Method and device for automatic levelling of an aerial work platform and aerial work platform

Abstract

The application provides an automatic leveling method and device of an aerial work platform and the aerial work platform. The aerial work platform comprises a base, a main arm rotatably connected with the base, and a work platform rotatably connected to the end of the main arm. The automatic leveling method comprises: obtaining an inclination angle between the work platform and a horizontal plane; generating a control logic according to the inclination angle, and controlling and adjusting a leveling oil cylinder according to the control logic; wherein the leveling oil cylinder is drivingly connected with the work platform and is used to realize leveling of the work platform. The automatic leveling method and device of the aerial work platform and the aerial work platform provided by the application realize leveling of the work platform by controlling and adjusting the action of the leveling oil cylinder, guarantee the personal safety of the personnel, and bring good user experience to the user.

Description

Technical Field

[0001] This invention relates to the field of aerial work technology, and in particular to an automatic leveling method, device and aerial work platform for aerial work. Background Technology

[0002] In related technologies, aerial work platforms are engineering machines that transport construction workers to designated heights and locations for work. A typical aerial work platform includes a base, a main boom rotatably connected to the base, and a work platform rotatably connected to the end of the main boom. The main boom rises by rotating relative to the base, thereby transporting the work platform and the workers on it to a high altitude. With the booming development of the aerial work industry, aerial work platforms have increasingly become an indispensable auxiliary tool in various fields, including construction, shipbuilding, and cleaning.

[0003] Aerial work platforms are mainly divided into several types, including scissor lifts, articulated boom lifts, and telescopic boom lifts. This invention patent mainly focuses on telescopic boom aerial work platforms. Telescopic boom aerial work platforms primarily involve actions such as turntable rotation, boom luffing, boom extension and retraction, boom luffing, platform leveling, and platform swaying. When the boom luffs upwards or downwards, the work platform tilts, making it impossible for the platform to remain level.

[0004] In related technologies, the current automatic leveling function of boom lifts mainly relies on tilt sensors located on the platform as input units. The controller monitors the tilt angle of the platform and uses PID algorithms or feedforward + feedback proportional control to achieve the platform leveling function.

[0005] However, the above technical solution has the following two problems:

[0006] (1) PID parameters are not easy to adjust, and if the PID parameters are not selected properly, oscillations will occur. This will cause the platform to shake during the leveling process, reduce the leveling comfort, and there will be a leveling lag problem.

[0007] (2) Although the feedforward + feedback proportional control method can effectively solve the problem of leveling lag when changing parts, the proportional linear control will oscillate during the control process, resulting in leveling jitter. Summary of the Invention

[0008] This invention provides an automatic leveling method, device, and aerial work platform to overcome the deficiencies in the prior art and achieve the following technical effects: the leveling of the work platform is achieved by controlling the action of the leveling cylinder, ensuring the personal safety of personnel and providing users with a good user experience.

[0009] An automatic leveling method for an aerial work platform according to a first aspect embodiment of the present invention, wherein the aerial work platform includes a base, a main boom rotatably connected to the base, and a work platform rotatably connected to the end of the main boom, the automatic leveling method comprising:

[0010] Obtain the angle of inclination between the work platform and the horizontal plane;

[0011] Control logic is generated based on the tilt angle, and the leveling cylinder is controlled and adjusted according to the control logic.

[0012] The leveling cylinder is connected to the working platform and is used to level the working platform.

[0013] According to an embodiment of the present invention, the step of generating control logic based on the tilt angle and controlling and adjusting the leveling cylinder according to the control logic specifically includes:

[0014] The operating parameters of the leveling cylinder are controlled and adjusted according to the range of the tilt angle.

[0015] According to an embodiment of the present invention, the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle specifically includes:

[0016] If the tilt angle is greater than the preset upper limit angle, the maximum current is output to the leveling cylinder and the leveling cylinder is controlled to perform downward leveling.

[0017] According to an embodiment of the present invention, the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle further includes:

[0018] If the tilt angle is greater than zero and less than the preset upper limit angle, then the leveling cylinder is output with a first preset current and the leveling cylinder is controlled to perform downward leveling.

[0019] The first preset current is calculated based on the tilt angle and the specifications of the leveling cylinder.

[0020] According to an embodiment of the present invention, in the step of outputting a first preset current to the leveling cylinder and controlling the leveling cylinder to perform downward leveling based on the tilt angle being greater than zero and less than the preset upper limit angle, the formula for calculating the first preset current C1 is as follows:

[0021] C1 = C min +(C max -C min )×(1-cos(α / γ))

[0022] Among them, Cmin C is the minimum current required for the lower leveling valve of the leveling cylinder to open. max To meet the maximum current required for leveling, α is the tilt angle, and γ is the preset upper limit angle.

[0023] According to an embodiment of the present invention, the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle specifically includes:

[0024] If the tilt angle is less than the preset lower limit angle, the maximum current is output to the leveling cylinder and the leveling cylinder is controlled to perform upward leveling.

[0025] According to an embodiment of the present invention, the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle further includes:

[0026] If the tilt angle is greater than a preset lower limit angle and less than zero, then a second preset current is output to the leveling cylinder and the leveling cylinder is controlled to perform upward leveling.

[0027] The second preset current is calculated based on the tilt angle and the specifications of the leveling cylinder.

[0028] According to an embodiment of the present invention, in the step of outputting a second preset current to the leveling cylinder and controlling the leveling cylinder to perform upward leveling based on the tilt angle being greater than a preset lower limit angle and less than zero, the calculation formula for the second preset current C2 is as follows:

[0029] C2 = C min +(C max -C min )×(1-cos(α / γ'))

[0030] Among them, C min C is the minimum current required for the upper leveling valve of the leveling cylinder to open. max To meet the maximum current required for the upward leveling, α is the tilt angle, and γ' is the preset lower limit angle.

[0031] According to one embodiment of the present invention, the automatic leveling method for an aerial work platform further includes:

[0032] Within each control cycle, control the latest current value C output by the leveling cylinder within that control cycle. new Compared with the old current value C output by the leveling cylinder in the previous control cycle last The relationship between them satisfies |C new -C last |<δ;

[0033] δ is the maximum allowable variation of the output current within each preset control cycle.

[0034] An automatic leveling device for an aerial work platform according to a second aspect embodiment of the present invention, the aerial work platform comprising a base, a main boom rotatably connected to the base, and a work platform rotatably connected to the end of the main boom, the automatic leveling device comprising:

[0035] The acquisition module is used to acquire the tilt angle between the working platform and the horizontal plane;

[0036] The control module is used to generate control logic based on the tilt angle and to control and adjust the leveling cylinder according to the control logic.

[0037] The leveling cylinder is connected to the working platform and is used to level the working platform.

[0038] According to a third aspect of the present invention, an aerial work platform includes a base, a main boom rotatably connected to the base, and a work platform rotatably connected to the end of the main boom.

[0039] It also includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the automatic leveling method for the aerial work platform as described in the first aspect of the present invention.

[0040] In summary, to address the technical deficiencies in related technologies, this invention provides an automatic leveling method for aerial work platforms. The method involves obtaining the tilt angle between the work platform and the horizontal plane, generating control logic based on this tilt angle, and controlling and adjusting the leveling cylinders according to the control logic. Thus, this invention simplifies the leveling algorithm for boom lift platforms by employing a nonlinear forward propagation method to design the automatic leveling algorithm, reducing system parameters and enabling rapid response to leveling deviations. Furthermore, it avoids the leveling oscillation problem caused by linear control. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0042] Figure 1 This is a flowchart illustrating the automatic leveling method for the aerial work platform provided by the present invention.

[0043] Figure 2This is a schematic diagram of the automatic leveling device for the aerial work platform provided by the present invention;

[0044] Figure 3 This is a structural schematic diagram of the aerial work platform provided by the present invention;

[0045] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0046] Figure label:

[0047] 1. Working platform; 11. Leveling cylinder; 2. Main boom; 3. Base. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0049] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0051] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0052] The automatic leveling method, automatic leveling device, and aerial work platform proposed in this invention are described below with reference to the accompanying drawings. Before detailing the embodiments of this invention, the overall application scenario is described first. The automatic leveling method, automatic leveling device, electronic device, and computer-readable storage medium of the aerial work platform of this invention can be applied to local air conditioning systems, cloud platforms in the Internet field, or other types of cloud platforms in the Internet field, or to third-party devices. These third-party devices may include various types such as mobile phones, tablets, laptops, vehicle-mounted computers, and other smart terminals.

[0053] The following description uses only an automatic leveling method applicable to aerial work platforms as an example. It should be understood that the control method of this invention can also be applied to cloud platforms and third-party devices. Furthermore, before introducing the automatic leveling method for aerial work platforms of this invention, a general description of the structural basis upon which this automatic leveling method is based, i.e., the aerial work platform itself, is given:

[0054] This invention patent primarily focuses on a telescopic boom aerial work platform. The telescopic boom aerial work platform mainly includes actions such as turntable rotation, boom luffing, boom extension / retraction, boom luffing, platform leveling, and platform swinging. Specifically, the aerial work platform includes a base 3, a boom 2 rotatably connected to the base 3, and a work platform 1 rotatably connected to the end of the boom 2. An angle sensor is installed on the work platform 1 to obtain the angle α between the work platform 1 and the horizontal plane. During the lifting or lowering of the boom 2, the extension / retraction of the leveling cylinder 11 needs to be adjusted to keep the work platform 1 level with the ground. During the movement of the boom 2, the work platform 1 moves along with the boom 2, causing it to tilt. The angle sensor obtains the angle α, and the system controls the extension / retraction of the leveling cylinder 11 based on the angle α to achieve leveling.

[0055] like Figure 1 As shown, the automatic leveling method for an aerial work platform according to a first aspect embodiment of the present invention includes:

[0056] Step S1: Obtain the tilt angle between the work platform 1 and the horizontal plane;

[0057] Step S2: Generate control logic based on the tilt angle, and control and adjust the leveling cylinder 11 according to the control logic.

[0058] According to the automatic leveling method of the aerial work platform according to the embodiment of the present invention, the work platform 1 can be leveled relative to the horizontal plane. The specific working process is as follows: Since the work platform 1 is connected to the main boom 2 and is raised and lowered through the main boom 2, the work platform 1 will move together with the main boom 2 during the movement of the main boom 2. At this time, the above-mentioned movement process may cause the work platform 1 to tilt. When the work platform 1 tilts relative to the horizontal plane, the tilt angle sensor obtains the tilt angle between the work platform 1 and the horizontal plane as α. Further, the controller receives the tilt angle signal transmitted by the tilt angle sensor, analyzes the tilt angle, generates control logic according to the tilt angle, and controls and adjusts the leveling cylinder 11 according to the control logic. Finally, the leveling of the work platform 1 is achieved by controlling the action of the leveling cylinder 11, ensuring the personal safety of personnel and bringing a good user experience.

[0059] In related technologies, aerial work platforms are engineering machines that transport construction workers to designated heights and locations for work. A typical aerial work platform includes a base, a main boom rotatably connected to the base, and a work platform rotatably connected to the end of the main boom. The main boom rises by rotating relative to the base, thereby transporting the work platform and the workers on it to a high altitude. With the booming development of the aerial work industry, aerial work platforms have increasingly become an indispensable auxiliary tool in various fields, including construction, shipbuilding, and cleaning.

[0060] Aerial work platforms are mainly divided into several types, including scissor lifts, articulated boom lifts, and telescopic boom lifts. This invention patent mainly focuses on telescopic boom aerial work platforms. Telescopic boom aerial work platforms primarily involve actions such as turntable rotation, boom luffing, boom extension and retraction, boom luffing, platform leveling, and platform swaying. When the boom luffs upwards or downwards, the work platform tilts, making it impossible for the platform to remain level.

[0061] In related technologies, the current automatic leveling function of boom lifts mainly relies on tilt sensors located on the platform as input units. The controller monitors the tilt angle of the platform and uses PID algorithms or feedforward + feedback proportional control to achieve the platform leveling function.

[0062] However, the above technical solution has the following two problems:

[0063] (1) PID parameters are not easy to adjust, and if the PID parameters are not selected properly, oscillations will occur. This will cause the platform to shake during the leveling process, reduce the leveling comfort, and there will be a leveling lag problem.

[0064] (2) Although the feedforward + feedback proportional control method can effectively solve the problem of leveling lag when changing parts, the proportional linear control will oscillate during the control process, resulting in leveling jitter.

[0065] In summary, to address the technical deficiencies in the aforementioned related technologies, this invention provides an automatic leveling method for aerial work platforms. The method involves obtaining the tilt angle between the work platform 1 and the horizontal plane, generating control logic based on the tilt angle, and controlling and adjusting the leveling cylinder 11 according to the control logic. Thus, this invention simplifies the leveling algorithm for boom lift platform leveling by employing a nonlinear forward propagation method to design the automatic leveling algorithm, reducing system parameters and enabling rapid response to leveling deviations. Furthermore, it avoids the leveling oscillation problem caused by linear control.

[0066] According to some embodiments of the present invention, in the automatic leveling method of an aerial work platform, step S2, which generates control logic based on the tilt angle and controls and adjusts the leveling cylinder 11 according to the control logic, specifically includes:

[0067] The working parameters of the leveling cylinder 11 are controlled and adjusted according to the range of the tilt angle.

[0068] In this embodiment, by further analyzing the range of the tilt angle, this method can determine the current tilt state of the work platform 1, thereby allowing for targeted adjustment of the working parameters of the leveling cylinder 11, so that the work platform 1 can be restored to a horizontal state, avoiding threats to personnel safety and providing users with a good user experience.

[0069] According to some specific embodiments of the present invention, in the automatic leveling method of an aerial work platform, the step of controlling and adjusting the working parameters of the leveling cylinder 11 according to the range of the tilt angle specifically includes:

[0070] If the tilt angle is greater than the preset upper limit angle, the maximum current is output to the leveling cylinder 11 and the leveling cylinder 11 is controlled to perform downward leveling.

[0071] It is understandable that when the tilt angle is greater than the preset upper limit angle, it means that the tilt of the working platform 1 relative to the horizontal plane is large. Therefore, the system needs to output the maximum current to the leveling cylinder 11 to control the leveling cylinder 11 to perform downward leveling, so that the working platform 1 can be adjusted to a horizontal state.

[0072] According to some specific embodiments of the present invention, in the automatic leveling method of an aerial work platform, the step of controlling and adjusting the working parameters of the leveling cylinder 11 according to the range of the tilt angle further includes:

[0073] If the tilt angle is greater than zero and less than the preset upper limit angle, then the first preset current is output to the leveling cylinder 11 and the leveling cylinder 11 is controlled to perform downward leveling.

[0074] The first preset current is calculated based on the tilt angle and the specifications of the leveling cylinder 11.

[0075] It is understandable that when the tilt angle is greater than zero and less than the preset upper limit angle, it means that although the working platform 1 is tilted relative to the horizontal plane, its tilt angle is small. Therefore, the system does not need to output the maximum current at this time. Instead, it can calculate the first preset current suitable for the current situation based on the tilt angle and the specifications of the leveling cylinder 11. Then, the system outputs the first preset current to the leveling cylinder 11 to control the leveling cylinder 11 to perform downward leveling, so that the working platform 1 can be adjusted to a horizontal state.

[0076] Furthermore, regarding the automatic leveling method for aerial work platforms, in the step of outputting a first preset current to the leveling cylinder 11 and controlling the leveling cylinder 11 to perform downward leveling based on the tilt angle being greater than zero and less than a preset upper limit angle, the calculation formula for the first preset current C1 is as follows:

[0077] C1 = C min +(C max -C min )×(1-cos(α / γ))

[0078] Among them, C min To ensure the minimum current required for the lower leveling valve of the leveling cylinder 11 to open, C max To meet the maximum current required for leveling, α is the tilt angle, and γ is the preset upper limit angle.

[0079] Thus, the specific magnitude of the first preset current can be calculated using the above calculation formula. It can be understood that since the first preset current is calculated based on the current tilt angle and the specifications of the leveling cylinder 11, the system can specifically handle the current situation by outputting the first preset current, avoiding the waste of excess power and conforming to the current actual use scenario.

[0080] According to some specific embodiments of the present invention, in the automatic leveling method of an aerial work platform, the step of controlling and adjusting the working parameters of the leveling cylinder 11 according to the range of the tilt angle specifically includes:

[0081] If the tilt angle is less than the preset lower limit angle, the maximum current is output to the leveling cylinder 11 and the leveling cylinder 11 is controlled to perform upward leveling.

[0082] It is understandable that when the tilt angle is less than the preset lower limit angle, it also means that the tilt of the working platform 1 relative to the horizontal plane is large. Therefore, the system needs to output the maximum current to the leveling cylinder 11 to control the leveling cylinder 11 to perform upward leveling, so that the working platform 1 can be adjusted to a horizontal state.

[0083] According to some specific embodiments of the present invention, in the automatic leveling method of an aerial work platform, the step of controlling and adjusting the working parameters of the leveling cylinder 11 according to the range of the tilt angle further includes:

[0084] If the tilt angle is greater than the preset lower limit angle and less than zero, then the leveling cylinder 11 is output with a second preset current and the leveling cylinder 11 is controlled to perform upward leveling.

[0085] The second preset current is calculated based on the tilt angle and the specifications of the leveling cylinder 11.

[0086] It is understandable that when the tilt angle is greater than the preset lower limit angle and less than zero, it means that although the working platform 1 is tilted relative to the horizontal plane, its tilt angle is small. Therefore, the system does not need to output the maximum current at this time. Instead, it can calculate the second preset current suitable for the current situation based on the tilt angle and the specifications of the leveling cylinder 11. Then, the system outputs the second preset current to the leveling cylinder 11 to control the leveling cylinder 11 to perform upward leveling, so that the working platform 1 can be adjusted to a horizontal state.

[0087] Furthermore, regarding the automatic leveling method for aerial work platforms, in the step of outputting a second preset current to the leveling cylinder 11 and controlling the leveling cylinder 11 to perform upward leveling based on the tilt angle being greater than a preset lower limit angle and less than zero, the calculation formula for the second preset current C2 is as follows:

[0088] C2 = C min +(C max -C min )×(1-cos(α / γ'))

[0089] Among them, C min To ensure the minimum current required for the upper leveling valve of the leveling cylinder 11 to open, C max To meet the maximum current required for the upward leveling, α is the tilt angle, and γ' is the preset lower limit angle.

[0090] Thus, the specific magnitude of the second preset current can be calculated using the above formula. It can be understood that since the second preset current is calculated based on the current tilt angle and the specifications of the leveling cylinder 11, the system can specifically handle the current situation by outputting the second preset current, avoiding the waste of excess power and conforming to the current actual use scenario.

[0091] According to some embodiments of the present invention, the automatic leveling method for aerial work platforms further includes:

[0092] Within each control cycle, the latest current value C output by the leveling cylinder 11 is controlled. new Compared with the old current value C output by the leveling cylinder 11 in the previous control cycle last The relationship between them satisfies |C new -C last |<δ.

[0093] δ is the maximum allowable variation of the output current within each preset control cycle.

[0094] In this way, by limiting the current increment, sudden increases or decreases in current can be avoided, thus ensuring system stability.

[0095] The following describes a specific embodiment of the automatic leveling method for the aerial work platform of the present invention.

[0096] like Figure 3 As shown, a tilt sensor is installed on the work platform 1 to obtain the angle between the work platform 1 and the horizontal plane. When the main boom 2 is lifting or lowering, the extension and retraction of the leveling cylinder 11 needs to be adjusted to keep the work platform 1 level with the ground.

[0097] During the movement of the main boom 2, the working platform 1 will move along with the main boom 2, resulting in tilting. The tilt sensor obtains the included angle as α. The system controls the leveling cylinder 11 to extend and retract according to the included angle α. The control process is as follows:

[0098] When α > preset upper limit angle γ, the controller outputs the maximum current to control the leveling cylinder 11 to perform downward leveling;

[0099] When 0 < α < γ, the controller adjusts downwards according to the following formula:

[0100] C1 = C min +(C max -C min )×(1-cos(α / γ))

[0101] Where C1 is the down-leveling control current, C min To reduce the minimum current required for the leveling valve to open, C maxTo meet the maximum current required for leveling;

[0102] When α < preset lower limit angle γ', the controller outputs the maximum current to control the leveling cylinder 11 to perform upward leveling;

[0103] When γ' < α < 0, the controller adjusts upwards according to the following formula:

[0104] C2 = C min +(C max -C min )×(1-cos(α / γ'))

[0105] Where C2 is the down-leveling control current, C min To adjust the minimum current required for the leveling valve to open, C max To meet the maximum current required for leveling.

[0106] To prevent sudden increases or decreases in current, the controller limits the current increment. Within each control cycle, the latest control current must satisfy |C|. new -C last |<δ.

[0107] δ is the maximum allowable variation of the output current within each preset control cycle.

[0108] The automatic leveling device for aerial work platforms provided by the present invention will be described below. The automatic leveling device for aerial work platforms described below can be referred to in correspondence with the automatic leveling method for aerial work platforms described above.

[0109] like Figure 2 As shown, according to a second aspect embodiment of the present invention, an automatic leveling device for an aerial work platform includes a base 3, a main boom 2 rotatably connected to the base 3, and a work platform 1 rotatably connected to the end of the main boom 2. The automatic leveling device includes:

[0110] The acquisition module 110 is used to acquire the tilt angle between the work platform 1 and the horizontal plane;

[0111] The control module 120 is used to generate control logic based on the tilt angle and to control and adjust the leveling cylinder 11 according to the control logic.

[0112] The leveling cylinder 11 is connected to the working platform 1 and is used to level the working platform 1.

[0113] According to a third aspect of the present invention, an aerial work platform includes a base 3, a main boom 2 rotatably connected to the base 3, and a work platform 1 rotatably connected to the end of the main boom 2; it also includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the automatic leveling method of the aerial work platform as described in the first aspect of the present invention.

[0114] The aerial work platform and its automatic leveling device according to embodiments of the present invention simplify the leveling algorithm for the boom platform leveling problem. The automatic leveling algorithm is designed using a nonlinear forward propagation method, which reduces system parameters and can quickly respond to leveling deviations. In addition, it avoids the leveling oscillation problem caused by linear control.

[0115] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include a processor 810, a communication interface 820, a memory 830, and a communication bus 840. The processor 810, communication interface 820, and memory 830 communicate with each other via the communication bus 840. The processor 810 can call logic instructions from the memory 830 to execute an automatic leveling method, including: obtaining the tilt angle between the working platform 1 and the horizontal plane; generating control logic based on the tilt angle; and controlling and adjusting the leveling cylinder 11 according to the control logic.

[0116] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0117] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the automatic leveling method provided by the above methods, including: obtaining the tilt angle between the working platform 1 and the horizontal plane; generating control logic based on the tilt angle; and controlling and adjusting the leveling cylinder 11 according to the control logic.

[0118] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the automatic leveling method provided by the above methods, including: obtaining the tilt angle between the working platform 1 and the horizontal plane; generating control logic based on the tilt angle; and controlling and adjusting the leveling cylinder 11 according to the control logic.

[0119] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0120] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence 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., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0121] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic leveling method for an aerial work platform, the aerial work platform comprising a base, a main boom rotatably connected to the base, and a work platform rotatably connected to the end of the main boom, characterized in that, The automatic leveling method includes: Obtain the angle of inclination between the work platform and the horizontal plane; Control logic is generated based on the tilt angle, and the leveling cylinder is controlled and adjusted according to the control logic. The leveling cylinder is connected to the working platform and is used to level the working platform. The step of generating control logic based on the tilt angle and controlling and adjusting the leveling cylinder according to the control logic specifically includes: The working parameters of the leveling cylinder are controlled and adjusted according to the range of the tilt angle. The control adjustment includes at least one of the following first control method and second control method: The first control method includes the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle, and specifically further includes: If the tilt angle is greater than zero and less than the preset upper limit angle, then the first preset current is output to the leveling cylinder and the leveling cylinder is controlled to perform downward leveling. The first preset current is calculated based on the tilt angle and the specifications of the leveling cylinder. In the step of outputting a first preset current to the leveling cylinder and controlling the leveling cylinder to perform downward leveling based on the tilt angle being greater than zero and less than the preset upper limit angle, the first preset current... C 1 The calculation formula is as follows: C 1 =C min1 + （C max1 -C min1 )×(1-cos(α / γ); in, C min1 This refers to the minimum current required for the lower leveling valve of the leveling cylinder to open. C max1 To meet the maximum current required for leveling, α The included angle of inclination is given, and γ The preset upper limit angle; The second control method includes: the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle, specifically further including: If the tilt angle is greater than a preset lower limit angle and less than zero, then a second preset current is output to the leveling cylinder and the leveling cylinder is controlled to perform upward leveling. The second preset current is calculated based on the tilt angle and the specifications of the leveling cylinder. In the step of outputting a second preset current to the leveling cylinder and controlling the leveling cylinder to perform upward leveling based on the tilt angle being greater than a preset lower limit angle and less than zero, the second preset current... C 2 The calculation formula is as follows: C 2 =C min2 + （C max2 -C min2 )×(1-cos(α / γ'); in, C min2 The minimum current required for the upper leveling valve of the leveling cylinder to open is [value missing]. C max2 To meet the maximum current required for the upward leveling, α The included angle of inclination is given, and γ' The preset lower limit angle is defined as follows.

2. The automatic leveling method for an aerial work platform according to claim 1, characterized in that, The automatic leveling method employs a first control mode, wherein the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle specifically includes: If the tilt angle is greater than the preset upper limit angle, the maximum current is output to the leveling cylinder and the leveling cylinder is controlled to perform downward leveling.

3. The automatic leveling method for an aerial work platform according to claim 1, characterized in that, The automatic leveling method employs a second control mode, wherein the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle specifically includes: If the tilt angle is less than the preset lower limit angle, the maximum current is output to the leveling cylinder and the leveling cylinder is controlled to perform upward leveling.

4. The automatic leveling method for an aerial work platform according to any one of claims 1 to 3, characterized in that, Also includes: Within each control cycle, control the latest current value output by the leveling cylinder within that control cycle. C new Compared with the old current value output by the leveling cylinder in the previous control cycle C last The relationship between them satisfies | C new -C last |<δ; δ is the maximum allowable variation of the output current within each preset control cycle.

5. An automatic leveling device for an aerial work platform, the aerial work platform comprising a base, a main boom rotatably connected to the base, and a work platform rotatably connected to the end of the main boom, characterized in that, The automatic leveling device includes: The acquisition module is used to acquire the tilt angle between the working platform and the horizontal plane; The control module is used to generate control logic based on the tilt angle and to control and adjust the leveling cylinder according to the control logic. The leveling cylinder is connected to the working platform and is used to level the working platform. The step of generating control logic based on the tilt angle and controlling and adjusting the leveling cylinder according to the control logic specifically includes: The working parameters of the leveling cylinder are controlled and adjusted according to the range of the tilt angle. The control module is configured to execute at least one of the following first control mode and second control mode: The first control method includes the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle, and specifically further includes: If the tilt angle is greater than zero and less than the preset upper limit angle, then the first preset current is output to the leveling cylinder and the leveling cylinder is controlled to perform downward leveling. The first preset current is calculated based on the tilt angle and the specifications of the leveling cylinder. In the step of outputting a first preset current to the leveling cylinder and controlling the leveling cylinder to perform downward leveling based on the tilt angle being greater than zero and less than the preset upper limit angle, the first preset current... C 1 The calculation formula is as follows: C 1 =C min1 + （C max1 -C min1 )×(1-cos(α / γ); in, C min1 This refers to the minimum current required for the lower leveling valve of the leveling cylinder to open. C max1 To meet the maximum current required for leveling, α The included angle of inclination is given, and γ The preset upper limit angle; The second control method includes: the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle, specifically further including: If the tilt angle is greater than a preset lower limit angle and less than zero, then a second preset current is output to the leveling cylinder and the leveling cylinder is controlled to perform upward leveling. The second preset current is calculated based on the tilt angle and the specifications of the leveling cylinder. In the step of outputting a second preset current to the leveling cylinder and controlling the leveling cylinder to perform upward leveling based on the tilt angle being greater than a preset lower limit angle and less than zero, the second preset current... C 2 The calculation formula is as follows: C 2 =C min2 + （C max2 -C min2 )×(1-cos(α / γ'); in, C min2 The minimum current required for the upper leveling valve of the leveling cylinder to open is [value missing]. C max2 To meet the maximum current required for the upward leveling, α The included angle of inclination is given, and γ' The preset lower limit angle is defined as follows.

6. An aerial work platform, characterized in that, It includes a base, a main boom rotatably connected to the base, and a work platform rotatably connected to the end of the main boom; It also includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the automatic leveling method for the aerial work platform as described in any one of claims 1 to 4.

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