Work platform leveling method and device, electronic equipment and storage medium

Abstract

The application provides a work platform leveling method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a first angle value of the work platform and a horizontal plane at a current time and a second angle value of the work platform and the horizontal plane at a previous time; determining an angle value change amount of the work platform based on the first angle value and the second angle value; in the case that the angle value change amount is greater than a preset change amount and the first angle value is greater than the second angle value, determining an output angle value corresponding to the current time, and the output angle value is less than the first angle value; and leveling the work platform based on the output angle value. When the determined angle value change amount of the work platform at the current time is too large, the adjusting force applied to the work platform is too large, which causes the work platform to vibrate intensively. Therefore, the output angle value at the current time is limited, so that the adjusting force applied to the work platform is not too large, thereby avoiding large vibration of the work platform during leveling.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, and in particular to a method, apparatus, electronic device, and storage medium for leveling a work platform. Background Technology

[0002] In the application scenarios of work platforms, in order to ensure the safety and comfort of operators, the work platform must be kept in a horizontal state at all times when operating the equipment. For example, when working at height, it is necessary not only to keep the work platform in a horizontal state, but also to avoid shaking of the work platform when leveling.

[0003] When automatically leveling a work platform, the opening of the leveling valve is usually selected based on the real-time platform angle value. However, when the platform angle value changes passively or fluctuates unevenly, leveling based on the real-time platform angle value will cause the work platform to shake.

[0004] To address this issue, existing methods include using battery-powered electric actuators to overcome the lag in hydrostatic leveling and thus reduce platform vibration during leveling; and incorporating boom angle changes as feedforward signals for pre-control processing of the platform. While these methods improve the leveling device or signal, they do not solve the problem of significant platform vibration during automatic leveling when platform angle changes are large or fluctuations are uneven. Therefore, reducing platform vibration during leveling has become a pressing issue. Summary of the Invention

[0005] This invention provides a method, apparatus, electronic device, and storage medium for leveling a work platform, in order to solve the problem of excessive vibration of the work platform during leveling and to reduce the vibration of the work platform.

[0006] This invention provides a method for leveling a work platform, comprising:

[0007] Obtain the first angle value between the work platform and the horizontal plane at the current moment and the second angle value between the work platform and the horizontal plane at the previous moment;

[0008] Based on the first angle value and the second angle value, determine the change in the angle value of the working platform;

[0009] If the change in angle value is greater than a preset change and the first angle value is greater than the second angle value, determine the output angle value corresponding to the current moment, wherein the output angle value is less than the first angle value;

[0010] The working platform is leveled based on the output angle value.

[0011] According to the leveling method for a work platform provided by the present invention, determining the output angle value corresponding to the current moment includes:

[0012] Based on the second angle value, determine the target angle value corresponding to the current moment;

[0013] Obtain the target angle value corresponding to the first preset number of times before the current time.

[0014] Based on the target angle value corresponding to the current moment and the target angle values ​​corresponding to the first preset number of moments, the output angle value corresponding to the current moment is determined.

[0015] According to the leveling method for a work platform provided by the present invention, determining the target angle value corresponding to the current moment based on the second angle value includes:

[0016] The sum of the second angle value and the preset change amount is determined as the target angle value corresponding to the current moment; or...

[0017] The second angle value is determined as the target angle value corresponding to the current moment.

[0018] According to the leveling method for a work platform provided by the present invention, determining the output angle value corresponding to the current moment based on the target angle value corresponding to the current moment and the target angle values ​​corresponding to the previous first preset number of moments includes:

[0019] Sort the target angle value corresponding to the current moment and the target angle values ​​corresponding to the first preset number of moments in ascending order to obtain the sorted target angle value;

[0020] Remove the first second preset number of target angle values ​​and the last third preset number of target angle values ​​from the sorted target angle values ​​to obtain the remaining target angle values;

[0021] Determine the average value of the remaining target angle values, and use the average value as the output angle value corresponding to the current moment.

[0022] The leveling method for a work platform provided by the present invention further includes:

[0023] If the change in the angle value is less than or equal to the preset change, the first angle value is determined as the target angle value corresponding to the current moment.

[0024] According to the leveling method for a work platform provided by the present invention, the leveling of the work platform based on the output angle value includes:

[0025] The opening of the leveling valve is adjusted based on the output angle value to level the work platform.

[0026] The present invention also provides a leveling device for a work platform, comprising:

[0027] The acquisition module is used to acquire the first angle value between the working platform and the horizontal plane at the current moment and the second angle value between the working platform and the horizontal plane at the previous moment;

[0028] The determining module is used to determine the change in the angle value of the working platform based on the first angle value and the second angle value;

[0029] The determining module is further configured to determine the output angle value corresponding to the current moment when the change in the angle value is greater than a preset change and the first angle value is greater than the second angle value, wherein the output angle value is less than the first angle value.

[0030] The leveling module is used to level the working platform based on the output angle value.

[0031] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the operating platform leveling method as described above.

[0032] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the work platform leveling method as described above.

[0033] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the operating platform leveling method as described above.

[0034] This invention provides a method, apparatus, electronic device, and storage medium for leveling a work platform. The method involves acquiring a first angle value between the work platform and the horizontal plane at the current moment and a second angle value between the work platform and the horizontal plane at the previous moment; determining the angle change of the work platform based on the first and second angle values; determining the corresponding output angle value at the current moment when the angle change is greater than a preset change and the first angle value is greater than the second angle value, wherein the output angle value is less than the first angle value; and leveling the work platform based on the output angle value. In this way, the angle change of the work platform at the current moment can be determined based on the angle values ​​of the work platform and the horizontal plane acquired at the current and previous moments. This angle change reflects the increment of the currently acquired angle value. If this increment is too large, it will lead to excessive adjustment force applied to the work platform, causing increased vibration. Therefore, when the angle change at the current moment is greater than the preset change, the output angle value at the current moment is limited to be less than the first angle value. This reduces the actual output angle value, thereby avoiding excessive adjustment force applied to the work platform and preventing significant vibration during leveling. Attached Figure Description

[0035] 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.

[0036] Figure 1 This is a flowchart illustrating the leveling method for the work platform provided in an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram illustrating the limitation of the rate of change of angle value provided in an embodiment of the present invention;

[0038] Figure 3 This is one of the schematic diagrams for extracting sliding window filter variable values ​​provided in the embodiments of the present invention;

[0039] Figure 4 This is the second schematic diagram of extracting sliding window filter variable values ​​provided in the embodiments of the present invention;

[0040] Figure 5 This is a flowchart of the process for determining the platform angle value after sliding window filtering, provided in an embodiment of the present invention.

[0041] Figure 6 This is a schematic diagram comparing angle value curves provided in an embodiment of the present invention;

[0042] Figure 7This is one of the schematic diagrams illustrating the effect of the work platform leveling method provided in the embodiments of the present invention;

[0043] Figure 8 This is the second schematic diagram illustrating the effect of the work platform leveling method provided in this embodiment of the invention;

[0044] Figure 9 This is a schematic diagram of the structure of the work platform leveling device provided in an embodiment of the present invention;

[0045] Figure 10 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0046] 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.

[0047] It should be noted that the serial numbers assigned to the objects described in this invention, such as "first" and "second", are only used to distinguish the objects being described and do not have any sequential or technical meaning.

[0048] When using a work platform, it is necessary to keep the platform level through automatic leveling. Automatic leveling typically involves determining the opening of the leveling valve based on the angle between the work platform and the horizontal plane, collected by an angle sensor. Adjusting the leveling valve controls the leveling actuator to apply a corresponding adjusting force to the work platform, thus maintaining its levelness.

[0049] In practical applications, adjusting the position of a work platform typically involves the movement of its connected boom to move the platform and change its position. For example, when the work platform needs to be raised, the boom lifts it to achieve this. During boom movement, the force causes acceleration in the work platform, impacting its angle value. This impact leads to drift in the real-time angle values ​​collected by the angle sensor. Drift can be understood as the real-time measured value deviating from the actual value. The sensor drift caused by acceleration impact results in a real-time angle value that is larger than the actual angle value. Therefore, if the leveling valve opening is determined directly based on the real-time angle value, the determined opening value will be too large. This will cause the leveling actuator to apply excessive adjustment force to the work platform, resulting in significant shaking of the work platform during automatic leveling.

[0050] While the acceleration generated by the working platform under stress is difficult to avoid, the impact of sensor data drift on the accuracy of the leveling valve opening can be reduced through certain measures. For example, the rate of change of the angle value of the working platform collected by the sensor can be limited to prevent excessively large angle values ​​from causing the determined leveling valve opening to be too large. This avoids applying excessive adjustment force to the working platform during automatic leveling, thereby preventing significant shaking of the working platform during leveling.

[0051] In contrast, existing platform leveling methods, such as using battery-powered electric actuators to address the lag in hydrostatic leveling, while allowing for rapid action and quick force application to the platform, fail to address the impact of sensor drift on leveling stability. Changing the drive mechanism during leveling does not fundamentally solve the problem of excessively large real-time angle values, thus failing to resolve the issue of significant leveling vibration. Another method, automatic leveling, incorporates boom angle changes as a feedforward signal, essentially pre-setting an initial value for the leveling actuator and increasing the initial leveling force. However, this method also fails to consider sensor drift, meaning that even applying significant force cannot resolve the issue of substantial leveling vibration.

[0052] Based on the above concept, this invention provides a method for leveling a work platform. This method acquires a first angle value between the work platform and the horizontal plane at the current moment and a second angle value between the work platform and the horizontal plane at the previous moment. Based on the first and second angle values, it determines the change in the angle value of the work platform. If the change in the angle value is greater than a preset change and the first angle value is greater than the second angle value, it determines the corresponding output angle value at the current moment, which is less than the first angle value. The work platform is then leveled based on the output angle value. In this way, the change in the angle value of the work platform at the current moment can be determined based on the angle values ​​of the work platform and the horizontal plane acquired at the current and previous moments. This change in angle value reflects the increment of the currently acquired angle value. If this increment is too large, indicating excessive sensor drift, then when the change in the angle value at the current moment is greater than the preset change, the output angle value at the current moment is limited to be less than the first angle value. This reduces the problem of overly large real-time acquired angle values ​​caused by sensor drift. Therefore, leveling the work platform based on the limited output angle value avoids applying excessive adjustment force to the work platform, thereby preventing significant shaking of the work platform during leveling. The following is a related explanation. Figures 1 to 8 The method for leveling a work platform provided in the embodiments of the present invention will be described.

[0053] Figure 1This is a flowchart illustrating the platform leveling method provided in this embodiment of the invention. The platform leveling method provided in this embodiment can be applied to various automatically leveling platforms, such as automatically leveling aerial work platforms. The executing entity of this method can be the platform, a computer, or a specially designed platform leveling device, or a platform leveling device installed in the electronic device. This platform leveling device can be implemented through software, hardware, or a combination of both. Figure 1 As shown, the leveling method for the work platform includes steps 110 to 140.

[0054] Step 110: Obtain the first angle value between the working platform and the horizontal plane at the current moment and the second angle value between the working platform and the horizontal plane at the previous moment.

[0055] Specifically, the angle between the work platform and the horizontal plane can be collected in real time using an angle acquisition device, which can be an angle sensor. The second angle value can be the angle between the work platform and the horizontal plane collected by the angle acquisition device at the previous moment, and the first angle value can be the angle between the work platform and the horizontal plane collected by the same angle acquisition device at the current moment.

[0056] For example, the angle between the work platform and the horizontal plane can be continuously and in real time collected by an angle sensor, which can collect the angle values ​​corresponding to different times, and thus obtain the first angle value and the second angle value.

[0057] Step 120: Determine the change in the angle value of the work platform based on the first angle value and the second angle value.

[0058] Specifically, the change in angle value can be understood as the increment of the angle value at the current moment compared to the previous moment. Based on the first angle value and the second angle value, the change in the angle value of the working platform can be determined. For example, the difference between the first angle value and the second angle value is used to determine the change in the angle value of the working platform.

[0059] Step 130: If the change in angle value is greater than the preset change and the first angle value is greater than the second angle value, determine the output angle value corresponding to the current moment, and the output angle value is less than the first angle value.

[0060] Specifically, the preset change amount can be a preset threshold used to judge the magnitude of the angle value change. The preset change amount can be determined based on the corresponding motion technical standards of the work platform. For example, if the motion technical standards require the work platform to level at a maximum change of 1° per second, then the preset change amount can be set to 1°. The preset change amount can also be set based on numerical statistics or empirical calculations. For example, the preset change amount can also be 1.5° or 2°, etc. The embodiments of the present invention do not limit the method or specific value for determining the preset change amount.

[0061] For example, after determining the change in the angle value of the work platform, the magnitude of this change can be judged using a preset change amount. If the change in angle value is greater than the preset change amount, and the first angle value is greater than the second angle value, it indicates that the angle between the work platform and the horizontal plane, as collected in real time by the angle acquisition device, has increased significantly. If this is not limited and the first angle value is directly used as the leveling basis for the work platform, it will result in excessive adjustment force applied to the work platform, causing significant shaking. Therefore, when the change in angle value is greater than the preset change amount, and the first angle value is greater than the second angle value, it is necessary to determine an output angle value smaller than the first angle value as the corresponding output angle value at the current moment.

[0062] When determining the output angle value corresponding to the current moment, the value can be adjusted based on the first angle value so that the adjusted value is less than the first angle value, and the adjusted value is determined as the output angle value corresponding to the current moment.

[0063] For example, step 130 can be understood as limiting the rate of change of the angle values ​​acquired by the sensor. Figure 2 This is a schematic diagram of the angle value change rate limitation provided in an embodiment of the present invention, as shown below. Figure 2As shown, the two diagonal lines represent the sensor angle values ​​before and after the rate of change is limited. The previous time point is 0 seconds, and the current time point is 10 seconds. Assume the upper limit of the rate of change is 1° per second. Before the rate of change is limited, the angle between the working platform and the horizontal plane measured by the sensor at the previous time point was 0°. At the current time point, the angle measured by the sensor is 12°. Therefore, the rate of change is (12°-0°) / 10s = 1.2° / s. This rate of change exceeds the upper limit of 1° per second, so the sensor angle value needs to be limited to 1° per second. Therefore, the angle value at the current time point 10 seconds should be 1° / s * 10s = 10°. That is, the output angle value determined after limiting the sensor angle value at the current time point is 10°. By limiting the rate of change of the data collected by the angle sensor, the maximum angle change per unit time can be limited, allowing the working platform to automatically level itself smoothly, thereby improving operator comfort and safety.

[0064] Step 140: Level the work platform based on the output angle value.

[0065] Specifically, after determining the output angle value, the work platform can be leveled based on this output angle value. This output angle value is the angle obtained by limiting the first angle value. Therefore, when leveling the work platform based on this output angle value, the leveling actuator can apply a moderate adjustment force to the work platform, thereby leveling the work platform to a horizontal state while minimizing platform vibration.

[0066] The method for leveling a work platform provided in this invention involves acquiring a first angle value between the work platform and the horizontal plane at the current moment and a second angle value between the work platform and the horizontal plane at the previous moment; determining the change in the angle value of the work platform based on the first and second angle values; determining the corresponding output angle value at the current moment when the change in the angle value is greater than a preset change value and the first angle value is greater than the second angle value, and the output angle value is less than the first angle value; and leveling the work platform based on the output angle value. In this way, the change in the angle value of the work platform at the current moment can be determined based on the angle values ​​of the work platform and the horizontal plane collected at the current and previous moments. This change in angle value reflects the increment of the currently collected angle value. If this increment is too large, it will lead to an excessive adjustment force applied to the work platform, causing increased vibration of the work platform. Therefore, when the change in the angle value at the current moment is greater than the preset change value, the output angle value at the current moment is limited to be less than the first angle value. This reduces the actual output angle value, thereby avoiding excessive adjustment force applied to the work platform and preventing significant vibration of the work platform during leveling.

[0067] In practical applications, the angle value of the work platform may fluctuate significantly over multiple consecutive moments, resulting in uneven platform movement. Under such circumstances, significant shaking will occur during platform leveling. This problem of automatic leveling shaking caused by large and uneven changes in the passive movement speed of the work platform can be resolved by optimizing the trend of the work platform's angle value variation.

[0068] In one embodiment, determining the output angle value corresponding to the current moment includes:

[0069] Based on the second angle value, determine the target angle value corresponding to the current moment; obtain the target angle values ​​corresponding to the first preset number of moments before the current moment; based on the target angle value corresponding to the current moment and the target angle values ​​corresponding to the first preset number of moments before the current moment, determine the output angle value corresponding to the current moment.

[0070] Specifically, the target angle value can be the intermediate angle value when determining the output angle value at the current moment, given that the angle change is greater than a preset change and the first angle value is greater than the second angle value. This target angle value can be understood as the value obtained after limiting the angle value collected by the angle sensor. Based on the target angle values ​​at the current moment and several moments before the current moment, the target angle value at the current moment can be further processed to obtain the output angle value that reduces the vibration of the work platform.

[0071] In one implementation, the target angle value corresponding to the current moment is determined based on the second angle value. Specifically, the sum of the second angle value and the preset change amount can be used as the target angle value corresponding to the current moment; or, the second angle value can be used as the target angle value corresponding to the current moment.

[0072] For example, if the second angle value between the work platform and the horizontal plane at the previous moment is 1°, and the first angle value between the work platform and the horizontal plane at the current moment is 2.5°, then the change in the angle value of the work platform is determined to be 2.5° - 1° = 1.5° based on the first and second angle values. If the preset change is 1°, then because the change in angle value of 1.5° is greater than the preset change of 1°, it is necessary to limit the first angle value collected at the current moment, that is, it is necessary to determine the corresponding output angle value at the current moment.

[0073] At this point, the sum of the second angle value and the preset change amount can be determined as the target angle value corresponding to the current moment. Since the sum of the second angle value of 1° and the preset change amount of 1° is 2°, the target angle value corresponding to the current moment can be determined to be 2°. Alternatively, the second angle value of 1° can be determined as the target angle value corresponding to the current moment, meaning the target angle value corresponding to the current moment is 1°.

[0074] In this implementation, the target angle value corresponding to the current moment can be quickly determined based on the second angle value, and the target angle value is an angle value smaller than the first angle value. Therefore, the output angle value corresponding to the current moment can be further determined based on the target angle value.

[0075] For example, the target angle value at the current moment can be determined based on the second angle value. Similarly, the target angle values ​​corresponding to the first preset number of moments before the current moment can be determined. The first preset number can be any positive integer, such as 9, 10, or 11.

[0076] After obtaining the target angle values ​​corresponding to the first preset number of times before the current time, the output angle value corresponding to the current time can be determined based on the target angle value corresponding to the current time and the target angle values ​​corresponding to the first preset number of times before the current time.

[0077] In one implementation, the output angle value at the current moment is determined based on the target angle value at the current moment and the target angle values ​​at the previous first preset number of moments. Specifically, this can be as follows:

[0078] Sort the target angle value corresponding to the current moment and the target angle values ​​corresponding to the first preset number of moments in ascending order to obtain the sorted target angle value; remove the first second preset number of target angle values ​​and the last third preset number of target angle values ​​from the sorted target angle value to obtain the remaining target angle value; determine the average value of the remaining target angle value and use the average value as the output angle value corresponding to the current moment.

[0079] Specifically, after determining the target angle value corresponding to the current moment and obtaining the target angle values ​​corresponding to the first preset number of moments, the target angle values ​​can be numerically sorted from smallest to largest to obtain a sorted array. The first second preset number of target angle values ​​and the last third preset number of target angle values ​​are then removed from this array, leaving several remaining target angle values. The average value of these remaining target angle values ​​can be calculated and used as the output angle value corresponding to the current moment. The second and third preset numbers can both be positive integers less than the first preset number.

[0080] For example, when the first preset quantity is 9, including the target angle value corresponding to the current moment, a total of 10 target angle values ​​can be obtained. Then the second preset quantity and the third preset quantity can both be 2, that is, the first 2 and the last 2 target angle values ​​in the sorting of the 10 target angle values ​​are removed to obtain 6 remaining target angle values. The average value is calculated based on the 6 remaining target angle values, and the calculated average value is determined as the output angle value corresponding to the current moment.

[0081] For example, after determining the target angle value at the current moment and obtaining the target angle values ​​at the previous first preset number of moments, a median can be determined based on each target angle value. The median can be understood as the value whose magnitude is in the middle of all target angle values. This median can be determined as the output angle value at the current moment. Based on this, the output angle value at the current moment can be obtained directly without sorting and averaging, which can improve the efficiency and speed of determining the output angle value.

[0082] In this embodiment, the average value of the remaining target angle values ​​is determined as the output angle value at the current moment. This can be understood as performing a sliding window filtering process on the target angle value at the current moment. That is, when determining the output angle value at the current moment, it is based on the target angle value at the current moment and the target angle values ​​at multiple moments before the current moment. The larger and smaller values ​​among the multiple target angle values ​​are removed to determine the average value of the remaining target angle values. Compared with the mean value processing of multiple moderate target angle values, the output angle value that can better suppress the shaking of the work platform is obtained.

[0083] To further describe the sliding window filtering process, the following section will combine... Figures 3 to 6 This will be described in detail.

[0084] To address the issue of platform shaking caused by uneven fluctuations in the angle values ​​of the work platform, a sliding window filtering process can be applied to the angle values ​​collected by the angle sensor. This ensures that the output angle value at the current moment remains relatively smooth compared to the output angle values ​​at the previous first preset number of moments, thereby mitigating the fluctuations in the angle values ​​of the work platform.

[0085] Specifically, the variable count value n, the platform angle value λ after the rate of change is limited, the sliding window filter variable group β, and the platform angle value α after the sliding window filter are set. Among them, the platform angle value λ after the rate of change is limited is the target angle value; the platform angle value α after the sliding window filter is the output angle value.

[0086] The update method for the count value n can be as follows: taking a period of 100ms as an example, the value of n increases by 1 after each 100ms count, and n changes cyclically within a limited range, with [1,10] as the limited range.

[0087] The sliding window filter variable group β contains 10 variables. When the value of n changes, the platform angle value λ after limiting the rate of change is extracted and passed to the variables in the same order in the sliding window filter variable group β. That is, in chronological order, after the target angle value is determined at the current moment, the target angle value corresponding to the earliest moment in the sliding window filter variable group β is removed, and the target angle value determined at the current moment is added to the sliding window filter variable group β, and so on in a cyclical manner.

[0088] Assume the communication cycle of the angle sensor is 50ms, meaning that the angle sensor can acquire an angle value every 50ms. Figure 3 This is one of the schematic diagrams provided in the embodiments of the present invention for extracting the values ​​of sliding window filtering variables, such as... Figure 3 As shown, the count value n is incremented by 1 every 100ms and the λ value is extracted once. At 500ms, the values ​​in the sliding window filter variable group β are 1.5°, 1.4°, 1.3°, 1.2°, 1.1°, 0°, 0°, 0°, 0°, 0°, and 0° respectively; at 1000ms, the values ​​in the sliding window filter variable group β are 1.5°, 1.4°, 1.3°, 1.2°, 1.1°, 1.0°, 0.9°, 0.8°, 0.7°, and 0.6° respectively.

[0089] Figure 4 This is the second schematic diagram of extracting sliding window filter variable values ​​provided in the embodiment of the present invention. When angle values ​​continue to be collected, n starts counting again from 1, and the corresponding values ​​in the sliding window filter variable group β are updated sequentially, as shown below. Figure 4 As shown, at 1500ms, the values ​​of the sliding window filter variable group β are 0.5°, 0.4°, 0.3°, 0.2°, 0.1°, 1.0°, 0.9°, 0.8°, 0.7°, and 0.6° respectively.

[0090] Based on the values ​​in the sliding window filtering variable group β, the platform angle value α after sliding window filtering is determined and output. The specific method for determining the platform angle value α after sliding window filtering is as follows.

[0091] Figure 5 This is a flowchart illustrating the determination of the platform angle value after sliding window filtering, as provided in an embodiment of the present invention. Figure 5 As shown, after leveling begins, the count value n is incremented by 1 every 100ms. It is determined whether the count value n is in the first loop and n < 10. If so, the average value is calculated using the values ​​in the extracted sliding window filter variable group β. The calculated average value is determined as the platform angle value α after sliding window filtering at the current moment.

[0092] For example, in Figure 3 In the middle, when the time is 500ms, a total of 5 data points were collected in the sliding window filter variable group β. Substituting the data, we get α as 1.3°.

[0093] Determine if the count value n is in the first loop and n < 10; if not, sort the data in the sliding window filter variable group β in real time from smallest to largest, take the middle 6 values ​​and calculate the mean, and determine the mean as the platform angle value α after sliding window filtering at the current time.

[0094] For example, in Figure 3 In the process, when the time is 1000ms, a total of 10 data points are collected in the sliding window filter variable group β. The data size order is as follows: β [1] <β [2] <β [3] <β [4] <β [5] <

[0095] β [6] <β [7] <β [8] <β [9] <β

[10] ,at this time Substitution

[0096] The data shows that α is 1.05°.

[0097] For example, in Figure 4 In the above, when the time is 1500ms, the sliding window filter variable group β has updated 5 data points compared to when it is 1000ms. The data size order is: β [6] <β [7] <β [8] <β [9] <β

[10] <β [1] <β [2] <β [3] <β [4] <β [5] ,at this time Substituting the data, we get α as 0.55°.

[0098] Figure 6 This is a schematic diagram comparing angle value curves provided in an embodiment of the present invention, such as... Figure 6 As shown, within 1500ms, the platform angle value before extraction, i.e., the platform angle value λ after the rate of change limit, shows the most dramatic change in its curve. The platform angle value after extraction, i.e., the platform angle value λ after the same rate of change limit within 100ms, shows a relatively slower change in its curve. The platform angle value α after sliding window filtering shows an even slower change in its curve, making it the smoothest change curve among the three cases.

[0099] Depend on Figure 6 It is known that applying a sliding window filter to the platform angle value after the rate of change has been limited can produce a continuous and smooth output angle value, allowing the output angle value to change slowly and steadily. Therefore, when the platform's movement speed varies greatly and is uneven, using the output angle value processed by the sliding window filter for leveling can ensure smooth operation of the work platform, improve the user experience, and increase the safety factor of the operation.

[0100] In one embodiment, the method further includes: when the change in angle value is less than or equal to a preset change, determining the first angle value as the target angle value corresponding to the current moment.

[0101] Specifically, when the change in angle value is less than or equal to a preset change, it indicates that the increment between the first and second angle values ​​is small. Therefore, the first angle value corresponding to this change can be determined as the target angle value at the current moment. Based on this target angle value, the output angle value at the current moment can be determined. For example, the target angle value can be determined as the output angle value, or the output angle value at the current moment can be determined after performing sliding window filtering based on the target angle value.

[0102] Based on this, the target angle value at the current moment can be determined if the change in angle value is less than or equal to the preset change.

[0103] For example, leveling the work platform based on the output angle value can be achieved by adjusting the opening of the leveling valve based on the output angle value.

[0104] Specifically, the current output angle value is input into the control mechanism of the leveling valve to adjust the opening of the leveling valve. Based on the opening of the leveling valve, the leveling actuator can be controlled to apply an appropriate adjustment force to the work platform, so that when the angle fluctuation of the work platform is not smooth, it can be automatically leveled gently, thereby leveling the work platform smoothly.

[0105] Figure 7 This is one of the schematic diagrams illustrating the effect of the work platform leveling method provided in this embodiment of the invention, such as... Figure 7 As shown, when the work platform is fully loaded and the main boom is fully retracted, the work platform can quickly enter a stable adjustment state during the automatic leveling process, and the angle change of the work platform is small, indicating that the vibration control of the work platform is effective. Figure 8 This is the second schematic diagram illustrating the effect of the work platform leveling method provided in this embodiment of the invention. Figure 8As shown, when the work platform is fully loaded and the main boom is retracted, the work platform can quickly enter a stable adjustment state during automatic leveling, and the angle change of the work platform is also small, indicating that the vibration control of the work platform is effective. Based on this, it can be verified that the method of the present invention can effectively solve the problem of large vibration of the work platform during leveling, and achieve the purpose of reducing the vibration of the work platform.

[0106] The following describes the work platform leveling device provided in the embodiments of the present invention. The work platform leveling device described below can be referred to in correspondence with the work platform leveling method described above.

[0107] Figure 9 This is a schematic diagram of the structure of the leveling device for the work platform provided in an embodiment of the present invention, with reference to... Figure 9 As shown, the work platform leveling device 900 includes:

[0108] The acquisition module 910 is used to acquire the first angle value between the working platform and the horizontal plane at the current moment and the second angle value between the working platform and the horizontal plane at the previous moment.

[0109] The determination module 920 is used to determine the change in the angle value of the working platform based on the first angle value and the second angle value;

[0110] The determination module 920 is also used to determine the output angle value at the current moment when the change in angle value is greater than a preset change and the first angle value is greater than the second angle value, and the output angle value is less than the first angle value.

[0111] The leveling module 930 is used to level the work platform based on the output angle value.

[0112] In one example embodiment, the determining module 920 is specifically used for:

[0113] Based on the second angle value, determine the target angle value corresponding to the current moment;

[0114] Obtain the target angle value corresponding to the first preset number of moments prior to the current moment;

[0115] Based on the target angle value at the current moment and the target angle values ​​at the previous first preset number of moments, determine the output angle value at the current moment.

[0116] In one example embodiment, the determining module 920 is specifically used for:

[0117] The sum of the second angle value and the preset change amount is determined as the target angle value at the current moment; or...

[0118] The second angle value is determined as the target angle value at the current moment.

[0119] In one example embodiment, the determining module 920 is specifically used for:

[0120] Sort the target angle value at the current moment and the target angle values ​​at the previous first preset number of moments in ascending order to obtain the sorted target angle value;

[0121] Remove the first second-preset number of target angle values ​​and the last third-preset number of target angle values ​​from the sorted target angle values ​​to obtain the remaining target angle values;

[0122] Determine the average value of the remaining target angle values, and use this average value as the output angle value at the current moment.

[0123] In one example embodiment, the determining module 920 is further configured to:

[0124] If the change in angle value is less than or equal to the preset change, the first angle value is determined as the target angle value at the current moment.

[0125] In one example embodiment, the leveling module 930 is specifically used for:

[0126] The opening of the leveling valve is adjusted based on the output angle value to level the work platform.

[0127] The apparatus of this embodiment can be used to execute the method of any embodiment in the side embodiment of the work platform leveling method. Its specific implementation process and technical effects are similar to those in the side embodiment of the work platform leveling method. For details, please refer to the detailed description in the side embodiment of the work platform leveling method, which will not be repeated here.

[0128] Figure 10 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present invention, such as... Figure 10 As shown, the electronic device may include a processor 1010, a communications interface 1020, a memory 1030, and a communication bus 1040. The processor 1010, communications interface 1020, and memory 1030 communicate with each other via the communication bus 1040. The processor 1010 can call logical instructions in the memory 1030 to execute a work platform leveling method. This method includes: obtaining a first angle value between the work platform and the horizontal plane at the current moment and a second angle value between the work platform and the horizontal plane at the previous moment; determining the angle change of the work platform based on the first and second angle values; determining the corresponding output angle value at the current moment when the angle change is greater than a preset change and the first angle value is greater than the second angle value, wherein the output angle value is less than the first angle value; and leveling the work platform based on the output angle value.

[0129] Furthermore, the logical instructions in the aforementioned memory 1030 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, 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 described in 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.

[0130] On the other hand, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the work platform leveling method provided by the above methods. The method includes: obtaining a first angle value between the work platform and the horizontal plane at the current moment and a second angle value between the work platform and the horizontal plane at the previous moment; determining the angle value change of the work platform based on the first angle value and the second angle value; determining the output angle value corresponding to the current moment when the angle value change is greater than a preset change and the first angle value is greater than the second angle value, wherein the output angle value is less than the first angle value; and leveling the work platform based on the output angle value.

[0131] In another aspect, embodiments of the present invention also provide 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 execute the work platform leveling method provided by the above methods. The method includes: obtaining a first angle value between the work platform and the horizontal plane at the current moment and a second angle value between the work platform and the horizontal plane at the previous moment; determining the angle value change of the work platform based on the first angle value and the second angle value; determining the output angle value corresponding to the current moment when the angle value change is greater than a preset change and the first angle value is greater than the second angle value, wherein the output angle value is less than the first angle value; and leveling the work platform based on the output angle value.

[0132] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. 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.

[0133] 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., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0134] 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. A method for leveling a work platform, characterized in that, include: Obtain the first angle value between the work platform and the horizontal plane at the current moment and the second angle value between the work platform and the horizontal plane at the previous moment; Based on the first angle value and the second angle value, determine the change in the angle value of the working platform; If the change in angle value is greater than a preset change and the first angle value is greater than the second angle value, determine the output angle value corresponding to the current moment, wherein the output angle value is less than the first angle value; Determining the output angle value corresponding to the current moment includes: determining the target angle value corresponding to the current moment based on the second angle value; obtaining the target angle values ​​corresponding to the first preset number of moments preceding the current moment; and determining the output angle value corresponding to the current moment based on the target angle value corresponding to the current moment and the target angle values ​​corresponding to the first preset number of moments preceding the current moment. The step of determining the target angle value corresponding to the current moment based on the second angle value includes: determining the sum of the second angle value and the preset change amount as the target angle value corresponding to the current moment; or, determining the second angle value as the target angle value corresponding to the current moment. The step of determining the output angle value corresponding to the current moment based on the target angle value corresponding to the current moment and the target angle values ​​corresponding to the first preset number of moments includes: sorting the target angle value corresponding to the current moment and the target angle values ​​corresponding to the first preset number of moments in ascending order to obtain sorted target angle values; removing the first second preset number of target angle values ​​and the last third preset number of target angle values ​​from the sorted target angle values ​​to obtain remaining target angle values; determining the average value of the remaining target angle values, and determining the average value as the output angle value corresponding to the current moment; The working platform is leveled based on the output angle value.

2. The leveling method for a work platform according to claim 1, characterized in that, The method further includes: If the change in the angle value is less than or equal to the preset change, the first angle value is determined as the target angle value corresponding to the current moment.

3. The method for leveling a work platform according to claim 1 or 2, characterized in that, The leveling of the work platform based on the output angle value includes: The opening of the leveling valve is adjusted based on the output angle value to level the work platform.

4. A leveling device for a work platform, characterized in that, include: The acquisition module is used to acquire the first angle value between the working platform and the horizontal plane at the current moment and the second angle value between the working platform and the horizontal plane at the previous moment; The determining module is used to determine the change in the angle value of the working platform based on the first angle value and the second angle value; The determining module is further configured to determine the output angle value corresponding to the current moment when the change in the angle value is greater than a preset change and the first angle value is greater than the second angle value, wherein the output angle value is less than the first angle value. The step of determining the output angle value corresponding to the current moment includes: determining the target angle value corresponding to the current moment based on the second angle value; obtaining the target angle values ​​corresponding to the first preset number of moments preceding the current moment; determining the output angle value corresponding to the current moment based on the target angle value corresponding to the current moment and the target angle values ​​corresponding to the first preset number of moments preceding the current moment; the step of determining the target angle value corresponding to the current moment based on the second angle value includes: determining the sum of the second angle value and the preset change amount as the target angle value corresponding to the current moment; or, determining the second angle value as the target angle value corresponding to the current moment; the step of determining the output angle value corresponding to the current moment based on the target angle value corresponding to the current moment and the target angle values ​​corresponding to the first preset number of moments preceding the current moment includes: sorting the target angle value corresponding to the current moment and the target angle values ​​corresponding to the first preset number of moments preceding the current moment in ascending order to obtain sorted target angle values; removing the first second preset number of target angle values ​​and the last third preset number of target angle values ​​from the sorted target angle values ​​to obtain remaining target angle values; determining the average value of the remaining target angle values, and determining the average value as the output angle value corresponding to the current moment; The leveling module is used to level the working platform based on the output angle value.

5. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the operating platform leveling method as described in any one of claims 1 to 3.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the work platform leveling method as described in any one of claims 1 to 3.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the work platform leveling method as described in any one of claims 1 to 3.

Images