheels of the chassis is zero and the absolute value of the steering angle of the rear wheels is greater than zero, the instantaneous steering center is on the extension line of the front axle.

[0089] When the absolute value of the steering angle of the front wheels of the chassis is greater than zero and the absolute value of the steering angle of the rear wheels is greater than zero, the instantaneous steering center is on the straight line perpendicular to the central axis of the chassis and passing through the center of the chassis.

[0090] In this embodiment, by determining the corresponding instantaneous steering center under different corner angles of the wheels, the steering radius of the chassis relative to the instantaneous steering center and the steering radius of the work bucket relative to the instantaneous steering center can be accurately obtained. Furthermore, a more accurate target walking speed of the chassis can be obtained, making the work bucket more stable during steering.

[0091] In an exemplary embodiment, a first speed sensor is installed on the work bucket to collect the current speed of the work bucket; a second speed sensor is installed on the chassis to collect the current walking speed of the chassis.

[0092] In this embodiment, by installing respective speed sensors on the work bucket and the chassis, the current speed of the work bucket and the current walking speed of the chassis can be accurately obtained.

[0093] In an exemplary embodiment, when the aerial work platform is traveling straight, the current speed of the work bucket is the current traveling speed of the chassis.

[0094] Specifically, when the aerial work platform is traveling straight, the speeds of each component of the aerial work platform are the same. Therefore, the current speed of the work bucket is the current traveling speed of the chassis.

[0095] In an exemplary embodiment, based on the current speed of the work bucket and the ratio of the first turning radius to the second turning radius, determining the target traveling speed of the chassis includes: determining the target traveling speed of the chassis based on the product of the current speed of the work bucket and the ratio of the first turning radius to the second turning radius.

[0096] In the related art, the aerial work platform can travel normally when the chassis is within a safe tilt angle. Since the boom of the articulated aerial work platform is not at the center of the vehicle body, when the aerial work platform turns, because the turning radius of the work bucket is greater than the turning radius of the chassis, if the traveling speed of the chassis remains unchanged, the linear speed of the work bucket will suddenly increase. Due to inertia, the operator standing in the work bucket will significantly feel the increase in the speed of the work bucket and is likely to cause unstable operation, resulting in a poor experience for the operator. If the current speed of the work bucket during the turning of the aerial work platform can be controlled, that is, the change in the linear speed of the work bucket is extremely small, then the operator can stand more stably in the work bucket to control the aerial work platform, thereby improving the operator's experience. For this reason, in this embodiment, after determining the first turning radius and the second turning radius, based on the product of the ratio of the first turning radius to the second turning radius and the current traveling speed of the work bucket, the target traveling speed of the chassis is determined. Obviously, the target traveling speed of the chassis obtained in this embodiment by multiplying the ratio of the first turning radius to the second turning radius by the current speed of the work bucket corresponds to the current speed of the work bucket. Since the second turning radius is greater than the first turning radius, in essence, the target traveling speed of the chassis is reduced to achieve the stability of the current speed of the work bucket. In this way, by controlling the target traveling speed of the chassis to correspond to the current speed of the work bucket when the aerial work platform turns, the stability of the work bucket when the aerial work platform turns can be ensured, the experience of the operator standing in the work bucket is improved, and the operation safety is also improved.

[0097] In an exemplary embodiment, the work bucket is connected to the main boom through a fly boom. Based on the first turning radius, determining the second turning radius includes:

[0098] Based on the current inclination angle of the main boom and the current length of the main boom, determining the length of the projection of the main boom on the central axis of the chassis as the first length;

[0099] Determine the length of the projection of the fly arm on the central axis based on the current inclination angle of the fly arm and the length of the fly arm, and use it as the second length;

[0100] Take the length from the operating position of the work bucket to the fly arm as the third length;

[0101] Based on the first length, the second length, and the third length, determine the fourth length, where the fourth length represents the length between the projection point of the operating position of the work bucket on the central axis and the target position, and the target position is the intersection point of the first turning radius and the central axis;

[0102] Based on the first turning radius and the fourth length, determine the second turning radius.

[0103] Specifically, the target position is the intersection point of the first turning radius and the central axis. Then, the target position is located on the central axis of the chassis, and the line segment between the target position and the instantaneous turning center is perpendicular to the central axis of the chassis. Therefore, the line segment between the target position and the instantaneous turning center is the first turning radius, that is, the turning radius of the chassis.

[0104] It should be noted that when the absolute value of the steering angle of the front wheels of the chassis is greater than zero and the steering angle of the rear wheels is zero, the target position is the center of the rear axle;

[0105] When the steering angle of the front wheels of the chassis is zero and the absolute value of the steering angle of the rear wheels is greater than zero, the target position is the center of the front axle;

[0106] When the absolute value of the steering angle of the front wheels of the chassis is greater than zero and the absolute value of the steering angle of the rear wheels is greater than zero, the target position is the center of the chassis. At this time, the first turning radius, that is, the turning radius of the chassis, is the turning radius of the center of the chassis relative to the instantaneous turning center.

[0107] In this embodiment, set the fourth length and the first turning radius as the two right-angled sides of a virtual right-angled triangle respectively, and the second turning radius as the hypotenuse of this virtual right-angled triangle. Therefore, the second turning radius can be determined more accurately based on the first turning radius. Therefore, the fourth length represents the length between the projection point of the operating position of the work bucket on the central axis and the target position.

[0108] Furthermore, the fourth length can be determined based on the first length, the second length, and the third length. The first length is the length of the projection of the main arm on the central axis of the chassis, the second length is the length of the projection of the fly arm on the central axis, and the third length is the length from the operating position of the work bucket to the fly arm. For example Figure 2As shown, the work bucket 260 is connected to the fly arm 250 through the second end of the fly arm 250. Therefore, the length from the operating position of the work bucket 260 to the fly arm 250 is also the length from the operating position of the work bucket 260 to the second end of the fly arm 250. The connection of the work bucket 260 to the main arm 240 through the fly arm 250 includes: the connection of the work bucket 260 to the second end of the fly arm 250, and the connection of the first end of the fly arm 250 to the second end of the main arm 240. In addition, the first end of the main arm 240 is connected to the second end of the folding arm 230, and the first end of the folding arm 230 is connected to the turntable 220.

[0109] The main arm may include a base arm and an extension arm, where the length of the base arm is fixed and the length of the extension arm is variable. Since the extension arm can be telescoped, the main arm can adjust its current length by telescoping the extension arm. The current length of the main arm is the sum of the base arm and the extension arm.

[0110] In implementation, a first inclination sensor can be installed on the main arm to collect the current inclination of the main arm in real time; a length sensor can also be installed on the main arm to collect the length of the extension arm of the main arm in real time.

[0111] A second inclination sensor can be installed on the fly arm to collect the current inclination of the fly arm in real time.

[0112] In this embodiment, by obtaining variables such as the current inclination of the main arm, the current length of the main arm, and the current inclination of the fly arm in real time and by setting the target position, more accurate data of the second turning radius can be obtained, and finally the work bucket of the aerial work platform can be made more stable during turning.

[0113] In one embodiment, as Figure 2 shown, denote the current length of the main arm as L 主 , denote the current inclination of the main arm as α, then the length of the projection of the main arm 240 on the central axis of the chassis, that is, the first length, can be L1 = L 主 cosα. Denote the length of the base arm of the main arm as L 基 , the length of the extension arm of the main arm as L 伸 , L 主 = (L 基 + L 伸 )cosα.

[0114] Denote the length of the fly arm as L 飞 , denote the current inclination of the fly arm as β, then the length of the projection of the fly arm 250 on the central axis of the chassis, that is, the second length, can be L2 = L 飞 cosβ.

[0115] The length from the operating position of the work bucket to the fly arm, which is also the third length, is denoted as L3. Herein, the length from the operating position of the work bucket to the fly arm is also the length from the operating position of the work bucket to the second end of the fly arm.

[0116] In Figure 4 , Figure 5 and Figure 6 , the length between the projection point of the operating position of the work bucket on the central axis and the center of the chassis is denoted as S. It should be noted that in practice, as Figure 2 shown, the length between the projection point of the operating position of the work bucket 260 on the central axis and the projection point of the endpoint of the first end of the main boom 240 on the central axis can be calculated relatively accurately. Herein, the main boom 240 is connected to the folding boom 230 through the first end of the main boom 240. The length S between the projection point of the operating position of the work bucket on the central axis and the center of the chassis is extremely close to the length between the projection point of the operating position of the work bucket on the central axis and the projection point of the endpoint of the first end of the main boom on the central axis. For the convenience of calculation, in any embodiment of the present invention, it can be set that the length S between the projection point of the operating position of the work bucket on the central axis and the center of the chassis is equal to the length between the projection point of the operating position of the work bucket on the central axis and the projection point of the endpoint of the first end of the main boom on the central axis.

[0117] The length between the projection point of the operating position of the work bucket on the central axis and the target position, which is also the fourth length, is denoted as L4. In the first driving mode, L4 = S - L / 2; in the second driving mode, L4 = S + L / 2; in the third driving mode, L4 = S.

[0118] Denote the first turning radius as R1 and the second turning radius as R2. According to the Pythagorean theorem of a triangle, R2 2 = R1 2 + L4 2 .

[0119] In a specific embodiment, as Figure 4 shown, the aerial work platform is in the first driving mode. In this first driving mode, the front wheels are the driving wheels, that is, the left front wheel and the right front wheel are the driving wheels. The first corner sensor is installed on the left front wheel, and the second corner sensor is installed on the right front wheel. The target position is the center of the rear axle, and the line segment between the target position and the instantaneous turning center, which is also the first turning radius R1, is perpendicular to the central axis of the chassis. Figure 4 In

[0120] Figure 4It shows the instantaneous turning center O, chassis width B, chassis length L, length S between the projection point of the operation position of the work bucket on the central axis and the chassis center, first turning radius R1, second turning radius R2, steering angle γ of the target wheel, target walking speed V1 of the chassis, and current speed V2 of the work bucket when the aerial work platform is turning.

[0121] In implementation, the chassis width B, chassis length L, length L of the basic arm of the main boom can be obtained in advance from the relevant storage module of the aerial work platform 基 , length L of the fly boom 飞 , and the length from the operation position of the work bucket to the second end of the fly boom, that is, the third length, is L3. As Figure 2 shown, the fly boom 250 is connected to the work bucket 260 through the second end of the fly boom.

[0122] The data that needs to be detected in real time is the steering angle γ of the target wheel, the current inclination angle α of the main boom, length L of the telescopic arm of the main boom 伸 , current inclination angle β of the fly boom, and the current speed is V2.

[0123] The current speed of the work bucket when the aerial work platform is turning is V2.

[0124] When the aerial work platform is turning, the target walking speed V1 of the chassis is solved based on the current speed V2 of the work bucket.

[0125] First, after obtaining the steering angle γ of the target wheel in real time, based on the relationship among the steering angle γ of the target wheel, chassis length L, and first turning radius R1, i.e., L / (R1 - B / 2) = tanγ, the magnitude of R1 can be obtained.

[0126] Second, after obtaining the current inclination angle α of the main boom and length L of the telescopic arm of the main boom in real time 伸 , the current length L of the main boom can be obtained 主 = L 伸 + L 基 , then the length of the projection of the main boom on the central axis of the chassis, that is, the first length, can be L1 = L 主 cosα = (L 伸 + L 基 )cosα.

[0127] After obtaining the current inclination angle of the fly boom as β in real time, the length of the projection of the fly boom on the central axis of the chassis, that is, the second length, can be L2 = L 飞 cosβ.

[0128] As Figure 2 shown, the length from the operation position of the work bucket to the fly boom, that is, the length from the operation position of the work bucket to the second end of the fly boom, is the third length L3.

[0129] Therefore, the distance between the projection point of the operation position of the work bucket on the central axis and the projection point of the end point of the first end of the main boom on the central axis is L1 + L2 + L3. Among them, the main boom is connected to the folding boom through the first end of the main boom.

[0130] Since it is preset that the length S between the projection point of the operation position of the work bucket on the central axis and the center of the chassis is equal to the length between the projection point of the operation position of the work bucket on the central axis and the projection point of the end point of the first end of the main boom on the central axis, then the length S between the projection point of the operation position of the work bucket on the central axis and the center of the chassis is S = L1 + L2 + L3, that is, S = (L 伸 + L 基 ) cosα + L 飞 cosβ + L3.

[0131] Then, the length representing the projection point of the operation position of the work bucket on the central axis and the target position, that is, the fourth length L4 = S - L / 2 = (L 伸 + L 基 ) cosα + L 飞 cosβ + L3 - L / 2.

[0132] From Figure 4 it can be seen that the first turning radius R1 and the fourth length L4 are respectively the two right-angled sides of a virtual right-angled triangle, and the second turning radius R1 is the hypotenuse of this virtual right-angled triangle. Therefore, according to the Pythagorean theorem of a triangle, the relationship among the three is R2 2 = R1 2 + L4 2 , from which the magnitude of R2 can be obtained.

[0133] Finally, after obtaining the magnitudes of R1 and R2, according to V1 / V2 = R1 / R2, the target walking speed V1 of the chassis corresponding to the current speed V2 of the work bucket when the aerial work platform turns is obtained, and the controller of the aerial work platform controls the chassis to walk at the target walking speed V1.

[0134] In another specific embodiment, as Figure 5 shown, the aerial work platform is in the second driving mode. In this second driving mode, the rear wheels are the driving wheels, that is, the left rear wheel and the right rear wheel are the driving wheels. A third corner sensor is installed on the left rear wheel, and a fourth corner sensor is installed on the right rear wheel. At this time, the target position is the center of the front axle, and the line segment between the target position and the instantaneous turning center, that is, the first turning radius R1, is perpendicular to the central axis of the chassis. Figure 5 In, when the aerial work platform turns left and walks, the target wheel can be the left rear wheel.

[0135] Figure 5It shows the instantaneous steering center O of the aerial work platform during steering, the chassis width B, the chassis length L, the length S between the projection point of the operation position of the work bucket on the central axis and the chassis center, the first steering radius R1, the second steering radius R2, the steering angle γ of the target wheel, the target traveling speed V1 of the chassis, and the current speed V2 of the work bucket.

[0136] In implementation, the chassis width B, the chassis length L, and the length L of the basic arm of the main arm can be obtained in advance from the relevant storage module of the aerial work platform. 基 and the length L of the fly arm 飞 The length from the operation position of the work bucket to the second end of the fly arm, that is, the third length, is L3. As Figure 2 shown, the fly arm 250 is connected to the work bucket 260 through the second end of the fly arm.

[0137] The data that needs to be detected in real time is the steering angle γ of the target wheel, the current inclination angle α of the main arm, the length L of the telescopic arm of the main arm 伸 and the current inclination angle β of the fly arm, and the current speed is V2.

[0138] When the aerial work platform is steering, the current speed of the work bucket is V2.

[0139] When the aerial work platform is steering, the target traveling speed V1 of the chassis is solved based on the current speed V2 of the work bucket.

[0140] First, after obtaining the steering angle γ of the target wheel in real time, based on the relationship among the steering angle γ of the target wheel, the chassis length L, and the first steering radius R1, i.e., L / (R1 - B / 2) = tanγ, the magnitude of R1 can be obtained.

[0141] Second, after obtaining the current inclination angle α of the main arm and the length L of the telescopic arm of the main arm in real time 伸 the current length L of the main arm can be obtained 主 = L 伸 + L 基 Then, the length of the projection of the main arm on the central axis of the chassis, that is, the first length, can be L1 = L 主 cosα = (L 伸 + L 基 )cosα.

[0142] After obtaining the current inclination angle of the fly arm as β in real time, the length of the projection of the fly arm on the central axis of the chassis, that is, the second length, can be L2 = L 飞 cosβ.

[0143] As Figure 2As shown, the length from the operating position of the work bucket to the fly arm, that is, the length from the operating position of the work bucket to the second end of the fly arm, is the third length L3.

[0144] Therefore, the distance between the projection point of the operating position of the work bucket on the central axis and the projection point of the end of the first end of the main arm on the central axis is L1 + L2 + L3, where the main arm is connected to the folding arm through the first end of the main arm.

[0145] Since it is preset that the length S between the projection point of the operating position of the work bucket on the central axis and the center of the chassis is equal to the length between the projection point of the operating position of the work bucket on the central axis and the projection point of the end of the first end of the main arm on the central axis, then the length S between the projection point of the operating position of the work bucket on the central axis and the center of the chassis is S = L1 + L2 + L3, that is, S = (L 伸 +L 基 )cosα + L 飞 cosβ + L3.

[0146] Then, the length representing the projection point of the operating position of the work bucket on the central axis and the target position, that is, the fourth length L4 = S + L / 2 = (L 伸 +L 基 )cosα + L 飞 cosβ + L3 + L / 2.

[0147] From Figure 5 it can be seen that the first turning radius R1 and the fourth length L4 are the two right-angled sides of a virtual right-angled triangle, and the second turning radius R1 is the hypotenuse of this virtual right-angled triangle. Therefore, according to the Pythagorean theorem of a triangle, the relationship among the three can be known as R2 2 = R1 2 + L4 2 , and the magnitude of R2 can be obtained from this.

[0148] Finally, after obtaining the magnitudes of R1 and R2, according to V1 / V2 = R1 / R2, the target walking speed V1 of the chassis corresponding to the current speed V2 of the work bucket when the aerial work platform turns is obtained, and the controller of the aerial work platform controls the chassis to walk at the target walking speed V1.

[0149] As Figure 6As shown, in yet another specific embodiment, the aerial work platform is in the third driving mode. In this third driving mode, both the front wheels and the rear wheels are driving wheels. When the aerial work platform steers, the steering angles of the inner front wheels and the inner rear wheels are the same. In the third driving mode, a first corner sensor is installed on the left front wheel, a second corner sensor is installed on the right front wheel, a third corner sensor is installed on the left rear wheel, and a fourth corner sensor is installed on the right rear wheel. The target position is the center of the chassis, and the line segment between the target position and the instantaneous steering center, that is, the first steering radius R1, is perpendicular to the central axis of the chassis.

[0150] Figure 6 It shows the instantaneous steering center O, the chassis width B, the chassis length L, the length S between the projection point of the operation position of the work bucket on the central axis and the chassis center, the first steering radius R1, the second steering radius R2, the steering angle γ of the target wheel, the target traveling speed V1 of the chassis, and the current speed V2 of the work bucket when the aerial work platform steers. Figure 6 In [the figure], the aerial work platform steers and travels to the left, and the target wheel can be the left wheel.

[0151] During implementation, the chassis width B, the chassis length L, the length L of the basic arm of the main boom, 基 the length L of the fly boom, 飞 and the length from the operation position of the work bucket to the second end of the fly boom, that is, the third length L3, can be obtained in advance in the relevant storage module of the aerial work platform. As Figure 2 shown, the fly boom 250 is connected to the work bucket 260 through the second end of the fly boom.

[0152] The data that needs to be detected in real time is the steering angle γ of the target wheel, the current inclination angle α of the main boom, the length L of the telescopic arm of the main boom, 伸 the current inclination angle β of the fly boom, and the current speed V2.

[0153] When the aerial work platform steers, the current speed of the work bucket is V2.

[0154] When the aerial work platform steers, the target traveling speed V1 of the chassis is solved based on the current speed V2 of the work bucket.

[0155] First, after the steering angle γ of the target wheel is obtained in real time, based on the relationship among the steering angle γ of the target wheel, the chassis length L, and the first steering radius R1, that is, L / (R1 - B / 2) = tanγ, the magnitude of R1 can be obtained.

[0156] Second, after the current inclination angle α of the main boom and the length L of the telescopic arm of the main boom are obtained in real time, 伸 the current length L of the main boom can be obtained. 主 = L 伸 + L基 , then the length of the projection of the main boom on the central axis of the chassis, that is, the first length, can be L1 = L 主 cosα = (L 伸 +L 基 )cosα.

[0157] After the current inclination angle of the fly boom is obtained in real time as β, it can be obtained that the length of the projection of the fly boom on the central axis of the chassis, that is, the second length, can be L2 = L 飞 cosβ.

[0158] As Figure 2 shown, the length from the operating position of the work bucket to the fly boom, that is, the length from the operating position of the work bucket to the second end of the fly boom, is the third length L3.

[0159] Therefore, the distance between the projection point of the operating position of the work bucket on the central axis and the projection point of the end of the first end of the main boom on the central axis is L1 + L2 + L3, where the main boom is connected to the folding boom through the first end of the main boom.

[0160] Since it is preset that the length S between the projection point of the operating position of the work bucket on the central axis and the center of the chassis is equal to the length between the projection point of the operating position of the work bucket on the central axis and the projection point of the end of the first end of the main boom on the central axis, then the length S between the projection point of the operating position of the work bucket on the central axis and the center of the chassis is S = L1 + L2 + L3, that is, S = (L 伸 +L 基 )cosα + L 飞 cosβ + L3.

[0161] Then, the length representing the projection point of the operating position of the work bucket on the central axis and the target position, that is, the fourth length L4 = S = (L 伸 +L 基 )cosα + L 飞 cosβ + L3.

[0162] From Figure 6 it can be seen that the first turning radius R1 and the fourth length L4 are respectively the two right-angled sides of a virtual right-angled triangle, and the second turning radius R1 is the hypotenuse of this virtual right-angled triangle. Therefore, according to the Pythagorean theorem of a triangle, the relationship among the three can be known as R2 2 = R1 2 + L4 2 , and the magnitude of R2 can be obtained therefrom.

[0163] Finally, after obtaining the magnitudes of R1 and R2, based on V1 / V2 = R1 / R2, the target traveling speed V1 of the chassis corresponding to the current speed V2 of the work bucket during the turning of the aerial work platform is obtained, and the controller of the aerial work platform controls the chassis to travel at the target traveling speed V1.

[0164] In an exemplary embodiment, when the steering angles of all wheels are less than a set threshold, the chassis is controlled based on the current traveling speed of the chassis.

[0165] Specifically, when the steering angles of all wheels are less than the set threshold, it can be considered that the aerial work platform is not turning, and at this time, the chassis continues to travel at the current traveling speed.

[0166] In this embodiment, by presetting the set threshold for the steering angle, the aerial work platform maintains its original traveling condition when the steering angles of all wheels are less than the set threshold, which can ensure the stability of the system operation when the aerial work platform is traveling.

[0167] The aerial work platform control device provided by the present invention will be described below. The aerial work platform control device described below can be correspondingly referred to the aerial work platform control method described above.

[0168] As Figure 7 shown, an embodiment of the present invention further provides an aerial work platform control device, including:

[0169] An acquisition module 710, configured to acquire the steering angle of a target wheel on the chassis of the aerial work platform and the current speed of the work bucket when it is determined that the aerial work platform is turning;

[0170] A first turning radius determination module 720, configured to determine a first turning radius based on the steering angle of the target wheel, where the first turning radius is the turning radius of the chassis relative to the instantaneous turning center

[0171] A second turning radius determination module 730, configured to determine a second turning radius based on the first turning radius, where the second turning radius is the turning radius of the work bucket relative to the instantaneous turning center;

[0172] A target traveling speed determination module 740, configured to determine the target traveling speed of the chassis based on the current speed of the work bucket and the ratio of the first turning radius to the second turning radius;

[0173] A control module 750, configured to control the chassis to travel based on the target traveling speed.

[0174] In an exemplary embodiment, the second turning radius determining module is specifically configured to determine the length of the projection of the main boom on the central axis of the chassis based on the current inclination angle and the current length of the main boom as the first length; determine the length of the projection of the fly boom on the central axis based on the current inclination angle and the length of the fly boom as the second length; use the length from the operating position of the work bucket to the fly boom as the third length; determine a fourth length based on the first length, the second length, and the third length, where the fourth length represents the length between the projection point of the operating position of the work bucket on the central axis and the target position, and the target position is the intersection point of the first turning radius and the central axis; and determine the second turning radius based on the first turning radius and the fourth length.

[0175] In an exemplary embodiment, when the absolute value of the steering angle of the front wheels of the chassis is greater than zero and the steering angle of the rear wheels is zero, the instantaneous turning center is on the extension line of the rear axle, and the target position is the center of the rear axle; when the steering angle of the front wheels of the chassis is zero and the absolute value of the steering angle of the rear wheels is greater than zero, the instantaneous turning center is on the extension line of the front axle, and the target position is the center of the front axle; when the absolute value of the steering angle of the front wheels of the chassis is greater than zero and the absolute value of the steering angle of the rear wheels is greater than zero, the instantaneous turning center is on the straight line perpendicular to the central axis of the chassis and passing through the center of the chassis, and the target position is the center of the chassis.

[0176] In an exemplary embodiment, the aerial work platform includes multiple driving modes, and the acquisition module 710 is further configured to acquire the steering angle of each driving wheel of the chassis in the current driving mode; when the absolute value of the steering angle of any driving wheel is greater than or equal to a set threshold, it is determined that the aerial work platform turns.

[0177] In an exemplary embodiment, the control module 750 is further configured to control the chassis based on the current traveling speed of the chassis when the steering angles of all driving wheels are less than the set threshold.

[0178] In an exemplary embodiment, the target traveling speed determining module 740 is specifically configured to determine the target traveling speed based on the product of the ratio of the first turning radius to the second turning radius and the current speed of the work bucket.

[0179] As Figure 8 shown, an embodiment of the present invention further provides an aerial work platform control system, including:

[0180] A corner sensor 810 of a target wheel on the chassis of the aerial work platform, configured to collect the steering angle of the target wheel on the chassis of the aerial work platform;

[0181] A first speed sensor 820, configured to collect the current speed of the work bucket;

[0182] A second speed sensor 830, configured to collect the current traveling speed of the chassis;

[0183] A controller 840, electrically connected to a steering angle sensor 810, a first speed sensor 820, and a second speed sensor 830 of a target wheel on the chassis of the aerial work platform respectively, is configured to execute the aerial work platform control method in any of the above embodiments.

[0184] Specifically, the steering angle sensor 810 of the target wheel on the chassis of the aerial work platform may include a first steering angle sensor, a second steering angle sensor, a third steering angle sensor, and a fourth steering angle sensor. The first steering angle sensor is disposed on the left front wheel to collect the first steering angle of the left front wheel in real time. The second steering angle sensor is disposed on the right front wheel to collect the second steering angle of the right front wheel in real time. The third steering angle sensor is disposed on the left rear wheel to collect the third steering angle of the left rear wheel in real time. The fourth steering angle sensor is disposed on the right rear wheel to collect the fourth steering angle of the right rear wheel in real time.

[0185] The controller may be electrically connected to the first steering angle sensor, the second steering angle sensor, the third steering angle sensor, and the fourth steering angle sensor respectively.

[0186] The present invention further provides an aerial work platform, including: being configured to execute the aerial work platform control method in any of the above embodiments, or including the aerial work platform control device in any of the above embodiments, or including the aerial work platform control system in any of the above embodiments.

[0187] Figure 9 An entity structure diagram of an electronic device is exemplified, as Figure 9 shown. The electronic device may include: a processor 910, a communications interface 920, a memory 930, and a communication bus 940. Among them, the processor 910, the communications interface 920, and the memory 930 communicate with each other through the communication bus 940. The processor 910 may call the logical instructions in the memory 930 to execute the aerial work platform control method in any of the above embodiments. The method includes: when it is determined that the aerial work platform is steering, obtaining the steering angle of the target wheel on the chassis of the aerial work platform and the current speed of the work bucket; determining a first turning radius based on the steering angle of the target wheel, where the first turning radius is the turning radius of the chassis relative to the instantaneous turning center; determining a second turning radius based on the first turning radius, where the second turning radius is the turning radius of the work bucket relative to the instantaneous turning center; determining the target walking speed of the chassis based on the current speed of the work bucket and the ratio of the first turning radius to the second turning radius; and controlling the walking of the chassis based on the target walking speed.

[0188] In addition, when the logical instructions in the above-mentioned memory 930 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0189] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the aerial work platform control method in any of the above embodiments. The method includes: when it is determined that the aerial work platform is turning, obtaining the steering angle of the target wheel on the chassis of the aerial work platform and the current speed of the work bucket; determining a first turning radius based on the steering angle of the target wheel, where the first turning radius is the turning radius of the chassis relative to the instantaneous turning center; determining a second turning radius based on the first turning radius, where the second turning radius is the turning radius of the work bucket relative to the instantaneous turning center; determining the target walking speed of the chassis based on the current speed of the work bucket and the ratio of the first turning radius to the second turning radius; and controlling the walking of the chassis based on the target walking speed.

[0190] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the aerial work platform control method in any of the above embodiments. The method includes: when it is determined that the aerial work platform is turning, obtaining the steering angle of the target wheel on the chassis of the aerial work platform and the current speed of the work bucket; determining a first turning radius based on the steering angle of the target wheel, where the first turning radius is the turning radius of the chassis relative to the instantaneous turning center; determining a second turning radius based on the first turning radius, where the second turning radius is the turning radius of the work bucket relative to the instantaneous turning center; determining the target walking speed of the chassis based on the current speed of the work bucket and the ratio of the first turning radius to the second turning radius; and controlling the walking of the chassis based on the target walking speed.

[0191] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0192] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0193] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. A control method for an aerial work platform, characterized in that Including: When it is determined that the aerial work platform is turning, obtain the steering angle of the target wheel on the chassis of the aerial work platform and the current speed of the work bucket; Determine a first turning radius based on the steering angle of the target wheel, where the first turning radius is the turning radius of the chassis relative to the instantaneous turning center; Determine a second turning radius based on the first turning radius, where the second turning radius is the turning radius of the work bucket relative to the instantaneous turning center; Determine the target walking speed of the chassis based on the current speed of the work bucket and the ratio of the first turning radius to the second turning radius; Control the walking of the chassis based on the target walking speed.

2. The control method of the aerial work platform according to claim 1, characterized in that The work bucket is connected to the main boom through a fly boom. The determining the second turning radius based on the first turning radius includes: Determine the length of the projection of the main boom on the central axis of the chassis based on the current inclination angle and the current length of the main boom as a first length; Determine the length of the projection of the fly boom on the central axis based on the current inclination angle and the length of the fly boom as a second length; Take the length from the operating position of the work bucket to the fly boom as a third length; Determine a fourth length based on the first length, the second length, and the third length. The fourth length represents the length between the projection point of the operating position of the work bucket on the central axis and the target position, and the target position is the intersection point of the first turning radius and the central axis; Determine the second turning radius based on the first turning radius and the fourth length.

3. The aerial work platform control method according to claim 2, wherein When the absolute value of the steering angle of the front wheels of the chassis is greater than zero and the steering angle of the rear wheels is zero, the instantaneous turning center is on the extension line of the rear axle, and the target position is the center of the rear axle; When the steering angle of the front wheels of the chassis is zero and the absolute value of the steering angle of the rear wheels is greater than zero, the instantaneous turning center is on the extension line of the front axle, and the target position is the center of the front axle; When the absolute value of the steering angle of the front wheels of the chassis is greater than zero and the absolute value of the steering angle of the rear wheels is greater than zero, the instantaneous turning center is on the straight line perpendicular to the central axis of the chassis and passing through the center of the chassis, and the target position is the center of the chassis.

4. The method for controlling an aerial work platform according to any one of claims 1 to 3, characterized in that, The aerial work platform includes multiple driving modes. The aerial work platform control method further includes: Obtain the steering angle of each driving wheel of the chassis in the current driving mode; When the absolute value of the steering angle of any one of the driving wheels is greater than or equal to a set threshold, determine that the aerial work platform is turning.

5. The control method of the aerial work platform according to claim 4, characterized in that, It further includes: When the steering angles of all the driving wheels are less than the set threshold, control the chassis based on the current walking speed of the chassis.

6. The control method of the aerial work platform according to any one of claims 1 to 3, characterized in that When the aerial work platform is walking straight, the current speed of the work bucket is the current walking speed of the chassis.

7. The control method of the aerial work platform according to claim 1, characterized in that, The determining the target walking speed of the chassis based on the current speed of the work bucket and the ratio of the first turning radius to the second turning radius includes: Determine the target traveling speed of the chassis based on the product of the current speed of the work bucket and the ratio of the first turning radius to the second turning radius.

8. A control device for an aerial work platform, characterized in that, Comprising: An acquisition module, configured to acquire the steering angle of a target wheel on the chassis of the aerial work platform and the current speed of the work bucket when it is determined that the aerial work platform is turning; A first turning radius determination module, configured to determine a first turning radius based on the steering angle of the target wheel, where the first turning radius is the turning radius of the chassis relative to the instantaneous turning center; A second turning radius determination module, configured to determine a second turning radius based on the first turning radius, where the second turning radius is the turning radius of the work bucket relative to the instantaneous turning center; A target traveling speed determination module, configured to determine the target traveling speed of the chassis based on the current speed of the work bucket and the ratio of the first turning radius to the second turning radius; A control module, configured to control the traveling of the chassis based on the target traveling speed.

9. An aerial work platform control system, characterized in that, Comprising: A corner sensor of a target wheel on the chassis of the aerial work platform, configured to collect the steering angle of the target wheel; A first speed sensor, configured to collect the current speed of the work bucket of the aerial work platform; A second speed sensor, configured to collect the current traveling speed of the chassis; A controller, electrically connected to the corner sensor of the target wheel on the chassis of the aerial work platform, the first speed sensor, and the second speed sensor respectively, and configured to execute the aerial work platform control method according to any one of claims 1 to 7.

10. An aerial work platform, characterized in that, Comprising: For executing the aerial work platform control method according to any one of claims 1 to 7, or comprising the aerial work platform control device according to claim 8, or comprising the aerial work platform control system according to claim 9.

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