Aerial work equipment and control method, device and equipment thereof and storage medium

Abstract

Embodiments of the present application provide a high-altitude operation device and a control method, device and equipment thereof and a storage medium. The control method comprises: obtaining an inclination angle of a work bucket relative to a horizontal plane and a flow rate of hydraulic oil in a luffing cylinder; and based on the flow rate of the hydraulic oil in the luffing cylinder and the inclination angle, controlling a leveling cylinder to drive the work bucket to rotate relative to a boom to adjust the inclination angle to a target value. The control method of the high-altitude operation device of the embodiments of the present application cooperates to control the work bucket based on the flow rate of the hydraulic oil in the luffing cylinder and the current inclination angle of the work bucket, and the flow rate of the hydraulic oil in the luffing cylinder corresponds to a luffing speed of the boom. That is, the amount of change of the inclination angle of the work bucket caused by the luffing movement of the boom can be estimated, so that the estimated value can be added to the control of the work bucket. In the process of the luffing movement of the boom, the work bucket can continuously maintain a relatively stable posture movement, and the comfort of the workers in the work bucket is better.

Description

Technical Field

[0001] This application relates to the field of high-altitude work technology, and in particular to a high-altitude work equipment and its control method, device, equipment and storage medium. Background Technology

[0002] Aerial work platforms are specialized equipment that lifts workers and machinery to designated locations at high altitudes for installation, maintenance, and rescue operations. They consist of a work platform and a boom. The work platform can carry workers, while the boom moves the work platform to the designated location through luffing motion.

[0003] In related technologies, the tilt angle can be adjusted to bring the tilt angle between the working bucket and the horizontal plane into a suitable range, which is convenient for workers. However, when the boom is making a variable amplitude movement, it will cause the tilt angle of the working bucket to change instantaneously. The error generated when controlling the tilt angle of the working bucket in this way is relatively large. The leveling of the boom has a certain delay and poor leveling follow-up, which makes the comfort of the workers in the working bucket relatively low. Summary of the Invention

[0004] In view of this, the embodiments of this application aim to provide an aerial work platform and its control method, apparatus, device and storage medium, which are intended to improve the comfort of the workers inside the work platform during the adjustment of the tilt angle of the work platform.

[0005] The technical solution of this application embodiment is implemented as follows:

[0006] In a first aspect, embodiments of this application provide a control method for an aerial work platform, the aerial work platform including a work bucket, a boom, a leveling cylinder, and a luffing cylinder, the luffing cylinder driving the boom to perform luffing motion, the work bucket being movably connected to the boom, and the leveling cylinder driving the work bucket to rotate relative to the boom, the control method including:

[0007] Obtain the tilt angle of the working bucket relative to the horizontal plane and the flow rate of the hydraulic oil in the luffing cylinder;

[0008] Based on the flow rate of the hydraulic oil in the luffing cylinder and the tilt angle, the leveling cylinder is controlled to drive the working bucket to rotate relative to the boom, so as to adjust the tilt angle to the target value.

[0009] In some implementations, controlling the leveling cylinder to drive the working bucket to rotate relative to the boom based on the flow rate of the hydraulic oil in the luffing cylinder and the tilt angle, so as to adjust the tilt angle to a target value, includes:

[0010] If the flow rate of hydraulic oil in the variable amplitude cylinder is determined to be greater than 0, then based on the tilt angle, the flow rate of hydraulic oil in the leveling cylinder is controlled to adjust the tilt angle to be less than or equal to a preset threshold.

[0011] In some implementations, controlling the leveling cylinder to drive the working bucket to rotate relative to the boom based on the flow rate of the hydraulic oil in the luffing cylinder and the tilt angle, so as to adjust the tilt angle to a target value, further includes:

[0012] If the flow rate of the hydraulic oil in the variable amplitude cylinder is determined to be 0, then the flow rate of the hydraulic oil in the leveling cylinder is adjusted based on PID control to adjust the tilt angle to 0.

[0013] In some implementations, controlling the flow rate of hydraulic oil in the leveling cylinder based on the tilt angle includes:

[0014] If it is determined that the tilt angle is greater than the preset threshold, the flow rate of hydraulic oil in the leveling cylinder is adjusted based on PID control.

[0015] If the tilt angle is determined to be less than or equal to the preset threshold, then based on the flow rate of the hydraulic oil in the luffing cylinder, the target flow rate of the hydraulic oil in the leveling cylinder is determined, and the leveling cylinder is controlled to operate at the target flow rate.

[0016] In some implementations, after obtaining the tilt angle of the working bucket relative to the horizontal plane, the control method further includes:

[0017] Once the tilt angle is determined to be within the adjustable range, the leveling cylinder is activated to drive the working bucket to rotate relative to the flying arm.

[0018] The preset threshold is located within the adjustable range.

[0019] Secondly, embodiments of this application provide a control device for aerial work equipment, comprising:

[0020] The acquisition module is used to acquire the tilt angle of the working bucket of the aerial work platform relative to the horizontal plane and the flow rate of the hydraulic oil in the luffing cylinder of the aerial work platform.

[0021] The control module is used to control the leveling cylinder of the aerial work platform to drive the working bucket to rotate relative to the boom, so as to adjust the tilt angle to the target value.

[0022] In some implementations, the control module is further configured to determine that the flow rate of hydraulic oil in the luffing cylinder is greater than 0, and then, based on the tilt angle, control the flow rate of hydraulic oil in the leveling cylinder to adjust the tilt angle to be less than or equal to a preset threshold.

[0023] Thirdly, embodiments of this application provide an electronic device, including a processor and a memory for storing a computer program capable of running on the processor;

[0024] The processor is configured to execute the steps of the control method described in the first aspect of the embodiments of this application when running a computer program.

[0025] Fourthly, embodiments of this application provide an aerial work platform, including a work bucket, a boom, a leveling cylinder, and a luffing cylinder. The luffing cylinder is used to drive the boom to perform luffing motion. The work bucket is movably connected to the boom. The leveling cylinder is used to drive the work bucket to rotate relative to the boom. The aerial work platform also includes electronic equipment as described in the third aspect of embodiments of this application.

[0026] Fifthly, embodiments of this application provide a storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method described in the first aspect of embodiments of this application.

[0027] The technical solution provided in this application embodiment includes a control method for aerial work platforms comprising: acquiring the tilt angle of the work bucket relative to the horizontal plane and the flow rate of hydraulic oil in the luffing cylinder; and controlling the leveling cylinder to drive the work bucket to rotate relative to the boom based on the flow rate of hydraulic oil in the luffing cylinder and the tilt angle, so as to adjust the tilt angle to a target value. The control method for aerial work platforms in this application embodiment controls the work bucket in conjunction with the flow rate of hydraulic oil in the luffing cylinder and the current tilt angle of the work bucket. The flow rate of hydraulic oil in the luffing cylinder corresponds to the luffing rate of the boom. In other words, the change in the tilt angle of the work bucket caused by the boom's luffing motion can be predicted, and this predicted value can be incorporated into the control of the work bucket. During the boom's luffing motion, the work bucket can continuously maintain a relatively stable posture, resulting in better comfort for the workers inside the work bucket. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of an aerial work platform in one application example of this application;

[0029] Figure 2 This is a schematic flowchart of a control method for an aerial work platform according to an embodiment of this application;

[0030] Figure 3 This is a schematic diagram of the control flow of an aerial work platform in one application example of this application;

[0031] Figure 4 This is a schematic diagram of the structure of a control device for an aerial work platform according to an embodiment of this application;

[0032] Figure 5 This is a schematic diagram of the structure of an aerial work platform according to an embodiment of this application.

[0033] Explanation of reference numerals in the attached figures

[0034] 100. Aerial work equipment; 10. Work bucket; 20. Flying boom. Detailed Implementation

[0035] It should be noted that, unless otherwise specified, the embodiments and technical features in the embodiments of this application can be combined with each other, and the detailed descriptions in the specific implementation should be understood as explanations of the purpose of this application and should not be regarded as undue limitations on this application.

[0036] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0038] This application provides a control method for aerial work platforms. When the aerial work platform is in operation, it can execute the steps of this control method.

[0039] The types of aerial work equipment include, but are not limited to, aerial work vehicles and aerial work platforms. For example, this application embodiment uses an aerial work vehicle as an example.

[0040] For example, when an aerial work platform is used for aircraft de-icing, it can lift workers to the appropriate position, making it convenient for workers to de-ic the aircraft.

[0041] Please see Figure 1 The aerial work platform 100 includes a work bucket 10, a boom 20, a leveling cylinder (not shown in the figure), and a luffing cylinder (not shown in the figure).

[0042] The work bucket 10 can be used to carry staff and also allows staff to easily carry de-icing equipment.

[0043] One end of the boom 20 is connected to the work bucket 10, so that the boom 20 moves synchronously to move the work bucket 10 to multiple positions, thereby expanding the working range of the aerial work equipment 100.

[0044] For example, the luffing cylinder is used to drive the boom 20 to perform luffing motion. It should be noted that luffing motion of the boom 20 means that one end of the boom 20 can rotate around the other end in the vertical plane, and the rotating end of the boom 20 is connected to the working bucket 10, so as to drive the working bucket 10 to generate displacement in the direction of gravity.

[0045] It should be noted that a vertical plane refers to a plane that is perpendicular to the horizontal plane.

[0046] It is understandable that during the luffing motion of the boom 20, the tilt angle between the working bucket 10 and the horizontal plane is constantly changing.

[0047] It should be noted that the tilt angle in this embodiment refers to the angle between the side of the work bucket 10 used to support workers or related equipment and the horizontal plane.

[0048] The working bucket 10 is movably connected to the boom 20, and the leveling cylinder is used to drive the working bucket 10 to rotate relative to the boom 20. The rotation of the working bucket 10 relative to the boom 20 changes the angle between the working bucket 10 and the boom 20. This ensures that the tilt angle of the working bucket 10 is maintained within a suitable range during the boom 20's luffing motion, allowing workers to work comfortably inside the working bucket 10, and ensuring that the equipment carried inside the working bucket 10 is relatively stable.

[0049] Please see Figure 2 The control method in this application includes:

[0050] Step S100: Obtain the tilt angle of the working bucket relative to the horizontal plane and the flow rate of hydraulic oil in the luffing cylinder;

[0051] Here, the tilt angle of the working bucket 10 relative to the horizontal plane is the numerical value of the angle between the bottom wall of the working bucket 10 and the horizontal plane.

[0052] The tilt angle can be understood as the degree of inclination of the work bucket 10 relative to the horizontal plane. The closer the tilt angle is to 0°, the more comfortably the staff can stand naturally in the work bucket 10. At the same time, the equipment carried by the staff can also be placed more stably in the work bucket 10.

[0053] It should be noted that the method of obtaining the tilt angle is not limited. For example, the working bucket 10 is equipped with a tilt sensor, which can continuously obtain the tilt angle between the working bucket 10 and the horizontal plane.

[0054] Here, the flow rate of hydraulic oil in the luffing cylinder corresponds to the luffing speed of the boom 20.

[0055] The change in the flow rate of hydraulic oil in the luffing cylinder corresponds to the acceleration of the luffing motion of the boom 20.

[0056] The method for obtaining the flow rate of hydraulic oil in the luffing cylinder is not limited. Examples include, but are not limited to, the following:

[0057] Current detection method: Obtain the current value of the luffing cylinder; based on the current value of the luffing cylinder, calculate the flow rate of hydraulic oil in the luffing cylinder.

[0058] Opening detection method: Obtain the opening value of the oil inlet of the luffing cylinder; based on the opening value, calculate the flow rate of hydraulic oil in the luffing cylinder.

[0059] Step S200: Based on the flow rate of hydraulic oil in the luffing cylinder and the tilt angle, control the leveling cylinder to drive the working bucket to rotate relative to the boom, so as to adjust the tilt angle to the target value.

[0060] Here, the leveling cylinder needs to be controlled based on the flow rate and tilt angle of the hydraulic oil in the luffing cylinder before it can be started. At this time, the working bucket 10 can rotate around the boom 20 under the driving force of the leveling cylinder, thereby adjusting the tilt angle of the working bucket 10 to the target value through the leveling cylinder.

[0061] Here, the target value of the tilt angle refers to a value that can meet the work requirements of the staff. It can be a specific value such as 0°, or a target range.

[0062] In related technologies, when adjusting the working bucket by tilting the angle, there is a certain lag in the process of acquiring and transmitting the tilt angle. This also causes a certain lag when the leveling cylinder adjusts the tilt angle of the working bucket. When the boom is in continuous amplitude change, the tilt angle of the working bucket can keep changing, which causes a large error in the adjustment process of the working bucket, resulting in relatively low comfort for the workers inside the working bucket.

[0063] The control method for the aerial work platform in this embodiment controls the work bucket 10 based on the flow rate of the hydraulic oil in the luffing cylinder and the current tilt angle of the work bucket 10. The flow rate of the hydraulic oil in the luffing cylinder corresponds to the luffing rate of the boom 20. In other words, the change in the tilt angle of the work bucket 10 caused by the luffing motion of the boom 20 can be estimated, and this estimated value can be added to the control of the work bucket 10. During the luffing motion of the boom 20, the work bucket 10 can maintain a relatively stable posture, resulting in better comfort for the workers inside the work bucket 10.

[0064] In some embodiments, based on the flow rate of hydraulic oil in the luffing cylinder and the tilt angle, controlling the leveling cylinder to drive the working bucket 10 to rotate relative to the boom 20 to adjust the tilt angle to a target value includes:

[0065] If the flow rate of hydraulic oil in the luffing cylinder is determined to be greater than 0, then based on the tilt angle, the flow rate of hydraulic oil in the leveling cylinder is controlled to adjust the tilt angle to be less than or equal to a preset threshold.

[0066] Here, the flow rate of hydraulic oil in the luffing cylinder is greater than 0, indicating that the boom 20 is in the process of luffing. At this time, the working bucket 10 is in motion under the action of the boom 20, and the leveling cylinder needs to realize the dynamic leveling of the working bucket 10.

[0067] Here, the preset threshold can be understood as the target value of the tilt angle of the working bucket 10. When the tilt angle is less than or equal to the preset threshold, the working bucket 10 can be considered to be in a relatively stable state.

[0068] It should be noted that the value of the preset threshold is not limited. For example, the preset threshold can be any value in the range of 0° to 0.5°, such as 0.3°, 0.35°, and 0.5°.

[0069] Furthermore, the rotational speed of the working bucket 10 can be given, and the leveling cylinder can complete the adjustment at this rotational speed when driving the working bucket 10 to rotate.

[0070] The rotation speed can ensure the adjustment rate while also taking into account the comfort of the staff.

[0071] Thus, even when the boom 20 is performing luffing motion, the leveling cylinder can continuously adjust the tilt angle of the work bucket 10 to less than or equal to the preset threshold. During this process, the work bucket 10 can move in a relatively stable posture, and the comfort of the workers inside the work bucket 10 is better.

[0072] In some embodiments, controlling the flow rate of hydraulic oil in the leveling cylinder based on the tilt angle includes:

[0073] If the tilt angle is determined to be greater than the preset threshold, the flow rate of hydraulic oil in the leveling cylinder is adjusted based on PID control.

[0074] Here, if the tilt angle is greater than the preset threshold, it means that the value of the tilt angle is relatively large, which is not convenient for the user to complete the work in the working bucket 10. By adopting PID control, the tilt angle of the working bucket 10 can be quickly adjusted, making it easier for the workers to start high-altitude operations.

[0075] Specifically, a PID controller can be used to control the leveling cylinder.

[0076] Here, a preset threshold can be given to the PID controller, and the real-time tilt angle of the working bucket 10 can be fed back to the PID controller. The PID controller uses the deviation between the real-time tilt angle and the preset threshold to form a control quantity by linearly combining the proportional, integral and derivative values ​​of this deviation, and controls the leveling cylinder, thereby quickly adjusting the tilt angle of the working bucket 10 to be less than or equal to the preset threshold.

[0077] This allows for a relatively high adjustment rate of the working bucket 10, while the PID control algorithm is relatively simple and highly reliable.

[0078] If the tilt angle is determined to be less than or equal to the preset threshold, the target flow rate of the hydraulic oil in the leveling cylinder is determined based on the flow rate of the hydraulic oil in the luffing cylinder, and the leveling cylinder is controlled to operate at the target flow rate.

[0079] Here, once the tilt angle is less than or equal to a preset threshold, the leveling cylinder can be controlled to maintain the tilt angle in this state.

[0080] For example, the luffing cylinder drives the boom 20 to change its luffing angle, causing the tilt angle of the working bucket 10 to change by 1°. Based on this, the flow rate required for the leveling cylinder to adjust the tilt angle of the working bucket 10 by 1° can be calculated. This flow rate of the leveling cylinder is its target flow rate, and the leveling cylinder is controlled to operate at this target flow rate.

[0081] The acceleration of the hydraulic oil flow rate in the luffing cylinder corresponds to the acceleration of the boom 20. Similarly, based on the acceleration of the hydraulic oil flow rate in the luffing cylinder, the acceleration of the working bucket 10 relative to the boom 20 during rotation can be calculated, and thus the real-time target flow rate of the hydraulic oil in the leveling cylinder can be calculated. In other words, the rotation angle of the working bucket 10 relative to the boom 20 can be determined based on the speed change trend of the boom 20's luffing motion.

[0082] In this way, the influence of the boom 20's luffing motion on the tilt angle can be offset. During the boom 20's luffing motion, that is, the change in the tilt angle of the work bucket 10 caused by the boom 20's upcoming luffing action can be predicted in advance by the leveling cylinder. The leveling cylinder can then make pre-adjustments. By using the current tilt angle value and the change in tilt angle caused by the luffing cylinder, the leveling cylinder controls the work bucket 10. The leveling cylinder has good leveling and following performance of the work bucket 10, and the work bucket 10 can maintain a relatively stable posture movement, resulting in better comfort for the workers inside the work bucket 10.

[0083] In some embodiments, based on the flow rate and tilt angle of the hydraulic oil in the luffing cylinder, controlling the leveling cylinder to drive the working bucket 10 to rotate relative to the boom 20 to adjust the tilt angle to a target value further includes:

[0084] If the flow rate of hydraulic oil in the luffing cylinder is determined to be 0, then the flow rate of hydraulic oil in the leveling cylinder is adjusted based on PID control to adjust the tilt angle to 0.

[0085] Understandably, the boom 20 will not continuously perform amplitude changes; while the operator is working in one place, the boom 20 will remain stationary.

[0086] Here, when the flow rate of hydraulic oil in the luffing cylinder is equal to 0, it means that the luffing cylinder will not drive the boom 20 to luff. In other words, the boom 20 is stationary at this time.

[0087] Here, after the tilt angle is adjusted to 0, it can be assumed that the staff can stand naturally in the direction of gravity within the work bucket 10.

[0088] In this way, when the boom 20 is stationary, it can adjust the work bucket 10 to a relatively precise horizontal position, making the standing posture more comfortable for the worker when working continuously in a certain place, and making it easier for the worker to complete the work.

[0089] In some embodiments, after obtaining the tilt angle of the working bucket 10 relative to the horizontal plane, the control method further includes:

[0090] Once the tilt angle is determined to be within the adjustable range, the leveling cylinder is activated to drive the working bucket 10 to rotate relative to the boom 20.

[0091] The preset threshold is within the adjustable range.

[0092] Here, the adjustable range is the range of tilt angles that the leveling cylinder can adjust. Within the adjustable range, the tilt angle of the working bucket 10 can be adjusted by the leveling cylinder.

[0093] Understandably, the leveling cylinder has an adjustment range. The leveling cylinder works within the adjustable range, which can ensure its reliability, prevent the leveling cylinder from working beyond its range, and ensure the safety of the tilt angle of the working bucket 10 during the adjustment process.

[0094] The adjustable range can be determined based on standard documents or the performance of the leveling cylinder. For example, the adjustable range of the tilt angle is less than or equal to 7°.

[0095] Here, it is necessary to first determine that the tilt angle is within the adjustable range before starting to control the leveling cylinder to drive the working bucket 10 to rotate relative to the boom 20.

[0096] When the tilt angle is outside the adjustable range, it can be adjusted to the adjustable range manually or by means of other methods, and then controlled by the leveling cylinder.

[0097] The control method of the high-altitude work equipment of this application embodiment will be illustrated below with an application example.

[0098] This application example demonstrates the ability to dynamically and statically level the work platform 10 of an aerial work platform 100, reducing errors during the leveling process and improving the comfort of workers inside the work platform 10. Please refer to [link / reference]. Figure 3 The specific steps of the control method flow in this application example are as follows:

[0099] Step S301: Obtain the tilt angle θ of the working bucket relative to the horizontal plane and the flow rate Q of the hydraulic oil in the luffing cylinder.

[0100] Here, the tilt angle θ of the working bucket 10 can be detected by tilt sensors, etc.; at the same time, the opening of the oil inlet of the luffing cylinder can be detected, and the flow rate Q of the hydraulic oil in the luffing cylinder can be calculated.

[0101] Step S302: Determine whether the tilt angle θ is within the adjustable interval θ_set1.

[0102] Here, the leveling cylinder will be activated to control the rotation of the working bucket 10 relative to the flying arm 20 only when the tilt angle θ is within the adjustable range θ_set1, that is, when the tilt angle θ is less than or equal to θ_set1.

[0103] If yes, proceed to step S303; otherwise, proceed to step S308.

[0104] Step S303: Determine whether the flow rate Q of the hydraulic oil in the luffing cylinder is greater than 0.

[0105] If yes, proceed to step S304; otherwise, proceed to step S307.

[0106] Step S304: Determine whether the tilt angle θ is greater than the preset threshold θ_set2.

[0107] If yes, proceed to step S305; otherwise, proceed to step S306.

[0108] Step S305: Adjust the flow rate of hydraulic oil in the leveling cylinder based on PID control.

[0109] Step S306: Based on the flow rate of hydraulic oil in the luffing cylinder, determine the target flow rate of hydraulic oil in the leveling cylinder, and control the leveling cylinder to operate at the target flow rate.

[0110] Step S307: Adjust the flow rate of hydraulic oil in the leveling cylinder based on PID control to adjust the tilt angle to 0.

[0111] Step S308: Manually adjust the tilt angle of the working bucket.

[0112] Here, by manually adjusting the tilt angle of the working bucket 10, the tilt angle can be adjusted to the adjustable range θ_set1, and then the working bucket 10 can be automatically controlled and leveled by the leveling cylinder.

[0113] It is understood that, in order to implement the control method of the aerial work platform in the embodiments of this application, the embodiments of this application also provide a control device for the aerial work platform. The control device for the aerial work platform corresponds to the control method described above, and the steps in the embodiments of the control method described above are also fully applicable to the embodiments of the control device for the aerial work platform.

[0114] Please see Figure 4 The control device for the high-altitude work equipment in this application embodiment includes an acquisition module 401 and a control module 402.

[0115] The acquisition module 401 is used to acquire the tilt angle of the working bucket 10 of the aerial work platform 100 relative to the horizontal plane and the flow rate of the hydraulic oil in the luffing cylinder of the aerial work platform 100.

[0116] The control module 402 is used to control the leveling cylinder of the aerial work platform 100 to drive the working bucket 10 to rotate relative to the boom 20, so as to adjust the tilt angle to the target value.

[0117] In some embodiments, the control module 402 is further configured to determine that the flow rate of hydraulic oil in the luffing cylinder is greater than 0, and then, based on the tilt angle, control the flow rate of hydraulic oil in the leveling cylinder to adjust the tilt angle to be less than or equal to a preset threshold.

[0118] In some embodiments, the control module 402 is further configured to determine that the flow rate of hydraulic oil in the luffing cylinder is equal to 0, and then adjust the flow rate of hydraulic oil in the leveling cylinder based on PID control to adjust the tilt angle to 0.

[0119] In some embodiments, the control module 402 is further configured to determine that the tilt angle is greater than a preset threshold, and then adjust the flow rate of hydraulic oil in the leveling cylinder based on PID control.

[0120] In some embodiments, the control module 402 is further configured to determine the target flow rate of the hydraulic oil in the leveling cylinder based on the flow rate of the hydraulic oil in the amplitude-changing cylinder, and control the leveling cylinder to operate at the target flow rate if the tilt angle is less than or equal to a preset threshold.

[0121] In some embodiments, the control module 402 is further configured to determine that the tilt angle is within the adjustable range, and then activate the control leveling cylinder to drive the working bucket 10 to rotate relative to the flying arm 20.

[0122] The preset threshold is within the adjustable range.

[0123] In practical applications, the acquisition module 401 and the control module 402 can be implemented by the processor 101 in the control device of the aerial work platform. Of course, the processor 101 needs to run the computer program in the memory 102 to realize its functions.

[0124] It should be noted that the control device for the aerial work platform provided in the above embodiments, when performing leveling control of the work bucket 10, is only illustrated by the division of the above-described program modules. In actual applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the control device can be divided into different program modules to complete all or part of the processing described above. Furthermore, the control device for the aerial work platform provided in the above embodiments and the control method embodiments for the aerial work platform belong to the same concept; the specific implementation process is detailed in the method embodiments and will not be repeated here.

[0125] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiments of this application, the embodiments of this application also provide an electronic device, including a processor 101 and a memory 102 for storing a computer program that can run on the processor 101.

[0126] The processor 101 is used to execute the steps of the control method of any embodiment of this application when running a computer program.

[0127] This application also provides an aerial work platform 100. Figure 5 The aerial work platform 100 is shown only as an exemplary structure, not the entire structure; it can be implemented as needed. Figure 5 The structure shown may be part or all of the structure.

[0128] The aerial work platform 100 provided in this application embodiment includes at least one processor 101, a memory 102, and a user interface 103. The various components in the aerial work platform 100 are coupled together via a bus system 104. It is understood that the bus system 104 is used to realize communication between these components. In addition to a data bus, the bus system 104 also includes a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as bus system 104 in the figures.

[0129] Please see Figure 1 The aerial work platform 100 in this application embodiment also includes a work bucket 10, a boom 20, a leveling cylinder and a luffing cylinder. The luffing cylinder is used to drive the boom 20 to perform luffing motion. The work bucket 10 is movably connected to the boom 20. The leveling cylinder is used to drive the work bucket 10 to rotate relative to the boom 20.

[0130] The user interface 103 may include a monitor, keyboard, mouse, trackball, click wheel, buttons, touchpad, or touch screen.

[0131] The memory 102 in this embodiment is used to store various types of data to support the operation of the aerial work platform 100. Examples of such data include any computer programs used for operation on the aerial work platform 100.

[0132] The control method for aerial work platforms disclosed in this application can be applied to or implemented by the processor 101. The processor 101 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the control method for the aerial work platforms 100 can be completed by integrated logic circuits in the processor 101 or by software instructions. The processor 101 can be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 101 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules can be located in a storage medium, specifically memory 102. The processor 101 reads information from memory 102 and, in conjunction with its hardware, completes the steps of the control method for aerial work platforms provided in the embodiments of this application.

[0133] In an exemplary embodiment, the aerial work platform 100 may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned methods.

[0134] It is understood that memory 102 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

[0135] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a memory 102 storing a computer program. This computer program can be executed by the processor 101 of the aerial work platform 100 to implement the steps of the control method in any embodiment of this application. The computer-readable storage medium can be a ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM, etc.

[0136] Furthermore, the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0137] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for an aerial work platform, the aerial work platform comprising a work bucket, a boom, a leveling cylinder, and a luffing cylinder, wherein the luffing cylinder drives the boom to perform luffing motion, the work bucket is movably connected to the boom, and the leveling cylinder drives the work bucket to rotate relative to the boom, characterized in that... The control method includes: Obtain the tilt angle of the working bucket relative to the horizontal plane and the flow rate of the hydraulic oil in the luffing cylinder; Based on the flow rate of the hydraulic oil in the luffing cylinder and the tilt angle, the leveling cylinder is controlled to drive the working bucket to rotate relative to the boom, so as to adjust the tilt angle to the target value. The step of controlling the leveling cylinder to drive the working bucket to rotate relative to the boom based on the flow rate of the hydraulic oil in the luffing cylinder and the tilt angle, so as to adjust the tilt angle to the target value, includes: If the flow rate of hydraulic oil in the luffing cylinder is determined to be greater than 0, then based on the tilt angle, the flow rate of hydraulic oil in the leveling cylinder is controlled to adjust the tilt angle to be less than or equal to a preset threshold. The control of the flow rate of hydraulic oil in the leveling cylinder based on the tilt angle includes: If it is determined that the tilt angle is greater than the preset threshold, the flow rate of hydraulic oil in the leveling cylinder is adjusted based on PID control. If the tilt angle is determined to be less than or equal to the preset threshold, then based on the flow rate of the hydraulic oil in the luffing cylinder, the target flow rate of the hydraulic oil in the leveling cylinder is determined, and the leveling cylinder is controlled to operate at the target flow rate.

2. The control method according to claim 1, characterized in that, The method of controlling the leveling cylinder to drive the working bucket to rotate relative to the boom based on the flow rate of the hydraulic oil in the luffing cylinder and the tilt angle, so as to adjust the tilt angle to the target value, further includes: If the flow rate of the hydraulic oil in the variable amplitude cylinder is determined to be 0, then the flow rate of the hydraulic oil in the leveling cylinder is adjusted based on PID control to adjust the tilt angle to 0.

3. The control method according to claim 1, characterized in that, After obtaining the tilt angle of the working bucket relative to the horizontal plane, the control method further includes: Once the tilt angle is determined to be within the adjustable range, the leveling cylinder is activated to drive the working bucket to rotate relative to the flying arm. The preset threshold is located within the adjustable range.

4. A control device for aerial work platforms, used to execute the steps of the control method according to any one of claims 1-3, characterized in that, include: The acquisition module is used to acquire the tilt angle of the working bucket of the aerial work platform relative to the horizontal plane and the flow rate of the hydraulic oil in the luffing cylinder of the aerial work platform. The control module is used to control the leveling cylinder of the aerial work platform to drive the working bucket to rotate relative to the boom, so as to adjust the tilt angle to the target value.

5. The control device according to claim 4, characterized in that, The control module is also used to determine that the flow rate of hydraulic oil in the luffing cylinder is greater than 0, and then, based on the tilt angle, control the flow rate of hydraulic oil in the leveling cylinder to adjust the tilt angle to be less than or equal to a preset threshold.

6. An electronic device, characterized in that, Includes the processor and memory used to store computer programs that can run on the processor; The processor, when running a computer program, executes the steps of the control method according to any one of claims 1 to 3.

7. An aerial work platform, characterized in that, The aerial work platform includes a work bucket, a boom, a leveling cylinder, and a luffing cylinder. The luffing cylinder drives the boom to perform luffing motion. The work bucket is movably connected to the boom. The leveling cylinder drives the work bucket to rotate relative to the boom. The aerial work platform also includes the electronic equipment as described in claim 6.

8. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method according to any one of claims 1 to 3.

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