Control method and device for aerial work platform and storage medium

Abstract

Embodiments of the present application provide a control method and device for a high-altitude working vehicle and a storage medium. The method comprises: obtaining a face image of a worker; determining the operation proficiency of the worker on the high-altitude working vehicle and the control authority of the worker on an intelligent control switch according to the face image; in response to a first control operation of the worker on the high-altitude working vehicle to control the high-altitude working vehicle to run when the operation proficiency reaches a preset proficiency; determining a target detection area according to the current running condition of the high-altitude working vehicle; determining the interval distance between the obstacle and the high-altitude working vehicle when it is determined that there is an obstacle in the target detection area of the high-altitude working vehicle; in response to a second control operation of the worker on the intelligent control switch to control the high-altitude working vehicle to enter a fine operation mode when the interval distance meets a preset condition and the control authority is allowed to control, so that the high-altitude working vehicle automatically adjusts the vehicle speed according to the interval distance, thereby improving the driving safety of the high-altitude working vehicle.

Description

Technical Field

[0001] This application relates to the field of mechanical control technology, specifically to a control method, device, storage medium, and aerial work platform for aerial work platforms. Background Technology

[0002] Aerial work platforms are specialized vehicles that use hydraulic transmission to transport workers and equipment to high altitudes for aerial work. As highly efficient personnel-carrying aerial work platforms, they are also prone to accidents. For example, if inexperienced personnel operate the platform without proper knowledge, and if obstacles are nearby, causing the platform to stop immediately or after a short time due to lack of experience, the platform may have already collided with the obstacle, resulting in damage or even malfunction and a complete breakdown. This reduces the safety of aerial work platform operation. Summary of the Invention

[0003] The purpose of this application is to provide a control method, device, storage medium, and aerial work platform for aerial work platforms, in order to solve the problem of low driving safety of aerial work platforms in the prior art.

[0004] To achieve the above objectives, the first aspect of this application provides a control method for an aerial work platform vehicle, comprising:

[0005] Obtain facial images of the workers;

[0006] The operator's proficiency in operating the aerial work platform and their control permissions over the intelligent control switches are determined based on facial images.

[0007] Once the operator's proficiency reaches the preset level, the system responds to the operator's first control operation on the aerial work platform to control the operation of the aerial work platform.

[0008] The target detection area is determined based on the current operating conditions of the aerial work platform vehicle;

[0009] If an obstacle is found within the target detection area of ​​the aerial work platform vehicle, determine the distance between the obstacle and the aerial work platform vehicle.

[0010] When the interval meets the preset conditions and the control permission is allowed, the second control operation of the operator on the intelligent control switch is obtained.

[0011] In response to the second control operation, the aerial work platform is put into a refined operation mode, which enables the aerial work platform to automatically adjust its speed according to the interval distance.

[0012] In this embodiment of the application, determining the target detection area based on the current operating condition of the aerial work platform includes: when the current operating condition of the aerial work platform is high-speed movement, determining the target detection area as a first detection area, wherein when the target detection area is the first detection area, the interval distance is determined to meet a preset condition if it is within a first distance range; when the current operating condition of the aerial work platform is turntable rotation or aerial work, determining the target detection area as a second detection area, wherein when the target detection area is the second detection area, the interval distance is determined to meet a preset condition if it is within the turntable rotation range of the aerial work platform.

[0013] In this embodiment of the application, the aerial work platform includes a first alarm device fixed on the aerial work platform and / or a portable second alarm device. The method further includes: when the target detection area is the first detection area, and the interval distance is within the second distance range, controlling the first alarm device and / or the second alarm device to start the alarm operation; controlling the aerial work platform to travel at a preset minimum operating speed; wherein, the lower limit of the second distance range is greater than the upper limit of the first distance range.

[0014] In this embodiment of the application, the method further includes: when the target detection area is the first detection area, and the interval distance is within the third distance range, controlling the first alarm device and / or the second alarm device to start the alarm operation; controlling the aerial work vehicle to travel at a preset operating speed; wherein, the preset operating speed is any one of the minimum operating speed of the aerial work vehicle to the maximum operating speed of the aerial work vehicle, and the lower limit of the third distance range is greater than the upper limit of the second distance range.

[0015] In this embodiment of the application, the aerial work platform includes a first alarm device fixed on the aerial work platform and / or a portable second alarm device. The method further includes: when the target detection area is the second detection area, and the interval distance is within the turntable's rotation range and the control permission is prohibited, controlling the first alarm device and / or the second alarm device to start the alarm operation; and controlling the aerial work platform to stop running.

[0016] In this embodiment of the application, the method further includes: when the target detection area is the second detection area, and the interval distance is within the preset rotation range, acquiring the deceleration control operation of the operator on the intelligent control switch; responding to the deceleration control operation to control the turntable of the aerial work vehicle to decelerate; wherein, the lower limit of the preset rotation range is greater than the upper limit of the turntable rotation range.

[0017] In this embodiment, the aerial work platform includes multiple image acquisition devices, which are evenly distributed in the rear and / or side areas of the aerial work platform. When it is determined that an obstacle exists within the target detection area of ​​the aerial work platform, determining the distance between the obstacle and the aerial work platform includes: acquiring multiple area images of the target detection area captured by the multiple image acquisition devices; inputting the multiple area images into a target detection model so that the target detection model outputs obstacle recognition results within the target detection area; and determining the distance between the obstacle and the aerial work platform when it is determined that an obstacle exists within the target detection area based on the obstacle recognition results.

[0018] In this embodiment of the application, the aerial work vehicle also includes a display device, and the method further includes: sending the obstacle recognition result and / or the interval distance to the display device for display.

[0019] A second aspect of this application provides a control device for an aerial work platform vehicle, comprising:

[0020] The memory is configured to store instructions; and

[0021] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned control method for aerial work platforms.

[0022] A third aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned control method for an aerial work platform.

[0023] The fourth aspect of this application provides an aerial work platform vehicle, comprising:

[0024] The alarm device includes a first alarm device fixed to the aerial work vehicle and / or a portable second alarm device, used to activate the alarm operation;

[0025] Multiple image acquisition devices are evenly distributed in the rear and / or side areas of the aerial work platform vehicle to acquire multiple area images of the target detection area;

[0026] A display device is used to display the obstacle identification results within the target detection area and the distance between the obstacles within the target detection area and the aerial work platform; and

[0027] The aforementioned control device for aerial work platforms.

[0028] The above technical solution acquires the operator's facial image; determines the operator's proficiency in operating the aerial work platform and their control permissions over the intelligent control switch based on the facial image; when the operator's proficiency reaches a preset level, it responds to the operator's first control operation on the aerial work platform to control its operation; it determines the target detection area based on the current operating condition of the aerial work platform; if an obstacle is found within the target detection area, it determines the distance between the obstacle and the aerial work platform; if the distance meets a preset condition and the control permission is allowed, it acquires the operator's second control operation on the intelligent control switch; and responds to the second control operation to control the aerial work platform into a refined operation mode, enabling the aerial work platform to automatically adjust its speed according to the distance, thus avoiding collisions with obstacles and improving safety when the aerial work platform is traveling at close range.

[0029] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0030] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0031] Figure 1 A schematic flowchart of a control method for an aerial work platform according to an embodiment of this application is shown.

[0032] Figure 2 A schematic flowchart of a control method for an aerial work platform according to an embodiment of this application is shown.

[0033] Figure 3A This illustration schematically shows a first installation diagram of the image acquisition device of an aerial work platform according to an embodiment of this application;

[0034] Figure 3B This schematically illustrates a first view of the acquisition area of ​​the image acquisition device of an aerial work platform according to an embodiment of this application;

[0035] Figure 4A This illustration schematically shows a second installation diagram of the image acquisition device for an aerial work platform according to an embodiment of this application;

[0036] Figure 4B This schematically illustrates a second view of the acquisition area of ​​the image acquisition device of an aerial work platform according to an embodiment of this application;

[0037] Figure 5The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0039] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0040] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0041] Figure 1 A schematic flowchart illustrating a control method for an aerial work platform according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, a control method for an aerial work platform is provided, comprising the following steps:

[0042] Step 101: Obtain the facial images of the workers.

[0043] Facial images can be captured using image acquisition devices. These devices can be cameras, camcorders, recorders, or other equipment with image acquisition capabilities. Cameras can be fixed, mobile, or intelligent. For example, to acquire a large number of facial images in real time, an intelligent camera can be used. After capturing video data, the intelligent camera can transmit each frame of facial image in the captured video data to a processor via wireless or wired transmission. The processor can then obtain the facial image of the person performing the operation.

[0044] Step 102: Determine the operator's proficiency in operating the aerial work platform and their control permissions over the intelligent control switch based on the facial image.

[0045] The processor can determine a worker's proficiency in operating the aerial work platform and their control permissions for the intelligent control switch based on facial images. For example, the processor can identify the worker's ID based on the facial image and retrieve corresponding training information, operation information, and switch authorization information from the database. Based on the training information, the processor can determine whether the worker has participated in aerial work platform operation training. Based on the operation information, it can determine the worker's operation time and the overall machine status during operation, thereby determining the worker's proficiency in operating the aerial work platform. For example, proficiency can be defined by a score; a higher score indicates higher proficiency. Proficiency can also be defined as a percentage; a higher percentage indicates higher proficiency. Based on the switch authorization information, the processor can determine whether the worker has permission to use the intelligent control switch, thereby determining the worker's control permissions for that intelligent control switch. Control permissions include allowing control and disallowing control.

[0046] Step 103: When the operator's proficiency reaches the preset level, respond to the operator's first control operation on the aerial work platform to control the operation of the aerial work platform.

[0047] When the operator's proficiency reaches a preset level, the processor can respond to the operator's first control operation on the aerial work platform to control the operation of the aerial work platform.

[0048] Step 104: Determine the target detection area based on the current operating conditions of the aerial work platform vehicle.

[0049] The processor can determine the current operating condition of the aerial work platform vehicle and identify the target detection area based on this condition. The current operating condition includes high-speed movement, turntable rotation, and aerial work. In high-speed movement mode, the aerial work platform vehicle is moving at a higher speed than the preset speed. In aerial work mode, the vehicle is in standby mode while personnel are performing aerial work.

[0050] Step 105: If an obstacle is found in the target detection area of ​​the aerial work platform vehicle, determine the distance between the obstacle and the aerial work platform vehicle.

[0051] If an obstacle is detected within the target detection area of ​​the aerial work platform vehicle, the processor can determine the distance between the obstacle and the aerial work platform vehicle.

[0052] In this embodiment, the aerial work platform includes multiple image acquisition devices, which are evenly distributed in the rear and / or side areas of the aerial work platform. When it is determined that an obstacle exists within the target detection area of ​​the aerial work platform, determining the distance between the obstacle and the aerial work platform includes: acquiring multiple area images of the target detection area captured by the multiple image acquisition devices; inputting the multiple area images into a target detection model so that the target detection model outputs obstacle recognition results within the target detection area; and determining the distance between the obstacle and the aerial work platform when it is determined that an obstacle exists within the target detection area based on the obstacle recognition results.

[0053] The aerial work platform includes multiple image acquisition devices, which can be binocular vision sensors. These devices are evenly distributed around the rear and / or sides of the platform. By installing multiple image acquisition devices in the rear and / or side areas, blind spots can be avoided, preventing collisions with obstacles that could lead to work stoppages or damage.

[0054] The processor can acquire multiple region images of the target detection area from multiple image acquisition devices. The processor can input these multiple region images into the target detection model, causing the model to output obstacle recognition results within the target detection area. The target detection model can be a YOLO series detection model. The obstacle recognition results include whether there are obstacles or not. If the processor determines that an obstacle exists within the target detection area based on the obstacle recognition results, it can determine the distance between the obstacle and the aerial work platform vehicle.

[0055] Specifically, multiple acquired regional images can be input into the Mosaic enhancement model to extract image feature values ​​and feature vectors. Then, bounding boxes and types can be predicted, and the prediction results are post-processed to determine the output features and output type corresponding to the target box. Next, the nearest target image can be determined. After acquiring multiple regional images, the regional images can be corrected to obtain a correction reference target and a correction target image. Next, matching cost calculation can be performed to obtain the matching cost between each pixel in the correction reference image and the corresponding point in the correction target image. The matching cost includes feature matching cost and divergent matching cost. Then, the matching costs can be aggregated to obtain the cumulative cost, and the disparity value corresponding to each pixel in the correction reference image can be obtained to output the ranging value, i.e., the interval distance.

[0056] In this embodiment of the application, the aerial work vehicle also includes a display device, and the method further includes: sending the obstacle recognition result and / or the interval distance to the display device for display.

[0057] The aerial work platform also includes a display device. This display device can be a touchscreen or a screen, or other device with display functionality. The processor can send obstacle recognition results and / or distance information to the display device for display, allowing operators to better understand the surrounding environment of the aerial work platform, improving its operational efficiency and preventing collisions with obstacles.

[0058] Step 106: If the interval distance meets the preset conditions and the control permission is allowed, obtain the second control operation of the operator on the intelligent control switch.

[0059] When the interval meets the preset conditions and the control permission is allowed, the processor can obtain the operator's second control operation on the intelligent control switch.

[0060] In this embodiment of the application, determining the target detection area based on the current operating condition of the aerial work platform includes: when the current operating condition of the aerial work platform is high-speed movement, determining the target detection area as a first detection area, wherein when the target detection area is the first detection area, the interval distance is determined to meet a preset condition if it is within a first distance range; when the current operating condition of the aerial work platform is turntable rotation or aerial work, determining the target detection area as a second detection area, wherein when the target detection area is the second detection area, the interval distance is determined to meet a preset condition if it is within the turntable rotation range of the aerial work platform.

[0061] When the aerial work platform is currently operating at high speed, the processor can identify the target detection area as the first detection area. At this time, it can detect whether there are obstacles in the first detection area. If there are obstacles, the processor can determine the distance between the obstacle and the aerial work platform. When the target detection area is the first detection area, if the distance is within a first distance range, the processor can determine that the distance meets preset conditions. The first distance range can be customized according to actual conditions; for example, it can be 0.5m to 3m. At this time, the aerial work platform may be too close to the obstacle, increasing the risk of collision. Therefore, the processor can acquire the operator's control permissions for the intelligent control switch. If the operator's control permissions for the intelligent control switch are "allowed," the processor can acquire the operator's second control operation for the intelligent control switch. If the operator's control permissions for the intelligent control switch are "disallowed," the processor can stop the aerial work platform.

[0062] When the aerial work platform vehicle is currently operating in either turntable rotation or aerial work mode, the processor can determine the target detection area as the second detection area. At this time, it can detect whether there are obstacles in the second detection area. If there are obstacles, the processor can determine the distance between the obstacle and the aerial work platform vehicle. When the target detection area is the second detection area, if the distance is within the turntable rotation range of the aerial work platform vehicle, the processor can determine that the distance meets preset conditions. The turntable rotation range can be determined based on the tail swing distance of the aerial work platform vehicle. At this time, obstacles may affect the turntable operation of the aerial work platform vehicle, and the processor can acquire the operator's control permissions for the intelligent control switch. When the operator's control permissions for the intelligent control switch are set to allow control, the processor can acquire the operator's second control operation for the intelligent control switch.

[0063] Step 107: In response to the second control operation, control the aerial work platform vehicle to enter the refined operation mode, so that the aerial work platform vehicle automatically adjusts its speed according to the interval distance.

[0064] The processor can respond to a second control operation to control the aerial work platform vehicle to enter a refined operation mode, enabling the vehicle to automatically adjust its speed based on the distance between obstacles. Specifically, it can capture the distance between obstacles and the aerial work platform vehicle in real time, and can temporarily disable the speed switch. Based on the distance, it determines the corresponding speed level and matches the vehicle speed accordingly, ensuring the aerial work platform vehicle travels at the appropriate speed. This solution allows for precise adjustment of the vehicle's movement or position at extremely close distances, ensuring the safe operation of both personnel and the aerial work platform vehicle.

[0065] In this embodiment of the application, the aerial work platform includes a first alarm device fixed on the aerial work platform and / or a portable second alarm device. The method further includes: when the target detection area is the first detection area, and the interval distance is within the second distance range, controlling the first alarm device and / or the second alarm device to start the alarm operation; controlling the aerial work platform to travel at a preset minimum operating speed; wherein, the lower limit of the second distance range is greater than the upper limit of the first distance range.

[0066] The aerial work platform includes a first alarm device fixed to the platform and / or a portable second alarm device. The first alarm device may be a voice alarm or an alarm light, etc. The second alarm device may include a safety belt with a linear motor or a safety wristband, etc. For example, if the first alarm device is a voice alarm, it will issue a voice alarm prompt when the alarm is activated. If the second alarm device is a safety belt with a linear motor, it can generate vibration to provide a warning to the wearer when the alarm is activated.

[0067] When the aerial work platform is currently operating at high speed, the processor can determine the target detection area as the first detection area. At this time, it can detect whether there are obstacles in the first detection area. If there are obstacles, the processor can determine the distance between the obstacle and the aerial work platform. When the target detection area is the first detection area, and the distance is within the second distance range, the aerial work platform may not be very close to the obstacle, and the probability of a collision is not particularly high. In this case, the processor can control the first alarm device and / or the second alarm device to activate the alarm operation, and can control the aerial work platform to travel at a preset minimum operating speed. The lower limit of the second distance range is greater than the upper limit of the first distance range. The second distance range can be set according to actual needs. For example, the second distance range can be 3m to 5m.

[0068] In this embodiment of the application, the method further includes: when the target detection area is the first detection area, and the interval distance is within the third distance range, controlling the first alarm device and / or the second alarm device to start the alarm operation; controlling the aerial work vehicle to travel at a preset operating speed; wherein, the preset operating speed is any one of the minimum operating speed of the aerial work vehicle to the maximum operating speed of the aerial work vehicle, and the lower limit of the third distance range is greater than the upper limit of the second distance range.

[0069] When the aerial work platform is currently operating at high speed, the processor can determine the target detection area as the first detection area. At this time, it can detect whether there are obstacles in the first detection area. If there are obstacles, the processor can determine the distance between the obstacle and the aerial work platform. When the target detection area is the first detection area, and the distance is within the third distance range, the aerial work platform may not be close to the obstacle, and the probability of a collision is low. In this case, the processor can control the first alarm device and / or the second alarm device to activate the alarm operation, and can control the aerial work platform to travel at a preset speed.

[0070] The preset operating speed is any speed between the minimum and maximum operating speed of the aerial work platform vehicle. The lower limit of the third distance range is greater than the upper limit of the second distance range. The third distance range can be set according to actual needs; for example, it can be 5m to 10m.

[0071] In one embodiment, when the target detection area is the first detection area, and the interval distance is within the fourth distance range, the first alarm device and / or the second alarm device are controlled to activate the alarm operation, and the aerial work platform is controlled to stop operating. The lower limit of the first distance range is greater than the upper limit of the fourth distance range. For example, the fourth distance range is 0–0.5 m.

[0072] In this embodiment of the application, the aerial work platform includes a first alarm device fixed on the aerial work platform and / or a portable second alarm device. The method further includes: when the target detection area is the second detection area, and the interval distance is within the turntable's rotation range and the control permission is prohibited, controlling the first alarm device and / or the second alarm device to start the alarm operation; and controlling the aerial work platform to stop running.

[0073] The aerial work platform includes a first alarm device fixed to the platform and / or a portable second alarm device. The first alarm device may be a voice alarm or an alarm light, etc. The second alarm device may include a safety belt with a linear motor or a safety wristband, etc. For example, if the first alarm device is a voice alarm, it will issue a voice alarm prompt when the alarm is activated. If the second alarm device is a safety belt with a linear motor, it can generate vibration to provide a warning to the wearer when the alarm is activated.

[0074] When the aerial work platform is currently operating in either turntable rotation or aerial work mode, the processor can determine the target detection area as the second detection area. At this time, it can detect whether there are obstacles in the second detection area. If obstacles are present, the distance between the obstacle and the aerial work platform can be determined. When the target detection area is the second detection area, and the distance is within the turntable rotation range, obstacles may affect the turntable operation of the aerial work platform. The processor can then acquire the operator's control permissions for the intelligent control switch. If the operator's control permissions for the intelligent control switch are set to prohibit control, the processor can control the first alarm device and / or the second alarm device to activate the alarm operation and can also stop the aerial work platform from operating.

[0075] In this embodiment of the application, the method further includes: when the target detection area is the second detection area, and the interval distance is within the preset rotation range, acquiring the deceleration control operation of the operator on the intelligent control switch; responding to the deceleration control operation to control the turntable of the aerial work vehicle to decelerate; wherein, the lower limit of the preset rotation range is greater than the upper limit of the turntable rotation range.

[0076] When the aerial work platform is currently operating in either turntable rotation or aerial work mode, the processor can determine the target detection area as the second detection area. At this time, it can detect whether there are obstacles in the second detection area. If there are obstacles, the distance between the obstacle and the aerial work platform can be determined. When the target detection area is the second detection area, and the distance is within a preset rotation range, the processor can acquire the operator's deceleration control operation on the intelligent control switch. The processor can respond to the deceleration control operation to control the turntable of the aerial work platform to decelerate. The lower limit of the preset rotation range is greater than the upper limit of the turntable rotation range. For example, the preset rotation range can be 5m to 10m.

[0077] like Figure 2 As shown, a flowchart illustrating another control method for aerial work platforms is provided.

[0078] After determining the distance L from the obstacle, if the aerial work platform is moving at high speed, it can be determined whether the distance L is within 5m ≤ L < 10m. If the distance L is within 5m ≤ L < 10m, the vehicle can slow down and trigger an alarm from a distance. Specifically, the speed can be reduced from the maximum operating speed to any speed between the maximum and minimum operating speed. If the distance L is not within 5m ≤ L < 10m, it can be determined whether the distance L is within 3m ≤ L < 5m. If the distance L is within 3m ≤ L < 5m, the vehicle can proceed at a very slow speed and trigger an alarm. Here, "very slow speed" refers to the minimum operating speed. If the distance L is not within 3m ≤ L < 5m, it can be determined whether the distance L is within 0.5m ≤ L < 3m.

[0079] If the distance L from the vehicle is between 0.5m and 3m, it can be determined whether the intelligent control switch should be activated. If not, the aerial work platform can be stopped and an alarm will sound. If the intelligent control switch is activated, the aerial work platform can enter a refined operation mode, automatically adjusting its speed based on the distance, and intelligently adjusting engine speed, motor torque, and steering torque. If the distance L is not between 0.5m and 3m, it can be determined whether L is less than 0.5m. If L is less than 0.5m, the aerial work platform can be stopped and an alarm will sound. If L is not less than 0.5m, the aerial work platform can continue to move at a constant speed.

[0080] If the aerial work platform is in a rotating working state, or the equipment is in standby mode while personnel are working, the system can determine if the distance L from the vehicle is within 5m ≤ L < 10m. If the distance L is within 5m ≤ L < 10m, the system can decelerate remotely and trigger an alarm. Specifically, the speed can be reduced from the maximum operating speed to any speed between the maximum and minimum operating speeds. If the distance L is not within 5m ≤ L < 10m, the system can determine if the distance L is within the turntable's rotation range. If the distance L is not within the turntable's rotation range, the aerial work platform can continue to move, maintaining a constant speed. If the distance L is within the turntable's rotation range, the system can determine whether the intelligent control switch should be activated. In this case, if the intelligent control switch is not allowed, the aerial work platform can be stopped and an alarm can be triggered. If the intelligent control switch is allowed, the aerial work platform can enter a refined operation mode, automatically adjusting the speed based on the interval distance, and intelligently adjusting engine speed, motor torque, and steering torque.

[0081] The above technical solution acquires the operator's facial image; determines the operator's proficiency in operating the aerial work platform and their control permissions over the intelligent control switch based on the facial image; when the operator's proficiency reaches a preset level, it responds to the operator's first control operation on the aerial work platform to control its operation; it determines the target detection area based on the current operating condition of the aerial work platform; if an obstacle is found within the target detection area, it determines the distance between the obstacle and the aerial work platform; if the distance meets a preset condition and the control permission is allowed, it acquires the operator's second control operation on the intelligent control switch; and responds to the second control operation to control the aerial work platform into a refined operation mode, enabling the aerial work platform to automatically adjust its speed according to the distance, thus avoiding collisions with obstacles and improving safety when the aerial work platform is traveling at close range.

[0082] Figure 1 and 2 This is a flowchart illustrating a control method for controlling an aerial work platform vehicle in one embodiment. It should be understood that, although... Figure 1 and 2 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 and 2 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0083] In one embodiment, a control device for controlling an aerial work platform is provided, comprising:

[0084] The memory is configured to store instructions; and

[0085] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned control method for aerial work platforms.

[0086] In one embodiment, a storage medium is provided on which a program is stored, which, when executed by a processor, implements the control method described above for aerial work platforms.

[0087] In one embodiment, a processor is provided for running a program, wherein the program executes the control method for the aerial work platform described above.

[0088] In one embodiment, an aerial work platform is provided, comprising:

[0089] The alarm device includes a first alarm device fixed to the aerial work vehicle and / or a portable second alarm device, used to activate the alarm operation;

[0090] Multiple image acquisition devices are evenly distributed in the rear and / or side areas of the aerial work platform vehicle to acquire multiple area images of the target detection area;

[0091] A display device is used to display the obstacle identification results within the target detection area and the distance between the obstacles within the target detection area and the aerial work platform; and

[0092] The aforementioned control device for aerial work platforms.

[0093] The aerial work platform includes a first alarm device fixed to the platform and / or a portable second alarm device. The first alarm device may be a voice alarm or an alarm light, etc. The second alarm device may include a safety belt with a linear motor or a safety wristband, etc. For example, if the first alarm device is a voice alarm, it will issue a voice alarm prompt when the alarm is activated. If the second alarm device is a safety belt with a linear motor, it can generate vibration to provide a warning to the wearer when the alarm is activated.

[0094] The aerial work platform includes multiple image acquisition devices, evenly distributed at the rear of the vehicle, for acquiring multiple area images of the target detection area. Specifically, the multiple image acquisition devices can be evenly distributed at preset intervals at the rear of the aerial work platform. The preset intervals can be set according to actual needs. For example, ... Figure 3A The diagram shows an installation schematic of an image acquisition device for an aerial work platform. The image acquisition device consists entirely of binocular vision sensors. These binocular vision sensors are evenly distributed at preset intervals in the rear area of ​​the aerial work platform, and their acquisition ranges are as follows: Figure 3B The regions shown are region 1, region 2, and region 3.

[0095] Multiple image acquisition devices can be evenly distributed along the side of the aerial work platform to acquire multiple area images of the target detection area. Specifically, multiple image acquisition devices can be evenly distributed along the side of the aerial work platform at preset intervals. The preset intervals can be set according to actual needs. For example, ... Figure 4AAs shown, an installation diagram of another image acquisition device for an aerial work platform is provided. The image acquisition device is a binocular vision sensor. The binocular vision sensors are evenly distributed at preset intervals along the side area of ​​the aerial work platform, and their acquisition ranges are as follows: Figure 4B Regions 4, 5, 6, and 7 are shown.

[0096] By installing multiple image acquisition devices in the rear and / or side areas of the aerial work platform, blind spots can be avoided, preventing collisions with obstacles that could lead to work stoppages or damage. The aerial work platform includes display equipment, such as touchscreens and displays.

[0097] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores data such as interval distances. The network interface A02 communicates with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for an aerial work platform.

[0098] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0099] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: acquiring a facial image of a worker; determining the worker's proficiency level in operating the aerial work platform and their control permissions regarding the intelligent control switch based on the facial image; if the proficiency level reaches a preset level, responding to the worker's first control operation on the aerial work platform to control its operation; determining a target detection area based on the current operating condition of the aerial work platform; if an obstacle is detected within the target detection area, determining the distance between the obstacle and the aerial work platform; if the distance meets a preset condition and the control permission is set to allow control, acquiring a second control operation from the worker on the intelligent control switch; and responding to the second control operation to control the aerial work platform into a refined operation mode, causing the aerial work platform to automatically adjust its speed according to the distance.

[0100] In this embodiment of the application, determining the target detection area based on the current operating condition of the aerial work platform includes: when the current operating condition of the aerial work platform is high-speed movement, determining the target detection area as a first detection area, wherein when the target detection area is the first detection area, the interval distance is determined to meet a preset condition if it is within a first distance range; when the current operating condition of the aerial work platform is turntable rotation or aerial work, determining the target detection area as a second detection area, wherein when the target detection area is the second detection area, the interval distance is determined to meet a preset condition if it is within the turntable rotation range of the aerial work platform.

[0101] In this embodiment of the application, the aerial work platform includes a first alarm device fixed on the aerial work platform and / or a portable second alarm device. The method further includes: when the target detection area is the first detection area, and the interval distance is within the second distance range, controlling the first alarm device and / or the second alarm device to start the alarm operation; controlling the aerial work platform to travel at a preset minimum operating speed; wherein, the lower limit of the second distance range is greater than the upper limit of the first distance range.

[0102] In this embodiment of the application, the method further includes: when the target detection area is the first detection area, and the interval distance is within the third distance range, controlling the first alarm device and / or the second alarm device to start the alarm operation; controlling the aerial work vehicle to travel at a preset operating speed; wherein, the preset operating speed is any one of the minimum operating speed of the aerial work vehicle to the maximum operating speed of the aerial work vehicle, and the lower limit of the third distance range is greater than the upper limit of the second distance range.

[0103] In this embodiment of the application, the aerial work platform includes a first alarm device fixed on the aerial work platform and / or a portable second alarm device. The method further includes: when the target detection area is the second detection area, and the interval distance is within the turntable's rotation range and the control permission is prohibited, controlling the first alarm device and / or the second alarm device to start the alarm operation; and controlling the aerial work platform to stop running.

[0104] In this embodiment of the application, the method further includes: when the target detection area is the second detection area, and the interval distance is within the preset rotation range, acquiring the deceleration control operation of the operator on the intelligent control switch; responding to the deceleration control operation to control the turntable of the aerial work vehicle to decelerate; wherein, the lower limit of the preset rotation range is greater than the upper limit of the turntable rotation range.

[0105] In this embodiment, the aerial work platform includes multiple image acquisition devices, which are evenly distributed in the rear and / or side areas of the aerial work platform. When it is determined that an obstacle exists within the target detection area of ​​the aerial work platform, determining the distance between the obstacle and the aerial work platform includes: acquiring multiple area images of the target detection area captured by the multiple image acquisition devices; inputting the multiple area images into a target detection model so that the target detection model outputs obstacle recognition results within the target detection area; and determining the distance between the obstacle and the aerial work platform when it is determined that an obstacle exists within the target detection area based on the obstacle recognition results.

[0106] In this embodiment of the application, the aerial work vehicle also includes a display device, and the method further includes: sending the obstacle recognition result and / or the interval distance to the display device for display.

[0107] This application also provides a computer program product that, when executed on a data processing device, is adapted to execute a program that initializes control method steps for an aerial work platform.

[0108] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0109] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0110] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0111] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0112] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0113] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0114] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0115] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0116] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for an aerial work platform vehicle, characterized in that, The control method includes: Obtain facial images of the workers; The operator's proficiency in operating the aerial work platform and their control authority over the intelligent control switch are determined based on the facial image. When the operator's proficiency reaches a preset level, the system responds to the operator's first control operation on the aerial work platform to control the operation of the aerial work platform. The target detection area is determined based on the current operating conditions of the aerial work platform vehicle; If it is determined that there is an obstacle within the target detection area of ​​the aerial work platform, the distance between the obstacle and the aerial work platform is determined. When the interval distance meets the preset conditions and the control permission is allowed, the second control operation of the operator on the intelligent control switch is obtained; In response to the second control operation, the aerial work platform is controlled to enter a refined operation mode, so that the aerial work platform automatically adjusts its speed according to the interval distance; The step of determining the target detection area based on the current operating conditions of the aerial work platform includes: When the current operating condition of the aerial work vehicle is high-speed movement, the target detection area is determined as the first detection area. When the target detection area is the first detection area, if the interval distance is within the first distance range, the interval distance is determined to meet the preset condition. When the current operating condition of the aerial work platform vehicle is either turntable rotation or aerial work, the target detection area is determined as the second detection area. When the target detection area is the second detection area, if the interval distance is within the turntable rotation range of the aerial work platform vehicle, the interval distance is determined to meet the preset condition.

2. The control method for an aerial work platform according to claim 1, characterized in that, The aerial work platform includes a first alarm device fixed to the aerial work platform and / or a portable second alarm device, and the method further includes: When the target detection area is the first detection area, if the interval distance is within the second distance range, control the first alarm device and / or the second alarm device to start the alarm operation; Control the aerial work vehicle to travel at a preset minimum operating speed; Wherein, the lower limit of the second distance range is greater than the upper limit of the first distance range.

3. The control method for an aerial work platform according to claim 2, characterized in that, The method further includes: When the target detection area is the first detection area, if the interval distance is within the third distance range, control the first alarm device and / or the second alarm device to start the alarm operation. Control the aerial work vehicle to travel at a preset operating speed; The preset operating speed is any operating speed from the minimum operating speed of the aerial work platform vehicle to the maximum operating speed of the aerial work platform vehicle, and the lower limit of the third distance range is greater than the upper limit of the second distance range.

4. The control method for an aerial work platform according to claim 1, characterized in that, The aerial work platform includes a first alarm device fixed to the aerial work platform and / or a portable second alarm device, and the method further includes: When the target detection area is the second detection area, if the interval distance is within the rotation range of the turntable and the control permission is prohibited, control the first alarm device and / or the second alarm device to start the alarm operation. Control the aerial work platform vehicle to stop operating.

5. The control method for an aerial work platform according to claim 1, characterized in that, The method further includes: When the target detection area is the second detection area, the deceleration control operation of the operator on the intelligent control switch is obtained when the interval distance is within the preset rotation range. In response to the deceleration control operation, the turntable of the aerial work platform is controlled to decelerate. Wherein, the lower limit of the preset rotation range is greater than the upper limit of the turntable rotation range.

6. The control method for an aerial work platform according to claim 1, characterized in that, The aerial work platform includes multiple image acquisition devices, which are evenly distributed in the rear and / or side areas of the aerial work platform. When it is determined that an obstacle exists within the target detection area of ​​the aerial work platform, determining the distance between the obstacle and the aerial work platform includes: Acquire multiple region images of the target detection area captured by the multiple image acquisition devices; The multiple region images are input into the target detection model so that the target detection model outputs the obstacle recognition result within the target detection region; If an obstacle is determined to exist within the target detection area based on the obstacle recognition result, the distance between the obstacle and the aerial work vehicle is determined.

7. The control method for an aerial work platform according to claim 6, characterized in that, The aerial work platform vehicle also includes a display device, and the method further includes: The obstacle identification results and / or the interval distance are sent to the display device for display.

8. A control device for controlling an aerial work platform vehicle, characterized in that, The control device includes: The memory is configured to store instructions; and The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the control method for an aerial work platform according to any one of claims 1 to 7.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the control method for an aerial work platform according to any one of claims 1 to 7.

10. An aerial work platform vehicle, characterized in that, include: The alarm device includes a first alarm device fixed to the aerial work vehicle and / or a portable second alarm device, used to activate the alarm operation. Multiple image acquisition devices are evenly distributed in the rear and / or side areas of the aerial work vehicle to acquire multiple area images of the target detection area; A display device is used to display the obstacle identification results within the target detection area and the distance between the obstacles within the target detection area and the aerial work vehicle; as well as The control device for aerial work platforms according to claim 8.

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