Aerial work platform arm recovery method and aerial work platform

Abstract

This application provides a method for retracting the boom of an aerial work platform and an aerial work platform itself, relating to the field of aerial equipment technology. The boom retraction method acquires the current slewing angle β1 and the current lifting angle α of the telescopic boom. When the current slewing angle β1 is within a preset slewing avoidance zone and the current lifting angle α is less than a first lifting safety angle α1, the method controls the telescopic boom to lift so that the current lifting angle α is greater than or equal to the first lifting safety angle α1. When the current slewing angle β1 is outside the slewing avoidance zone, the telescopic boom is driven to rotate back to its initial position via a slewing seat. Therefore, the boom retraction method provided by this application achieves automatic retraction and cab avoidance, ensuring safety and reliability.

Description

Technical Field

[0001] This application relates to the field of aerial work platform technology, specifically to a method for recovering the boom of an aerial work platform and the aerial work platform itself. Background Technology

[0002] Aerial work platforms are widely used in high-altitude operations such as power, street lighting, municipal engineering, landscaping, transportation, and advertising. With the continuous development of technology, people have increasingly higher requirements for the ease of operation and automation of aerial work platforms.

[0003] When using aerial work platforms, the boom needs to be deployed to different positions depending on the site conditions. After the operation is completed, the operator needs to manually control the boom's retraction. Due to the complexity of the boom's posture and structure, the retraction process not only requires following the steps sequentially but also visually observing the positional relationship between the boom's descent height and the cab to predict whether a collision will occur. However, because the retraction is manually controlled, the operator's judgment can be flawed, making it difficult to avoid collisions between the boom and the cab. Consequently, existing boom retraction methods suffer from low retraction efficiency and low control precision. Summary of the Invention

[0004] The purpose of this application is to provide a method for retrieving the boom of an aerial work platform and an aerial work platform, so as to overcome the shortcomings of the prior art.

[0005] To achieve the above objectives, in a first aspect, this application provides a method for retracting the boom of an aerial work platform vehicle. The aerial work platform vehicle includes a chassis assembly, a slewing base, and a telescopic boom, wherein a bracket is provided at the rear of the chassis assembly. In the initial state, the telescopic boom is in a retracted state, and the end of the telescopic boom with the working platform is placed on the bracket. A two-dimensional coordinate system is established in a horizontal plane, wherein the rotation center of the slewing base is defined as the origin O, the direction from the origin O to the cab of the chassis assembly is defined as the X-axis direction, and the direction perpendicular to the X-axis direction is defined as the Y-axis direction. The aerial work platform boom retraction method includes:

[0006] Control the telescopic boom to retract into its position;

[0007] Obtain the current rotation angle β1 and the current lifting angle α of the telescopic boom, wherein the rotation angle β1 is the angle formed by the telescopic boom and the X-axis direction, and the lifting angle α is the angle formed by the telescopic boom and the horizontal plane;

[0008] When the current slewing angle β1 of the telescopic boom is within the preset slewing avoidance area and the current lifting angle α of the telescopic boom is less than the first lifting safety angle α1, the telescopic boom is controlled to lift so that the current lifting angle α of the telescopic boom is greater than or equal to the first lifting safety angle α1.

[0009] When the current slewing angle β1 of the telescopic boom is outside the slewing avoidance zone and the current lifting angle α of the telescopic boom is less than the second lifting safety angle α2, the telescopic boom is controlled to lift so that the current lifting angle α of the telescopic boom is greater than or equal to the second lifting safety angle α2; wherein the cab is located within the slewing avoidance zone, and the second lifting safety angle α2 is less than or equal to the first lifting safety angle α1;

[0010] The telescopic boom is driven to rotate toward a position closer to the initial state by the slewing seat;

[0011] When the telescopic boom rotates to the lowering range, control the telescopic boom to lower;

[0012] The telescopic boom descends into position and is successfully retracted.

[0013] In conjunction with the first aspect, in one possible implementation, the turning and avoidance area is a first sector-shaped area formed with the origin O as the center, and the X-axis direction divides the first sector-shaped area into two turning and avoidance sub-areas located in the first quadrant and the fourth quadrant of the two-dimensional coordinate system.

[0014] Wherein, the central angle β0 of the turning and avoidance sub-region located in the first quadrant is a positive value, and the minimum value of the central angle β0 of the turning and avoidance sub-region is greater than or equal to a first preset angle, the first preset angle being the angle formed between the telescopic boom and the back panel of the cab when the back panel is located on one side of the Y-axis direction and the X-axis direction;

[0015] The central angle β0 of the turning and avoidance sub-region located in the fourth quadrant is negative, and the maximum value of the central angle β0 of the turning and avoidance sub-region is less than or equal to a second preset angle, which is the angle formed by the telescopic boom and the back panel of the cab on the other side of the Y-axis direction and the X-axis direction.

[0016] In conjunction with the first aspect, in one possible implementation, the central angle β0 of the turning avoidance sub-region located in the first quadrant and the fourth quadrant is equal in size to the angle formed by the telescopic boom and the side of the cab back panel with the X-axis direction, and β0 satisfies the following relationship:

[0017]

[0018] Wherein, W is the width of the back panel of the cab in the Y-axis direction, and L1 is the horizontal distance from the origin O to the back panel of the cab along the X-axis direction.

[0019] In conjunction with the first aspect, in one possible implementation, the minimum set value of the first lifting safety angle α1 is less than or equal to 0°, and the telescopic boom does not contact the top surface of the cab when it is located at the first lifting safety angle α1.

[0020] In conjunction with the first aspect, in one possible implementation, the minimum safe distance between the telescopic boom and the top surface of the cab is defined as K, the vertical distance from the telescopic boom to the top surface of the cab is defined as D, and D ≥ K, and the first lifting safety angle α1 satisfies the following relationship:

[0021] D=d+L2tanα1

[0022] Wherein, d is the vertical distance between the telescopic boom and the top surface of the cab when the telescopic boom is in a horizontal position, and L2 is the horizontal distance from the rotational hinge point of the telescopic boom and the slewing seat to the back panel of the cab along the X-axis direction.

[0023] In conjunction with the first aspect, in one possible implementation, driving the telescopic boom to rotate towards a position closer to the initial state via the slewing seat includes:

[0024] Based on the current rotation angle β1 of the telescopic boom, determine the quadrant region of the telescopic boom in the two-dimensional coordinate system;

[0025] When the telescopic boom is located in the first quadrant and the second quadrant of the two-dimensional coordinate system, the telescopic boom is driven to rotate in the first direction to the position of the initial state by the swivel seat; when the telescopic boom is located in the third quadrant and the fourth quadrant of the two-dimensional coordinate system, the telescopic boom is driven to rotate in the second direction to the position of the initial state by the swivel seat.

[0026] Wherein, the first direction is opposite to the second direction, and the required rotation angle for rotating the telescopic boom along the first direction and along the second direction is less than or equal to 180°.

[0027] In conjunction with the first aspect, in one possible implementation, determining the quadrant region of the telescopic boom in the two-dimensional coordinate system based on the current rotation angle β1 of the telescopic boom includes:

[0028] When the current slewing angle β1 of the telescopic boom is within 0° to 180°, it is determined that the telescopic boom is located in the first quadrant or the second quadrant. When the current slewing angle β1 of the telescopic boom is within 0° to -180°, it is determined that the telescopic boom is located in the third quadrant or the fourth quadrant.

[0029] In conjunction with the first aspect, in one possible implementation, when the current slewing angle β1 of the telescopic boom is within 0° to 180°-β2, it is determined that the telescopic boom is located in the first quadrant or the second quadrant; when the current slewing angle β1 of the telescopic boom is within 0° to -180°+β2, it is determined that the telescopic boom is located in the third quadrant or the fourth quadrant, wherein 2β2 is the central angle of the second sector formed by the descending region with the origin O as the center.

[0030] In conjunction with the first aspect, in one possible implementation, the bracket is provided with a descent positioning sensor, which is configured to detect when the telescopic boom has descended to its designated position within the descent region.

[0031] To achieve the above objectives, in a second aspect, this application also provides an aerial work platform, including a chassis assembly, a slewing base, a telescopic boom, and a controller;

[0032] The telescopic boom is equipped with a retracted position sensor and a long angle sensor that are electrically connected to the controller. The retracted position sensor is used to detect whether the telescopic boom is retracted. When the telescopic boom is retracted, the retracted position sensor is used to send a retracted position signal to the controller. The long angle sensor is used to detect the current lifting angle α of the telescopic boom and convert the lifting angle α into an electrical signal to feed back to the controller.

[0033] The slewing base is equipped with a slewing encoder electrically connected to the controller. The slewing encoder is used to detect the current slewing angle β1 of the telescopic boom and convert the slewing angle β1 into an electrical signal to be fed back to the controller.

[0034] The chassis assembly is equipped with a descent positioning sensor on its bracket. When the descent positioning sensor detects the telescopic boom, it sends a descent positioning signal to the controller.

[0035] The controller is configured to coordinate the movements of the slewing unit and the telescopic boom.

[0036] Compared to existing technologies, the beneficial effects of this application are:

[0037] This application provides a method for retracting the boom of an aerial work platform and an aerial work platform itself. In the boom retraction process, the method acquires the current slewing angle β1 and the current lifting angle α of the boom. If the current slewing angle β1 is within a preset slewing avoidance zone, and the current lifting angle α is less than a first safe lifting angle α1, the method controls the boom to lift, ensuring that the current lifting angle α is greater than or equal to the first safe lifting angle α1. Since the cab is located within the slewing avoidance zone, controlling the boom to lift when the current lifting angle α is less than the first safe lifting angle α1 limits further descent of the boom. Therefore, when the current lifting angle α of the telescopic boom after lifting is greater than or equal to the first lifting safety angle α1, it can be ensured that the telescopic boom can smoothly pass through the cab during subsequent rotation, thus preventing interference between the telescopic boom and the cab during the retrieval process. Furthermore, if the current rotation angle β1 of the telescopic boom is outside the rotation avoidance zone, subsequent rotation of the telescopic boom towards a position closer to the initial state via the slewing seat can also avoid the cab. In summary, the aerial work platform boom retrieval method provided in this embodiment can achieve automated retrieval of the telescopic boom, ensuring retrieval accuracy, improving retrieval efficiency, and automatically avoiding the cab during retrieval, protecting equipment and personnel safety, making it safer and more reliable.

[0038] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0039] The accompanying drawings are provided to further illustrate this application and form part of the specification. They are used together with the following detailed description to explain this application. It should be understood that the following drawings only show some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:

[0040] Figure 1 This illustration shows a structural diagram of an aerial work platform vehicle in its initial state, as provided in an embodiment of this application.

[0041] Figure 2 This illustration shows a modular schematic diagram of a control system in an aerial work platform provided in an embodiment of this application;

[0042] Figure 3This illustration shows a top view of an aerial work platform with its telescopic boom in operation, as provided in an embodiment of this application.

[0043] Figure 4 This illustration shows a structural diagram of an aerial work platform with its telescopic boom in a horizontal position, according to an embodiment of this application.

[0044] Figure 5 This illustration shows a structural diagram of an aerial work platform with its telescopic boom in a raised state, according to an embodiment of this application.

[0045] Explanation of reference numerals in the attached figures:

[0046] 100. Chassis assembly; 110. Cab; 111. Back panel; 120. Bracket;

[0047] 200. Rotary seat; 210. Rotary drive mechanism; 211. Forward rotation hydraulic valve; 212. Reverse rotation hydraulic valve

[0048] 300. Telescopic boom; 310. Luffing drive mechanism; 311. Lifting hydraulic valve; 312. Lowering hydraulic valve; 320. Telescopic drive mechanism; 321. Extension hydraulic valve; 322. Retraction hydraulic valve;

[0049] 400. Operating platform;

[0050] 500, Controller;

[0051] 600. Retracted sensor;

[0052] 700, Long Angle Sensor;

[0053] 800, Rotary Encoder;

[0054] 900. Descending to Position Sensor;

[0055] 1000, remote control;

[0056] A. Turning and avoidance area; B. Descent area. Detailed Implementation

[0057] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the embodiments of this application.

[0058] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0059] In the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0061] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0062] The present application will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0063] Example 1

[0064] Please see Figure 1 This embodiment provides an aerial work platform vehicle, including a chassis assembly 100, a slewing base 200 and a telescopic boom 300. The chassis assembly 100 is provided with a bracket 120 at the rear, which is used to place the telescopic boom 300. The telescopic boom 300 is mounted on the slewing base 200, and a working platform 400 is provided at the end of the telescopic boom 300 away from the slewing base 200.

[0065] In its initial state, the telescopic boom 300 is in a retracted state, and the end of the telescopic boom 300 with the working platform 400 is placed on the bracket 120. The chassis assembly 100 has a cab 110 at the end away from the bracket 120.

[0066] Specifically, the telescopic boom 300 is hinged to the slewing base 200, which drives the telescopic boom 300 to rotate relative to the chassis assembly 100. The rotation of the slewing base 200 is driven by the slewing drive mechanism 210. The telescopic boom 300 itself performs vertical lifting (luffing motion) under the drive of the luffing drive mechanism 310, and the telescopic boom 300 itself realizes the extension and retraction of two adjacent boom sections under the drive of the telescopic drive mechanism 320.

[0067] It should be noted that the slewing drive mechanism 210, the luffing drive mechanism 310, and the telescopic drive mechanism 320 described above are all powered by hydraulic pressure. Therefore, the slewing drive mechanism 210 is a slewing hydraulic motor, controlled by a forward hydraulic valve 211 and a reverse hydraulic valve 212; the luffing drive mechanism 310 is a luffing cylinder, controlled by a lifting hydraulic valve 311 and a lowering hydraulic valve 312; and the telescopic drive mechanism 320 is a telescopic cylinder, controlled by an extension hydraulic valve 321 and a retraction hydraulic valve 322.

[0068] Please refer to the following: Figure 2 , Figure 3 , Figure 4 and Figure 5 Furthermore, the aerial work platform also includes a controller 500, a retraction sensor 600, a long angle sensor 700, a rotary encoder 800, and a descent sensor 900.

[0069] The telescopic boom 300 is equipped with a retraction sensor 600 and a long angle sensor 700, both electrically connected to the controller 500. The retraction sensor 600 detects whether the telescopic boom 300 is retracted into its designated position; when retracted, it sends a retraction signal to the controller 500. The long angle sensor 700 detects the current lifting angle α of the telescopic boom 300 and converts it into an electrical signal, feeding it back to the controller 500. The long angle sensor 700 also detects the extended length of the telescopic boom 300.

[0070] The slewing base 200 is provided with a slewing encoder 800 electrically connected to the controller 500. The slewing encoder 800 is used to detect the current slewing angle β1 of the telescopic boom 300 and convert the slewing angle β1 into an electrical signal to be fed back to the controller 500.

[0071] The chassis assembly 100 has a lowering position sensor 900 on the bracket 120. When the lowering position sensor 900 detects the telescopic boom 300, it sends a lowering position signal to the controller 500.

[0072] The controller 500 is configured to coordinate the actions of the slewing base 200 and the telescopic boom 300. Specifically, the controller 500 is electrically connected to the forward rotation hydraulic valve 211, the reverse rotation hydraulic valve 212, the lifting hydraulic valve 311, the lowering hydraulic valve 312, the extension hydraulic valve 321, and the retraction hydraulic valve 322, respectively. The controller 500 can coordinate the operation of the forward rotation hydraulic valve 211, the reverse rotation hydraulic valve 212, the lifting hydraulic valve 311, the lowering hydraulic valve 312, the extension hydraulic valve 321, and the retraction hydraulic valve 322 based on the signals fed back by the retraction position sensor 600, the long angle sensor 700, the slewing encoder 800, and the lowering position sensor 900.

[0073] Optionally, the retraction sensor 600 and the descent sensor 900 can be selected as limit switches. The controller 500 can be selected as a PLC controller.

[0074] In this embodiment, the controller 500 can control the aerial work operation of the telescopic boom 300 in the aerial work platform vehicle. Of course, the controller 500 can also be connected to an external remote controller 1000. The remote controller 1000 issues a boom retraction command, which the controller 500 receives and controls the automatic retraction of the telescopic boom 300, achieving one-button retraction. It is understood that the connection between the controller 500 and the remote controller 1000 can be a wired connection or a wireless communication connection.

[0075] Example 2

[0076] Please see Figure 1 and Figure 2 This embodiment provides a method for retracting the boom of an aerial work platform, applied to the aerial work platform provided in Embodiment 1 above. In this embodiment, the controller 500 in the aerial work platform is configured to control the retraction of the telescopic boom 300.

[0077] Please refer to the following: Figure 3 , Figure 4 and Figure 5 A two-dimensional coordinate system is established in the horizontal plane, wherein the rotation center of the rotary seat 200 is defined as the origin O, the direction from the origin O to the cab 110 of the chassis assembly 100 is defined as the X-axis, and the direction perpendicular to the X-axis is defined as the Y-axis. Specifically, as follows... Figure 3 As shown, the horizontal plane is the paper surface, the Y-axis direction is upward from the paper surface, and the positive half-axis of the Y-axis is located on the left side of the cab 110.

[0078] The aerial work platform boom recovery method includes the following steps:

[0079] S100: Control the telescopic boom 300 to retract into its position. Specifically, the controller 500 controls the telescopic drive mechanism 320 to retract. When the retraction sensor 600 detects that the telescopic boom 300 has retracted into its position, it controls the telescopic drive mechanism 320 to stop retracting, at which point the telescopic boom 300 is retracted into its position.

[0080] S200: Obtain the current slewing angle β1 and the current lifting angle α of the telescopic boom 300, wherein the slewing angle β1 is the angle formed by the telescopic boom 300 and the X-axis direction, and the slewing angle β1 is provided by the rotary encoder 800; the lifting angle α is the angle formed by the telescopic boom 300 and the horizontal plane, and the lifting angle α is provided by the long angle sensor 700.

[0081] S300: When the current slewing angle β1 of the telescopic boom 300 is within the range of the preset slewing avoidance area A, and the current lifting angle α of the telescopic boom 300 is less than the first lifting safety angle α1, control the telescopic boom 300 to lift so that the current lifting angle α of the telescopic boom 300 is greater than or equal to the first lifting safety angle α1.

[0082] S400: When the current slewing angle β1 of the telescopic boom 300 is outside the range of the slewing avoidance area A, and the current lifting angle α of the telescopic boom 300 is less than the second lifting safety angle α2, control the telescopic boom 300 to lift so that the current lifting angle α of the telescopic boom 300 is greater than or equal to the second lifting safety angle α2.

[0083] Wherein, the turning and avoidance area A is a first sector-shaped area formed with the origin O as the center, the cab 110 is located in the turning and avoidance area A, the first lifting safety angle α1 is the safe angle at which the telescopic boom 300 can turn through the top surface of the cab 110, the second lifting safety angle α2 is the safe angle at which the telescopic boom 300 can turn through an obstacle object away from the end of the chassis assembly 100 away from the cab 110, and the second lifting safety angle α2 is less than or equal to the first lifting safety angle α1.

[0084] S500: The telescopic boom 300 is driven to rotate towards the position close to the initial state by the slewing seat 200.

[0085] S600: When the telescopic boom 300 rotates to the range of the descent region B, the telescopic boom 300 is controlled to descend. The descent region B is a second sector-shaped region centered on the origin O.

[0086] S700: The telescopic boom 300 has descended to its final position and recovery is complete.

[0087] It should also be noted that the execution of steps S300 and S400 above is not sequential and can be performed simultaneously.

[0088] Furthermore, since the cab 110 is located within the turning and avoidance area A, in this embodiment, the first sector area is symmetrical about the X-axis, that is, the X-axis direction divides the first sector area into two turning and avoidance sub-areas located in the first quadrant and the fourth quadrant of the two-dimensional coordinate system.

[0089] In the first quadrant, the central angle β0 of the turning and avoidance sub-region is positive, and the minimum value of the central angle β0 of this turning and avoidance sub-region is greater than or equal to a first preset angle, which is the angle formed between the telescopic boom 300 and the back plate 111 of the cab 110 on one side of the Y-axis direction and the X-axis direction. In the fourth quadrant, the central angle β0 of the turning and avoidance sub-region is negative, and the maximum value of the central angle β0 of this turning and avoidance sub-region is less than or equal to a second preset angle, which is the angle formed between the telescopic boom 300 and the back plate 111 of the cab 110 on the other side of the Y-axis direction and the X-axis direction. The absolute values ​​of the first and second preset angles are equal, one side of the back plate 111 is located on the positive half-axis of the Y-axis direction, and the other side of the back plate 111 is located on the negative half-axis of the Y-axis direction.

[0090] In this embodiment, the central angle β0 of the turning avoidance sub-region located in the first quadrant and the fourth quadrant is equal in size to the angle formed by the telescopic boom 300 and the side of the back panel 111 of the cab 110 with the X-axis direction. Furthermore, β0 satisfies the following relationship:

[0091]

[0092] Where W is the width of the back panel 111 of the cab 110 in the Y-axis direction, and L1 is the horizontal distance from the origin O to the back panel 111 of the cab 110 along the X-axis direction. For example, when L1 = W / 2, the value of β0 is ±45°.

[0093] The minimum set value of the first lifting safety angle α1 is less than or equal to 0°, and the telescopic boom 300 does not contact the top surface of the cab 110 when it is located at the first lifting safety angle α1.

[0094] In this example, the minimum safe distance between the telescopic boom 300 and the top surface of the cab 110 is defined as K, the vertical distance from the telescopic boom 300 to the top surface of the cab 110 is defined as D, and D≥K. The first lifting safety angle α1 satisfies the following relationship:

[0095] D=d+L2tanα1

[0096] Wherein, d is the vertical distance between the telescopic boom 300 and the top surface of the cab 110 when the telescopic boom 300 is in a horizontal position, and L2 is the horizontal distance from the rotational hinge point of the telescopic boom 300 and the slewing seat 200 to the back plate 111 of the cab 110 along the X-axis direction.

[0097] Preferably, the minimum setting value of the first lifting safety angle α1 is 0°, at which time the telescopic boom 300 is parallel to the top surface of the cab 110.

[0098] Furthermore, the minimum set value of the second lifting safety angle α2 is less than or equal to the first lifting safety angle α1, and the minimum set value of the second lifting safety angle α2 is also greater than the minimum lifting angle of the telescopic boom 300. For example, the lifting angle range of the telescopic boom 300 is -18.5° to 80°, thus, the minimum set value of the second lifting safety angle α2 is greater than -18.5°. Further, depending on the height of the obstacle (e.g., the electrical control box or other functional equipment) on the chassis assembly 100, the minimum set value of the second lifting safety angle α2 can be selected as -13°, or it can be set to 0°, to ensure that the telescopic boom 300 can smoothly pass over the obstacle when rotating.

[0099] In step S500 above: driving the telescopic boom 300 to rotate towards the position closer to the initial state via the slewing seat 200 includes the following steps:

[0100] S510: Based on the current rotation angle β1 of the telescopic boom 300, determine the quadrant region of the telescopic boom 300 in the two-dimensional coordinate system.

[0101] S520: When the telescopic boom 300 is located in the first quadrant and the second quadrant in the two-dimensional coordinate system, the telescopic boom 300 is driven to rotate along the first direction to the position of the initial state by the swivel seat 200; when the telescopic boom 300 is located in the third quadrant and the fourth quadrant in the two-dimensional coordinate system, the telescopic boom 300 is driven to rotate along the second direction to the position of the initial state by the swivel seat 200.

[0102] Wherein, the first direction is opposite to the second direction, and the required rotation angle for rotating the telescopic boom 300 along the first direction and along the second direction is less than or equal to 180°.

[0103] Furthermore, in this embodiment, as Figure 3 As shown, the first direction is counterclockwise, and the second direction is clockwise.

[0104] In step S520 above: determining the quadrant region of the telescopic boom 300 in the two-dimensional coordinate system based on the current rotation angle β1 of the telescopic boom 300 includes:

[0105] When the current rotation angle β1 of the telescopic boom 300 is within 0° to 180°, it is determined that the telescopic boom 300 is located in the first quadrant or the second quadrant. When the current rotation angle β1 of the telescopic boom 300 is within 0° to -180°, it is determined that the telescopic boom 300 is located in the third quadrant or the fourth quadrant.

[0106] In this embodiment, the bracket 120 is equipped with a descent positioning sensor 900, which is configured to detect when the telescopic boom 300 has descended to its designated position within the descent region B. Considering that the telescopic boom 300 has a certain rotational error, the central angle of the second sector formed by the descent region B is set to 2β2, and the descent positioning sensor 900 is located within this second sector. Preferably, β2 ≤ 3°.

[0107] Therefore, when the current rotation angle β1 of the telescopic boom 300 is within 0° to 180°-β2, it is determined that the telescopic boom 300 is located in the first quadrant or the second quadrant. When the current rotation angle β1 of the telescopic boom 300 is within 0° to -180°+β2, it is determined that the telescopic boom 300 is located in the third quadrant or the fourth quadrant.

[0108] The aerial work platform boom recovery method provided in this embodiment, during the recovery of the telescopic boom 300, obtains the current slewing angle β1 and the current lifting angle α of the telescopic boom 300. When the current slewing angle β1 is within a preset slewing avoidance zone A, and the current lifting angle α is less than a first lifting safety angle α1, the telescopic boom 300 is controlled to lift, so that the current lifting angle α is greater than or equal to the first lifting safety angle α1. Since the cab 110 is located within the slewing avoidance zone A, controlling the telescopic boom 300 to lift when the current lifting angle α is less than the first lifting safety angle α1, thereby limiting further descent of the telescopic boom 300. Therefore, when the current lifting angle α of the telescopic boom 300 after lifting is greater than or equal to the first lifting safety angle α1, it can be ensured that the telescopic boom 300 can pass smoothly through the cab 110 when the telescopic boom 300 is driven to rotate in the subsequent process, thereby preventing interference between the telescopic boom 300 and the cab 110 when the telescopic boom 300 rotates during the recovery process.

[0109] Furthermore, if the current rotation angle β1 of the telescopic boom 300 is outside the rotation avoidance zone A, subsequently driving the telescopic boom 300 to rotate towards its initial position via the slewing seat 200 will also avoid the cab 110. In summary, the aerial work platform boom retrieval method provided in this embodiment can achieve automated retrieval of the telescopic boom 300, ensuring retrieval accuracy, improving retrieval efficiency, and automatically avoiding the cab 110 during retrieval, protecting equipment and personnel safety, making it safer and more reliable.

[0110] The optional embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present application are not limited to the specific details in the above embodiments. Within the scope of the technical concept of the embodiments of the present application, various simple modifications can be made to the technical solutions of the embodiments of the present application, and these simple modifications all fall within the protection scope of the embodiments of the present application.

[0111] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. In order to avoid unnecessary repetition, the embodiments of this application will not describe the various possible combinations separately.

[0112] Furthermore, various different implementation methods of the embodiments of this application can be combined arbitrarily, as long as they do not violate the spirit of the embodiments of this application, they should also be regarded as the content disclosed in the embodiments of this application.

Claims

1. A method for recovering the boom of an aerial work platform, the aerial work platform comprising a chassis assembly (100), a slewing base (200), and a telescopic boom (300), wherein the chassis assembly (100) is provided with a bracket (120) at its rear end; initially, the telescopic boom (300) is in a retracted state, and one end of the telescopic boom (300) with a working platform (400) is placed on the bracket (120); a two-dimensional coordinate system is established in a horizontal plane, wherein, The rotation center of the slewing seat (200) is defined as the origin O, the direction from the origin O to the cab (110) of the chassis assembly (100) is defined as the X-axis direction, and the direction perpendicular to the X-axis direction is defined as the Y-axis direction; the aerial work platform boom recovery method includes: Control the telescopic boom (300) to retract into position; Obtain the current rotation angle β1 and the current lifting angle α of the telescopic boom (300), wherein the rotation angle β1 is the angle formed by the telescopic boom (300) and the X-axis direction, and the lifting angle α is the angle formed by the telescopic boom (300) and the horizontal plane; When the current slewing angle β1 of the telescopic boom (300) is within the range of the preset slewing avoidance area (A), and the current lifting angle α of the telescopic boom (300) is less than the first lifting safety angle α1, the telescopic boom (300) is controlled to lift so that the current lifting angle α of the telescopic boom (300) is greater than or equal to the first lifting safety angle α1. When the current slewing angle β1 of the telescopic boom (300) is outside the slewing avoidance zone (A) and the current lifting angle α of the telescopic boom (300) is less than the second lifting safety angle α2, the telescopic boom (300) is controlled to lift so that the current lifting angle α of the telescopic boom (300) is greater than or equal to the second lifting safety angle α2; wherein the cab (110) is located within the slewing avoidance zone (A), and the second lifting safety angle α2 is less than or equal to the first lifting safety angle α1; The telescopic boom (300) is driven to rotate toward a position closer to the initial state by the slewing seat (200); When the telescopic boom (300) rotates to the range of the lowering area (B), the telescopic boom (300) is controlled to lower; The telescopic boom (300) has descended to its position and is now fully retracted. Wherein, the turning and avoidance area (A) is a first sector-shaped area formed with the origin O as the center, and the X-axis direction divides the first sector-shaped area into two turning and avoidance sub-areas located in the first quadrant and the fourth quadrant of the two-dimensional coordinate system; The central angle β0 of the turning and avoidance sub-region located in the first quadrant is positive, and the minimum value of the central angle β0 of the turning and avoidance sub-region is greater than or equal to a first preset angle, which is the angle formed by the telescopic boom (300) and the back plate (111) of the cab (110) when the boom is connected to the back plate (111) of the cab (110) on one side in the Y-axis direction and the X-axis direction. The central angle β0 of the turning and avoidance sub-region located in the fourth quadrant is negative, and the maximum value of the central angle β0 of the turning and avoidance sub-region is less than or equal to a second preset angle, which is the angle formed by the telescopic boom (300) and the back plate (111) on the other side of the Y-axis direction and the X-axis direction.

2. The method for recovering the boom of an aerial work platform according to claim 1, characterized in that, The central angle β0 of the turning avoidance sub-region located in the first quadrant and the fourth quadrant is equal in size to the angle formed by the telescopic boom (300) and the side of the back panel (111) of the cab (110) with the X-axis direction when they are in contact, and β0 satisfies the following relationship: Wherein, W is the width of the back panel (111) of the cab (110) in the Y-axis direction, and L1 is the horizontal distance from the origin O to the back panel (111) of the cab (110) along the X-axis direction.

3. The method for recovering the boom of an aerial work platform according to claim 1, characterized in that, The minimum set value of the first lifting safety angle α1 is less than or equal to 0°, and the telescopic boom (300) does not contact the top surface of the cab (110) when it is located at the first lifting safety angle α1.

4. The method for recovering the boom of an aerial work platform according to claim 3, characterized in that, The minimum safe distance between the telescopic boom (300) and the top surface of the cab (110) is defined as K, the vertical distance between the telescopic boom (300) and the top surface of the cab (110) is defined as D, and D≥K. The first lifting safety angle α1 satisfies the following relationship: Wherein, d is the vertical distance between the telescopic boom (300) and the top surface of the cab (110) when the telescopic boom (300) is in a horizontal position, and L2 is the horizontal distance from the rotational hinge point of the telescopic boom (300) and the slewing seat (200) along the X-axis to the back plate (111) of the cab (110).

5. The method for recovering the boom of an aerial work platform according to claim 1, characterized in that, The process of driving the telescopic boom (300) to rotate towards the position closer to the initial state via the slewing seat (200) includes: Based on the current rotation angle β1 of the telescopic boom (300), determine the quadrant region of the telescopic boom (300) in the two-dimensional coordinate system; When the telescopic boom (300) is located in the first quadrant and the second quadrant of the two-dimensional coordinate system, the telescopic boom (300) is driven to rotate in the first direction to the position of the initial state by the swivel base (200); when the telescopic boom (300) is located in the third quadrant and the fourth quadrant of the two-dimensional coordinate system, the telescopic boom (300) is driven to rotate in the second direction to the position of the initial state by the swivel base (200). Wherein, the first direction is opposite to the second direction, and the required rotation angle for rotating the telescopic boom (300) along the first direction and along the second direction is less than or equal to 180°.

6. The method for recovering the boom of an aerial work platform according to claim 5, characterized in that, The step of determining the quadrant region of the telescopic boom (300) in the two-dimensional coordinate system based on the current rotation angle β1 of the telescopic boom (300) includes: When the current slewing angle β1 of the telescopic boom (300) is within 0° < β1 < 180°, it is determined that the telescopic boom (300) is located in the first quadrant or the second quadrant. When the current slewing angle β1 of the telescopic boom (300) is within 0° > β1 > -180°, it is determined that the telescopic boom (300) is located in the third quadrant or the fourth quadrant.

7. The method for recovering the boom of an aerial work platform according to claim 6, characterized in that, When the current rotation angle β1 of the telescopic boom (300) is within 0° < β1 < (180° - β2), it is determined that the telescopic boom (300) is located in the first quadrant or the second quadrant. When the current rotation angle β1 of the telescopic boom (300) is within 0° > β1 > (-180° + β2), it is determined that the telescopic boom (300) is located in the third quadrant or the fourth quadrant. Here, 2β2 is the central angle of the second sector formed by the descending region (B) with the origin O as the center.

8. The method for recovering the boom of an aerial work platform according to claim 1, characterized in that, The bracket (120) is provided with a descent positioning sensor (900), which is configured to detect the telescopic boom (300) descent into position within the range of the descent area (B).

9. An aerial work platform vehicle, characterized in that, The aerial work platform boom recovery method according to any one of claims 1-8 is applied, wherein the aerial work platform includes a chassis assembly (100), a slewing seat (200), a telescopic boom (300), and a controller (500). The telescopic boom (300) is equipped with a retraction sensor (600) and a long angle sensor (700) electrically connected to the controller (500). The retraction sensor (600) is used to detect whether the telescopic boom (300) is retracted. When the telescopic boom (300) is retracted, the retraction sensor (600) is used to send a retraction signal to the controller (500). The long angle sensor (700) is used to detect the current lifting angle α of the telescopic boom (300) and convert the lifting angle α into an electrical signal to be fed back to the controller (500). The slewing base (200) is provided with a slewing encoder (800) electrically connected to the controller (500). The slewing encoder (800) is used to detect the current slewing angle β1 of the telescopic boom (300) and convert the slewing angle β1 into an electrical signal and feed it back to the controller (500). The chassis assembly (100) is provided with a descent positioning sensor (900) on the bracket (120). When the descent positioning sensor (900) detects the telescopic boom (300), it sends a descent positioning signal to the controller (500). The controller (500) is configured to coordinate the actions of the rotary table (200) and the telescopic boom (300).

Images