A method, device, equipment and medium for preventing rollover of aerial work platform

Abstract

The present invention discloses an anti-rollover control method, device, equipment and medium for an aerial work platform. The method includes: obtaining the center of gravity position and weight of each functional unit under the current aerial work platform; collecting the rotation angle of the whole machine, selecting the corresponding rotation interval formula, and obtaining the rollover line of the whole machine; obtaining the real-time tilt state of the whole machine, and selecting the corresponding torque calculation formula; calculating the rollover torque of the whole machine and the torque of each functional unit according to the torque calculation formula; determining the composition of the rollover torque and the stabilizing torque used to offset the rollover torque according to the real-time tilt state of the whole machine; determining the moving distance of the hinge unit by calculating the difference between the stabilizing torque and the rollover torque, so that the whole machine reaches balance. The technical solution of the embodiment of the present invention can adaptively control the movement of the hinge, and maximize the utilization rate of each functional unit while ensuring the safety and stability of the aerial work platform.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to an anti-rollover control method, device, equipment and medium for an aerial work platform. Background Art

[0002] In existing aerial work platforms, the boom unit and the turntable unit are usually rigidly connected. The boom system rotates around a fixed pin installed on the turntable to reach a specified angle position. However, under different tilt application conditions, the entire machine is limited by the working range of the boom system and cannot flexibly adjust the stabilizing torque to offset the tilt torque.

[0003] At the same time, the allowable tilt working slope range of the aerial work platforms currently on the market is relatively small, and the restrictions on the working environment are relatively stringent. In order to improve the safety and stability of the aerial work platforms, a counterweight unit is added to the turntable to make the center of gravity of the aerial work platform more stable. However, the selection method of the counterweight weight is not flexible enough, and the effect of reducing the influence of the slope on the inclination of the work platform is poor. At the same time, when the counterweight weight is selected too high, it causes waste of energy consumption of the whole machine. Summary of the invention

[0004] Based on this, the present invention provides an anti-rollover control method, device, equipment and medium for an aerial work platform to solve the problem that the potential rollover hazard caused by the tilt of the work platform cannot be reduced by flexibly adjusting the stabilizing torque.

[0005] In a first aspect, an embodiment of the present invention provides an anti-rollover control method for an aerial work platform, the method comprising:

[0006] Obtain the center of gravity position and weight of each functional unit under the current aerial work platform; wherein each functional unit includes: a working platform, a boom unit, a hinge unit, a counterweight unit, a turntable unit and a chassis unit;

[0007] The rotation angle of the whole machine is collected by a rotation angle sensor provided on the rotation unit connected to the turntable unit and the chassis unit, and a corresponding rotation interval formula is selected according to the angle interval into which the rotation angle falls, so as to obtain the tipping line of the whole machine;

[0008] The tilt state of the whole machine is acquired in real time according to the angle sensor on the turntable unit, and the corresponding torque calculation formula is selected according to the tilt state to obtain the torque corresponding to each functional unit respectively;

[0009] Obtain the coordinates of the center of gravity of the whole machine according to the whole machine tipping line, and substitute the weight of the whole machine and the coordinates of the center of gravity of the whole machine into the moment calculation formula to calculate the tipping moment of the whole machine;

[0010] Determine the torque direction of each functional unit according to the real-time tilt state of the whole machine, and determine the composition of the overturning torque and the stabilizing torque for offsetting the overturning torque according to the torque direction;

[0011] The moving distance of the hinge unit is determined by calculating the difference between the stabilizing moment and the tipping moment, so that the whole machine can be balanced.

[0012] In a second aspect, an embodiment of the present invention further provides an anti-rollover control device for an aerial work platform, the device comprising:

[0013] A functional unit acquisition module is used to obtain the center of gravity position and weight of each functional unit under the current aerial work platform; wherein each functional unit includes: a working platform, a boom unit, a hinge unit, a counterweight unit, a turntable unit and a chassis unit;

[0014] The whole machine tipping line determination module is used to collect the rotation angle of the whole machine, and select the corresponding rotation interval formula according to the angle interval that the rotation angle falls into, so as to obtain the whole machine tipping line;

[0015] A torque formula selection module, used to obtain the real-time tilt state of the whole machine according to the angle sensor on the turntable unit, and select a corresponding torque calculation formula according to the real-time tilt state of the whole machine;

[0016] A torque calculation module is used to obtain the coordinates of the center of gravity of the whole machine according to the tipping line of the whole machine, and substitute the weight of the whole machine, the coordinates of the center of gravity of the whole machine, the center of gravity position and the weight of each functional unit into the torque calculation formula to calculate the tipping torque of the whole machine and the torque of each functional unit;

[0017] A torque composition analysis module, used to determine the composition of the overturning torque and the stabilizing torque for offsetting the overturning torque according to the real-time tilt state of the whole machine; wherein the functional unit torque is the overturning torque or the stabilizing torque;

[0018] The hinge point movement module is used to determine the movement distance of the hinge point unit by calculating the difference between the stabilizing moment and the tipping moment, so that the whole machine can achieve balance.

[0019] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the anti-rollover control method for an aerial work platform described in any embodiment of the present invention.

[0023] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement an anti-rollover control method for an aerial work platform as described in any embodiment of the present invention when executed.

[0024] The embodiment of the present invention can determine the tilting line of the whole machine in the current state by pre-setting the calculation formula of the tilting line of the whole machine under different angle ranges, and obtain the coordinates of the center of gravity position of each functional unit with the tilting line of the whole machine as the reference line, and then determine the weight of the whole machine and the center of gravity position of the whole machine according to the weight of each functional unit and the coordinates of the center of gravity position. At the same time, by pre-setting the torque calculation formula under two tilting states, the torque generated by each functional unit and the whole machine can be determined, and the movement of the hinge point can be further controlled by analyzing the composition of the tilting torque and the stabilizing torque, so that the whole machine reaches a balanced state. The embodiment of the present invention can adaptively control the movement of the hinge point by obtaining the state of the whole machine in real time, and the hinge point unit will drive the arm unit and the work platform to move during the movement, thereby also improving the working range of the arm unit and the work platform, while ensuring the safety and stability of the aerial work platform, and maximizing the utilization rate of each functional unit.

[0025] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 is a flow chart of an anti-rollover control method for an aerial work platform provided according to Embodiment 1 of the present invention;

[0028] Figure 2 It is a structural reference diagram of an aerial work platform applicable to an embodiment of the present invention;

[0029] Figure 3 is a schematic diagram of a whole machine applicable to an embodiment of the present invention under a positive tilt application condition;

[0030] Figure 4 is a schematic diagram of a whole machine applicable to an embodiment of the present invention under a negative tilt application condition;

[0031] Figure 5 is a structural schematic diagram of another anti-rollover control method for an aerial work platform provided according to Embodiment 2 of the present invention;

[0032] Figure 6 2 is a schematic structural diagram of an anti-rollover control device for an aerial work platform provided according to a fourth embodiment of the present invention;

[0033] Figure 7 It is a structural schematic diagram of an electronic device for implementing an anti-rollover control method for an aerial work platform according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] Embodiment 1

[0037] Figure 1 This is a flow chart of an anti-rollover control method for an aerial work platform provided in the first embodiment of the present invention. This embodiment is applicable to the case of adaptive movement control of an aerial work platform. The method can be executed by an anti-rollover control device for an aerial work platform. The device can be implemented in the form of hardware and / or software. The device can be configured in an aerial work platform that can be adaptively moved. Figure 1 As shown, the method includes:

[0038] S110, obtaining the center of gravity position and weight of each functional unit under the current aerial work platform; wherein each functional unit includes: a working platform, a boom unit, a hinge unit, a counterweight unit, a turntable unit and a chassis unit.

[0039] The existing aerial work platform is usually composed of a work platform S1, an arm unit S2, a turntable unit S5 and a chassis unit S6 from top to bottom. In the embodiment of the present invention, the hinge unit S4 refers to a functional unit that can drive the upper arm system and the work platform to move horizontally within the track of the turntable unit, mainly by flexibly adjusting the movement of the hinge unit to offset part of the tipping moment. The counterweight unit S3 mainly balances the torque of the whole machine by pre-setting a suitable weight. By flexibly adjusting the weight of the counterweight unit, the whole system can output the most reasonable energy consumption to improve the endurance of the whole machine. Therefore, the counterweight unit S3 and the hinge unit S4 are described as separate function execution units. The structural reference diagram of the aerial work platform described in the embodiment of the present invention is shown in FIG. Figure 2 .

[0040] S120, collecting the rotation angle of the whole machine, and selecting a corresponding rotation interval formula according to the angle interval into which the rotation angle falls, to obtain a tipping line of the whole machine.

[0041] In the embodiment of the present invention, a rotation sensor for real-time monitoring of the relative angle between the turntable unit and the chassis unit is provided at the connection between the turntable unit and the chassis unit, and the current rotation angle of the whole machine can be collected in real time by using the rotation sensor. The rotation angle is pre-divided into multiple intervals, and different rotation interval formulas are set according to different angle intervals. When the rotation angle is determined, the position of the whole machine's tipping line can be solved according to the formula corresponding to the interval. The whole machine's tipping line mainly refers to a reference line for the whole machine to achieve balance under different tilting conditions. The tipping moment and the stabilizing moment are distributed on both sides of the whole machine's tipping line.

[0042] Optionally, collecting the rotation angle of the whole machine and selecting a corresponding rotation interval formula according to the angle interval into which the rotation angle falls to obtain the whole machine tipping line may include:

[0043] Obtain the wheelbase of the front axle and the rear axle, the track width between the left and right tires, and the section width of the tires in the chassis unit;

[0044] The angle sensors on the turntable unit and the chassis unit are used to calculate the angle between the two units as the rotation angle;

[0045] A corresponding tilting line calculation formula is selected according to the angle range, and the tilting line position of the whole machine is determined using the rotation angle, wheelbase, track width and at least one of the section width and the tilting line calculation formula.

[0046] The wheelbase between the front axle and the rear axle in the chassis unit of the whole machine is defined as P, the distance formed by the center planes of the left and right tires of the front and rear axles is defined as the wheelbase Q, the cross-sectional width of the tire is defined as O, and the rollover line of the whole machine is defined as K.

[0047] Specifically, when the turntable unit of the whole machine is 0° or 180° (parallel) to the chassis unit, the whole machine tipping line K can be defined as half of the wheelbase, that is: ; When the turntable unit of the whole machine is 90° or 270° (normal) with the chassis unit, the whole machine tipping line K can be defined as half of the wheelbase plus one quarter of the tire width, that is: ; When the turntable unit and the chassis unit of the whole machine are not parallel or normal during the rotation process, assuming that the turntable unit rotates counterclockwise relative to the chassis unit, if the angle falls within the range of 315°~45° or 135°~225°, the whole machine tipping line K can be calculated according to If the angle falls within the range of 45°~135° or 225°~315°, the whole machine tipping line K can be determined according to to be sure.

[0048] Wherein, α is the feedback value of the rotation angle sensor provided on the rotation system connecting the turntable unit and the chassis unit.

[0049] S130, acquiring the real-time tilt state of the whole machine according to the angle sensor on the turntable unit, and selecting a corresponding torque calculation formula according to the real-time tilt state of the whole machine.

[0050] In the embodiment of the present invention, the chassis unit is also provided with a tilt angle sensor for measuring the tilt angle of the working platform and monitoring the tilt state of the whole machine in real time. The tilt state mainly refers to tilt modes in two directions, and the two different tilt modes correspond to their own torque calculation formulas.

[0051] Furthermore, obtaining the real-time tilt state of the whole machine according to the angle sensor on the turntable unit, and selecting the corresponding torque calculation formula according to the real-time tilt state of the whole machine may include:

[0052] When the real-time tilt state of the whole machine is positive tilt, select As the torque calculation formula;

[0053] When the real-time tilt state of the whole machine is negative, select As the torque calculation formula;

[0054] When the angle collected by the angle sensor of the turntable unit is within the range of [-90°, 0°), the real-time tilt state of the whole machine is determined to be positive tilt; when the angle collected by the angle sensor of the turntable unit is within the range of [0°, 90°), the real-time tilt state of the whole machine is determined to be negative tilt;

[0055] Wherein, G is the weight of each functional unit or the weight of the whole machine; θ is the angle collected by the angle sensor of the turntable unit; X and Z can be the horizontal and vertical coordinate values ​​of the center of gravity of each functional unit or the whole machine projected on the tipping line of the whole machine.

[0056] Specifically, the angle collected by the angle sensor is recorded as θ. When θ is in the range of [-90°, 0°), the whole machine is defined as a positive tilt state. Figure 3 ; When θ is in the range of [0°, 90°), the whole machine is defined as a negative tilt state, see Figure 4 .

[0057] S140, obtaining the coordinates of the center of gravity of the whole machine according to the whole machine tipping line, and substituting the weight of the whole machine, the coordinates of the center of gravity of the whole machine, the center of gravity position and the weight of each functional unit into the torque calculation formula to calculate the tipping torque of the whole machine and the torque of each functional unit.

[0058] It can be known from S130 that (X, Z) can be the coordinates of the center of gravity of the whole machine or the position of each functional unit based on the rollover line of the whole machine. When solving the rollover moment of the whole machine or the moment of each functional unit, the moment calculation formula of M1 or M2 can be selected according to different tilt states.

[0059] S150, determining the composition of the tipping moment and the stabilizing moment for offsetting the tipping moment according to the real-time tilting state of the whole machine; wherein the functional unit moment is the tipping moment or the stabilizing moment.

[0060] In an embodiment of the present invention, the torque of each functional unit may act as a tipping torque or a stabilizing torque under different application conditions, that is, the tipping torque may be composed of the tipping torque of the entire machine and certain functional unit torques; the value of the stabilizing torque may be obtained by summing up several functional unit torques.

[0061] Optionally, determining the overturning moment and the composition of the stabilizing moment for offsetting the overturning moment according to the real-time tilt state of the whole machine may include:

[0062] Obtain the maximum windward force and the maximum hand operation force of the whole machine when the whole machine is tilted in real time, and calculate the corresponding environmental torque and operation torque respectively;

[0063] When the whole machine is tilted forward, the overturning moment is composed of the whole machine overturning moment, environmental moment and operating moment, and the stabilizing moment is composed of hinge moment, chassis moment, turntable moment and counterweight moment;

[0064] When the whole machine is negatively tilted, the tipping moment is composed of the tipping moment of the whole machine and the counterweight moment; the stabilizing moment is composed of the hinge moment, chassis moment, turntable moment, environmental moment and operating moment.

[0065] During operation, the whole machine is not only affected by the tipping force caused by the inclined slope, but also by the windward force and the manual operation force. The environmental torque is the torque generated by the maximum windward force, and the operating torque is the torque generated by the maximum manual operation force. When the whole machine is in different tilt states, the direction of the torque generated by each functional unit, as well as the direction of the environmental torque and the operating torque will change. Therefore, it is necessary to determine the composition of the tipping torque and the stabilizing torque in the two tilt states.

[0066] S160, determining the moving distance of the hinge unit by calculating the difference between the stabilizing moment and the tipping moment, so that the whole machine reaches balance.

[0067] In a specific example, taking the vehicle as an example, the tipping moment = the tipping moment of the whole machine + the environmental moment + the operating moment; the stability moment = the hinge moment + the chassis moment + the turntable moment + the counterweight moment; the stability moment can ensure the balance of the whole machine only when it is at least equal to the tipping moment. In the current tilting state, the tipping moment and the chassis moment, turntable moment and counterweight moment in the stability moment are all known. The only thing that can be flexibly adjusted is the value of the hinge moment generated by the movement of the hinge unit. The difference between the tipping moment and the stability moment is offset by the hinge moment, and the hinge moment at this time is the critical value that just achieves balance.

[0068] Under specific operating conditions, on the premise that the whole machine is balanced, the operator can control the hinge unit to move further within the track of the turntable unit according to actual needs. The movement of the hinge unit can drive the upper boom system and work platform to achieve a wider range of operations, thereby improving safety and operating efficiency.

[0069] Furthermore, determining the moving distance of the hinge unit by calculating the difference between the stabilizing moment and the tipping moment so that the whole machine reaches balance may include:

[0070] When the whole machine is tilted in the positive direction, a first difference torque between the stabilizing torque and the tipping torque is calculated, and the hinge unit is controlled to move a first distance in the negative direction according to the first difference torque, so that the whole machine reaches balance;

[0071] When the whole machine is tilted negatively, a first difference torque between the stabilizing torque and the tipping torque is calculated, and the hinge unit is controlled to move a second distance in a positive direction according to a second difference torque, so that the whole machine reaches balance.

[0072] The moving direction of the hinge unit is determined according to the tipping direction of the whole machine to ensure that the torque generated by the hinge unit can be used to offset the first difference or the second difference torque.

[0073] The embodiment of the present invention can determine the tilting line of the whole machine in the current state by pre-setting the calculation formula of the tilting line of the whole machine under different angle ranges, and obtain the coordinates of the center of gravity position of each functional unit with the tilting line of the whole machine as the reference line, and then determine the weight of the whole machine and the center of gravity position of the whole machine according to the weight of each functional unit and the coordinates of the center of gravity position. At the same time, by pre-setting the torque calculation formula under two tilting states, the torque generated by each functional unit and the whole machine can be determined, and the movement of the hinge point can be further controlled by analyzing the composition of the tilting torque and the stabilizing torque, so that the whole machine reaches a balanced state. The embodiment of the present invention can adaptively control the movement of the hinge point by obtaining the state of the whole machine in real time, and the hinge point unit will drive the arm unit and the work platform to move during the movement, thereby also improving the working range of the arm unit and the work platform, while ensuring the safety and stability of the aerial work platform, and maximizing the utilization rate of each functional unit.

[0074] Embodiment 2

[0075] Figure 5 This is a flow chart of another anti-rollover control method for an aerial work platform provided in Embodiment 2 of the present invention. This embodiment is refined based on the above embodiment. Specifically, Figure 4 As shown, the method includes:

[0076] S510. Under the application condition of positive tilt, control the hinge unit to move to the first edge in the negative direction, and record the weight of the first counterweight at this time.

[0077] The counterweight unit is a functional unit that can adjust its weight before the formal operation begins. By placing the whole machine under two working conditions in advance to simulate the real working scenario, the counterweight weight of the counterweight unit is optimized to ensure that the whole machine meets the stability requirements in both application conditions under the optimal counterweight weight, thereby further realizing the lightweight of the whole machine.

[0078] For easier understanding, refer to the reference diagram of the whole machine under the application condition of positive tilt ( Figure 2 ), the positive tilt direction can be described as tilting to the right with the whole machine tipping line as the reference line, then the hinge unit needs to move to the left. The first edge of the hinge movement is the maximum distance that the hinge moves toward the side close to the counterweight unit. Under this extreme condition, the hinge moment generated by the maximum distance of the hinge moving in the negative direction reaches the maximum, that is, it offsets a part of the tipping moment to the greatest extent. At this time, the minimum weight of the counterweight unit under the positive tilt condition is obtained, which is the first counterweight weight.

[0079] S520. Under the application condition of negative tilt, control the hinge unit to move in the positive direction to the second edge, and record the weight of the second counterweight at this time.

[0080] Similarly, the negative tilt direction can be described as tilting to the left with the whole machine tipping line as the reference line, and the hinge unit needs to move to the right. The second edge of the hinge movement is the maximum distance that the hinge moves away from the counterweight unit. Under this extreme condition, the hinge moment generated by the hinge moving the maximum distance in the positive direction reaches the maximum, which can offset the tipping moment of the counterweight unit as a tipping moment to the greatest extent. At this time, the minimum weight of the counterweight unit under the negative tilt condition is obtained, which is the second counterweight weight.

[0081] S530: If the aerial work platform can maintain balance in a positive tilt environment under the second counterweight weight, compare the values ​​of the first counterweight and the second counterweight, and select the minimum value as the final counterweight unit weight.

[0082] In order to determine which weight is the best under the two extreme working conditions between the first counterweight weight and the second counterweight weight, the second counterweight weight obtained under the negative tilt working condition is reapplied to the positive tilt working condition. If the whole machine still maintains a balanced state when the weight of the counterweight unit is the second counterweight weight, it means that the stabilizing moment is still greater than the tipping moment at this time. When the moment generated by the counterweight unit is to offset the tipping moment, the smaller the weight of the counterweight unit, the lower the energy consumption of the whole machine. Therefore, choosing a smaller weight between the first counterweight weight and the second counterweight weight can not only meet the balance requirements under the two working conditions, but also save energy to the greatest extent.

[0083] S540: If not, control the hinge unit to move from the first edge toward the second edge.

[0084] On the contrary, if the whole machine cannot achieve state balance after the second counterweight is applied to the forward tilting condition, it means that the tipping moment is greater than the stabilizing moment. In this condition, the moment generated by the counterweight unit is used to offset the tipping moment, so the weight of the counterweight unit should be much greater than the second counterweight to increase the total stabilizing moment. At the same time, since the starting position of the hinge is at the first edge when the second counterweight is applied to the forward tilting condition, if the whole machine is to be balanced again, it is necessary to control the hinge to move from the first edge to the second edge, and then extend the length of the counterweight unit by moving the hinge to the side away from the counterweight unit to increase the moment generated by the counterweight unit.

[0085] S550. When the aerial work platform regains balance in a positive tipping application, calculate the supplementary torque generated by the movement of the hinge point at this time.

[0086] The supplementary torque generated by the movement of the hinge point during the entire adjustment process from the time when the second counterweight weight fails to meet the equilibrium state when applied to the positive tilt condition to the time when the whole machine regains its balance is obtained. The supplementary torque can be regarded as acting to increase the value of the stabilizing torque so that the tipping torque is equal to the stabilizing torque.

[0087] S560: Calculate the third counterweight weight of the counterweight unit according to the supplementary torque, and use the third counterweight weight as the final counterweight unit weight.

[0088] The supplementary torque is actually the torque that the counterweight unit should add under the positive tilt condition. The corresponding supplementary weight can be calculated based on the supplementary torque. The supplementary weight is actually the counterweight weight that the counterweight unit should add on the basis of the second counterweight weight. The third counterweight weight obtained by summing the second counterweight weight and the supplementary weight is the optimal weight of the counterweight unit when the second counterweight weight cannot meet the balance requirements of the positive tilt condition.

[0089] Optionally, after obtaining the center of gravity position and weight of each functional unit under the current aerial work platform, the following steps may also be included:

[0090] The weight of the whole machine is obtained by summing up the weight of each functional unit.

[0091] When the weight of the counterweight unit is determined, the weight of the whole machine can be obtained by summing the weights of other functional units.

[0092] S570, collecting the rotation angle of the whole machine, and selecting a corresponding rotation interval formula according to the angle interval into which the rotation angle falls, to obtain the whole machine tipping line.

[0093] S580, obtaining the real-time tilt state of the whole machine according to the angle sensor on the turntable unit, and selecting a corresponding torque calculation formula according to the real-time tilt state of the whole machine.

[0094] S590, obtaining the coordinates of the center of gravity of the whole machine according to the whole machine tipping line, and substituting the weight of the whole machine, the coordinates of the center of gravity of the whole machine, the center of gravity position and the weight of each functional unit into the torque calculation formula to calculate the tipping torque of the whole machine and the torque of each functional unit.

[0095] S5100. Determine the composition of the tipping moment and the stabilizing moment for offsetting the tipping moment according to the real-time tilting state of the whole machine; wherein the functional unit moment is the tipping moment or the stabilizing moment.

[0096] S5110. Determine the moving distance of the hinge unit by calculating the difference between the stabilizing moment and the tipping moment, so that the whole machine reaches balance.

[0097] The embodiment of the present invention mainly explains in detail the method for determining the weight of the counterweight unit. Specifically, under the two application conditions of positive tilt and negative tilt, two counterweight weights are obtained by moving the hinge point to two extreme positions respectively. In order to ensure that the selected counterweight unit weight is the optimal weight of the machine, how to select the two counterweight weights is discussed in different situations, and the method for determining the counterweight weight is given in the two situations of meeting the balance requirement and not meeting the balance requirement. Overall, the embodiment of the present invention uses the given counterweight unit weight optimization determination scheme to determine the optimal counterweight weight for the whole machine in advance, ensuring the stability and safety of the whole machine while achieving lightweight of the whole machine, which not only reduces the working energy consumption of the whole machine but also improves the endurance.

[0098] Embodiment 3

[0099] Figure 6 This is a schematic diagram of the structure of an anti-rollover control device for an aerial work platform provided in Embodiment 3 of the present invention. Figure 6 As shown, the device comprises:

[0100] Functional unit acquisition module 610, used to acquire the center of gravity position and weight of each functional unit under the current aerial work platform; wherein each functional unit includes: a working platform, a boom unit, a hinge unit, a counterweight unit, a turntable unit and a chassis unit;

[0101] The whole machine tipping line determination module 620 is used to collect the rotation angle of the whole machine, and select the corresponding rotation interval formula according to the angle interval that the rotation angle falls into, so as to obtain the whole machine tipping line;

[0102] The torque formula selection module 630 is used to obtain the real-time tilt state of the whole machine according to the angle sensor on the turntable unit, and select the corresponding torque calculation formula according to the real-time tilt state of the whole machine;

[0103] The moment calculation module 640 is used to obtain the coordinates of the center of gravity of the whole machine according to the whole machine tipping line, and substitute the weight of the whole machine, the coordinates of the center of gravity of the whole machine, the center of gravity position and the weight of each functional unit into the moment calculation formula to calculate the tipping moment of the whole machine and the moment of each functional unit;

[0104] The moment composition analysis module 650 is used to determine the composition of the overturning moment and the stabilizing moment for offsetting the overturning moment according to the real-time tilt state of the whole machine; wherein the functional unit moment is the overturning moment or the stabilizing moment;

[0105] The hinge point moving module 660 is used to determine the moving distance of the hinge point unit by calculating the difference between the stabilizing moment and the tipping moment, so as to balance the whole machine.

[0106] The embodiment of the present invention can determine the tilting line of the whole machine in the current state by pre-setting the calculation formula of the tilting line of the whole machine under different angle ranges, and obtain the coordinates of the center of gravity position of each functional unit with the tilting line of the whole machine as the reference line, and then determine the weight of the whole machine and the center of gravity position of the whole machine according to the weight of each functional unit and the coordinates of the center of gravity position. At the same time, by pre-setting the torque calculation formula under two tilting states, the torque generated by each functional unit and the whole machine can be determined, and the movement of the hinge point can be further controlled by analyzing the composition of the tilting torque and the stabilizing torque, so that the whole machine reaches a balanced state. The embodiment of the present invention can adaptively control the movement of the hinge point by obtaining the state of the whole machine in real time, and the hinge point unit will drive the arm unit and the work platform to move during the movement, thereby also improving the working range of the arm unit and the work platform, while ensuring the safety and stability of the aerial work platform, and maximizing the utilization rate of each functional unit.

[0107] Based on the above embodiments, the function unit acquisition module 610 includes:

[0108] A first counterweight weight acquisition unit is used to control the hinge unit to move to the first edge in a negative direction under a positive tilt application condition, and record the weight of the first counterweight at this time;

[0109] A second counterweight weight acquisition unit is used to control the hinge unit to move to the second edge in a positive direction under a negative tilt application condition, and record the weight of the second counterweight at this time;

[0110] A first condition determination unit is used to compare the values ​​of the first counterweight and the second counterweight if the aerial work platform can maintain balance in a positive tilt environment under the second counterweight weight, and select the minimum value as the final counterweight unit weight;

[0111] The weight testing unit is used to control the hinge unit to move from the first edge to the second edge if the weight is not equal to the first edge;

[0112] A supplementary moment calculation unit is used to calculate the supplementary moment generated by the movement of the hinge unit when the aerial work platform regains balance under the positive tilt application condition;

[0113] The second condition determination unit is used to calculate the third counterweight weight of the counterweight unit according to the supplementary torque, and use the third counterweight weight as the final counterweight unit weight.

[0114] Based on the above embodiments, the whole machine tipping line determination module 620 includes:

[0115] The whole machine data acquisition unit is used to acquire the wheelbase of the front axle and the rear axle, the track width between the left and right tires, and the section width of the tires in the chassis unit;

[0116] A rotation angle calculation unit, used to calculate the angle between the two units as the rotation angle by using the angle sensors on the turntable unit and the chassis unit respectively;

[0117] The whole machine tipping line position determination unit is used to select a corresponding tipping line calculation formula according to the angle range, and use the rotation angle, wheelbase, track width and at least one of the section width and the tipping line calculation formula to determine the whole machine tipping line position.

[0118] Based on the above embodiments, the torque formula selection module 630 includes:

[0119] The first moment calculation formula selection unit is used to select the moment calculation formula when the real-time tilt state of the whole machine is positive tilt. As the torque calculation formula;

[0120] The second moment calculation formula selection unit is used to select when the real-time tilt state of the whole machine is negative tilt. As the torque calculation formula;

[0121] When the angle collected by the angle sensor of the turntable unit is within the range of [0°, 90°), the real-time tilt state of the whole machine is determined to be positive tilt; when the angle collected by the angle sensor of the turntable unit is within the range of [-90°, 0°), the real-time tilt state of the whole machine is determined to be negative tilt;

[0122] Wherein, G is the weight of each functional unit or the weight of the whole machine; θ is the angle collected by the angle sensor of the turntable unit; X and Z can be the horizontal and vertical coordinate values ​​of the center of gravity of each functional unit or the whole machine projected on the tipping line of the whole machine.

[0123] Based on the above embodiments, the moment composition analysis module 650 includes:

[0124] Other torque calculation units are used to obtain the maximum windward force and the maximum hand operation force of the whole machine when the whole machine is in a real-time tilt state, and calculate the corresponding environmental torque and operation torque respectively;

[0125] The first moment composition analysis unit is used for when the whole machine is tilted in the positive direction, the overturning moment is composed of the whole machine overturning moment, the environmental moment and the operating moment, and the stabilizing moment is composed of the hinge moment, the chassis moment, the turntable moment and the counterweight moment;

[0126] The second moment composition analysis unit is used for when the whole machine is negatively tipped over, the tipping moment is composed of the tipping moment of the whole machine and the counterweight moment; the stabilizing moment is composed of the hinge moment, chassis moment, turntable moment, environmental moment and operating moment.

[0127] Based on the above embodiments, the hinge point moving module 660 includes:

[0128] The first distance moving unit is used to calculate a first difference torque between the stabilizing torque and the tipping torque when the whole machine is tilted in the positive direction, and control the hinge unit to move a first distance in the negative direction according to the first difference torque so that the whole machine reaches balance;

[0129] The second distance moving unit is used to calculate the first difference torque between the stabilizing torque and the tipping torque when the whole machine is tilted negatively, and control the hinge unit to move a second distance in the positive direction according to the second difference torque so that the whole machine reaches balance.

[0130] On the basis of the above embodiments, it further includes a whole machine weight calculation unit, which is used to obtain the center of gravity position and weight of each functional unit under the current aerial work platform, and then obtain the weight of the whole machine by summing the weight of each functional unit.

[0131] An anti-rollover control device for an aerial work platform provided in an embodiment of the present invention can execute an anti-rollover control method for an aerial work platform provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0132] Embodiment 4

[0133] Figure 7 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0134] like Figure 7 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0135] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0136] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as an anti-rollover control method for an aerial work platform.

[0137] That is: obtaining the center of gravity position and weight of each functional unit under the current aerial work platform; wherein each functional unit includes: a working platform, a boom unit, a hinge unit, a counterweight unit, a turntable unit and a chassis unit;

[0138] The rotation angle of the whole machine is collected, and the corresponding rotation interval formula is selected according to the angle interval into which the rotation angle falls, so as to obtain the tipping line of the whole machine;

[0139] Acquire the real-time tilt state of the whole machine according to the angle sensor on the turntable unit, and select the corresponding torque calculation formula according to the real-time tilt state of the whole machine;

[0140] Obtaining the coordinates of the center of gravity of the whole machine according to the whole machine tipping line, and substituting the weight of the whole machine, the coordinates of the center of gravity of the whole machine, the center of gravity position and the weight of each functional unit into the moment calculation formula to calculate the tipping moment of the whole machine and the moment of each functional unit;

[0141] Determine the composition of the overturning moment and the stabilizing moment for offsetting the overturning moment according to the real-time tilt state of the whole machine; wherein the functional unit moment is the overturning moment or the stabilizing moment;

[0142] The moving distance of the hinge unit is determined by calculating the difference between the stabilizing moment and the tipping moment, so that the whole machine can be balanced.

[0143] In some embodiments, an anti-rollover control method for an aerial work platform may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the anti-rollover control method for an aerial work platform described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute an anti-rollover control method for an aerial work platform in any other appropriate manner (e.g., by means of firmware).

[0144] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0145] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0146] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0147] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0148] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0149] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0150] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0151] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An anti-rollover control method for an aerial work platform, characterized in that: include: Get the center of gravity position and weight of each functional unit under the current aerial work platform; The functional units include: a working platform, a boom unit, a hinge unit, a counterweight unit, a turntable unit and a chassis unit; The rotation angle of the whole machine is collected, and the corresponding rotation interval formula is selected according to the angle interval into which the rotation angle falls, so as to obtain the tipping line of the whole machine; Acquire the real-time tilt state of the whole machine according to the angle sensor on the turntable unit, and select the corresponding torque calculation formula according to the real-time tilt state of the whole machine; Obtaining the coordinates of the center of gravity of the whole machine according to the whole machine tipping line, and substituting the weight of the whole machine, the coordinates of the center of gravity of the whole machine, the center of gravity position and the weight of each functional unit into the moment calculation formula to calculate the tipping moment of the whole machine and the moment of each functional unit; Determine the composition of the overturning moment and the stabilizing moment for offsetting the overturning moment according to the real-time tilt state of the whole machine; wherein the functional unit moment is the overturning moment or the stabilizing moment; The moving distance of the hinge unit is determined by calculating the difference between the stabilizing moment and the tipping moment, so that the whole machine can be balanced.

2. The method according to claim 1, characterized in that Collect the rotation angle of the whole machine, and select the corresponding rotation interval formula according to the angle interval that the rotation angle falls into, and obtain the whole machine tipping line, including: Obtain the wheelbase of the front axle and the rear axle, the track width between the left and right tires, and the section width of the tires in the chassis unit; The angle sensors on the turntable unit and the chassis unit are used to calculate the angle between the two units as the rotation angle; A corresponding tilting line calculation formula is selected according to the angle range, and the tilting line position of the whole machine is determined using the rotation angle, wheelbase, track width and at least one of the section width and the tilting line calculation formula.

3. The method according to claim 1, characterized in that The real-time tilt state of the whole machine is obtained according to the angle sensor on the turntable unit, and the corresponding torque calculation formula is selected according to the real-time tilt state of the whole machine, including: When the real-time tilt state of the whole machine is positive tilt, select As the torque calculation formula; When the real-time tilt state of the whole machine is negative, select As the torque calculation formula; When the angle collected by the angle sensor of the turntable unit is within the range of [-90°, 0°), the real-time tilt state of the whole machine is determined to be positive tilt; when the angle collected by the angle sensor of the turntable unit is within the range of [0°, 90°), the real-time tilt state of the whole machine is determined to be negative tilt; Wherein, G is the weight of each functional unit or the weight of the whole machine; θ is the angle collected by the angle sensor of the turntable unit; X and Z can be the horizontal and vertical coordinate values ​​of the center of gravity of each functional unit or the whole machine projected on the tipping line of the whole machine.

4. The method according to claim 1, characterized in that: The composition of the tipping moment and the stabilizing moment for offsetting the tipping moment is determined according to the real-time tilt state of the whole machine, including: Obtain the maximum windward force and the maximum hand operation force of the whole machine when the whole machine is tilted in real time, and calculate the corresponding environmental torque and operation torque respectively; When the whole machine is tilted forward, the tipping moment is composed of the whole machine tipping moment, environmental moment and operating moment, and the stabilizing moment is composed of hinge moment, chassis moment, turntable moment and counterweight moment. When the whole machine is negatively tilted, the tipping moment is composed of the tipping moment of the whole machine and the counterweight moment; the stabilizing moment is composed of the hinge moment, chassis moment, turntable moment, environmental moment and operating moment.

5. The method according to claim 1, characterized in that: The moving distance of the hinge unit is determined by calculating the difference between the stabilizing moment and the tipping moment, so that the whole machine is balanced, including: When the whole machine is tilted in the positive direction, a first difference torque between the stabilizing torque and the tipping torque is calculated, and the hinge unit is controlled to move a first distance in the negative direction according to the first difference torque, so that the whole machine reaches balance; When the whole machine is tilted negatively, a first difference torque between the stabilizing torque and the tipping torque is calculated, and the hinge unit is controlled to move a second distance in a positive direction according to a second difference torque, so that the whole machine reaches balance.

6. The method according to any one of claims 1 to 5, characterized in that: Get the center of gravity position and weight of each functional unit under the current aerial work platform, including: Under the application condition of positive tilt, the hinge unit is controlled to move to the first edge in the negative direction, and the weight of the first counterweight at this time is recorded; Under the application condition of negative tilt, the hinge point unit is controlled to move in the positive direction to the second edge, and the weight of the second counterweight at this time is recorded; If the aerial work platform can maintain balance in a positive tilt environment under the second counterweight weight, then compare the values ​​of the first counterweight and the second counterweight, and select the minimum value as the final counterweight unit weight; If not, controlling the hinge unit to move from the first edge to the second edge; When the aerial work platform regains balance in the positive tilt application condition, calculate the supplementary torque generated by the movement of the hinge unit at this time; The third counterweight weight of the counterweight unit is calculated according to the supplementary torque, and the third counterweight weight is used as the final counterweight unit weight.

7. The method according to claim 6, characterized in that After obtaining the center of gravity position and weight of each functional unit under the current aerial work platform, it also includes: The weight of the whole machine is obtained by summing up the weight of each functional unit.

8. An anti-rollover control device for an aerial work platform, characterized in that: include: The functional unit acquisition module is used to obtain the center of gravity position and weight of each functional unit under the current aerial work platform; The functional units include: a working platform, a boom unit, a hinge unit, a counterweight unit, a turntable unit and a chassis unit; The whole machine tipping line determination module is used to collect the rotation angle of the whole machine, and select the corresponding rotation interval formula according to the angle interval into which the rotation angle falls, so as to obtain the whole machine tipping line; A torque formula selection module, used to obtain the real-time tilt state of the whole machine according to the angle sensor on the turntable unit, and select a corresponding torque calculation formula according to the real-time tilt state of the whole machine; A torque calculation module is used to obtain the coordinates of the center of gravity of the whole machine according to the tipping line of the whole machine, and substitute the weight of the whole machine, the coordinates of the center of gravity of the whole machine, the center of gravity position and the weight of each functional unit into the torque calculation formula to calculate the tipping torque of the whole machine and the torque of each functional unit; A torque composition analysis module, used to determine the composition of the overturning torque and the stabilizing torque for offsetting the overturning torque according to the real-time tilt state of the whole machine; wherein the functional unit torque is the overturning torque or the stabilizing torque; The hinge point movement module is used to determine the movement distance of the hinge point unit by calculating the difference between the stabilizing moment and the tipping moment, so that the whole machine can achieve balance.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute an anti-rollover control method for an aerial work platform as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement an anti-rollover control method for an aerial work platform according to any one of claims 1 to 7 when executed.

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