High-altitude operation equipment and control method, processor and control device thereof

Abstract

The invention belongs to the technical field of high-altitude operation, and particularly relates to high-altitude operation equipment and a control method thereof, a processor and a control device.The control method comprises the steps that a cantilever crane is controlled to drive a cleaning accessory to execute cleaning operation; determining that the boom is in an extreme motion state; the cleaning accessory is controlled to stop cleaning operation; obtaining the return angle of the arm support and the vehicle moving distance of the chassis; controlling the arm support to execute return operation according to the return angle; controlling the chassis to execute vehicle moving operation according to the vehicle moving distance; and after the car moving operation is executed, the arm frame is controlled to drive the cleaning accessory to continue to execute the cleaning operation. By the adoption of the control method of the high-altitude operation equipment, intelligent and automatic cleaning of the cleaning vertical face can be achieved, after one cleaning area is cleaned, the high-altitude operation equipment is automatically moved to the next area, and the cleaning efficiency of the high-altitude operation equipment is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerial work, and in particular relates to aerial work equipment and a control method, a processor and a control device thereof. Background Art

[0002] There are a lot of high-altitude work scenes in daily life and engineering operations, such as high-altitude facade wall cleaning. The current technical status of this scene operation at home and abroad is to install cleaning accessories on the aerial work platform for cleaning. The operator needs to control the boom on the aerial platform to realize the facade cleaning operation.

[0003] As people pay more and more attention to the safety issues of aerial work and the requirements for work efficiency are getting higher and higher, the intelligence and unmanned operation of aerial work equipment have become particularly important. Therefore, the industry has also introduced a certain degree of manual intervention combined with intelligent assisted cleaning operation mode. You only need to control the boom to the vicinity of the preset position and press a one-button operation button to realize the autonomous cleaning operation within the boom activity area. When the cleaning platform reaches the operating limit, the operator controls the boom to return to the initial position, then drives the chassis to the appropriate position of the uncleaned area, and controls the boom to the preset position again for a cycle operation. However, the above cleaning method still requires a lot of manual intervention. After cleaning an area, the operator needs to control the cleaning vehicle to move and operate again. The degree of intelligence is not high and the operating efficiency is also low. Summary of the invention

[0004] The purpose of the present invention is to provide an aerial work equipment and a control method, a processor and a control device thereof, so as to realize intelligent and efficient cleaning of the cleaning facade.

[0005] In order to achieve the above-mentioned object, the present invention provides a control method for aerial work equipment on one hand, wherein the aerial work equipment comprises a chassis, an arm and a cleaning attachment, wherein the arm is telescopically arranged on the chassis and can rotate relative to the chassis, and the cleaning attachment is arranged at the moving end of the arm, and the control method comprises:

[0006] Control the arm frame to drive the cleaning attachment to perform cleaning operations;

[0007] Make sure the boom is in extreme motion state;

[0008] Control the cleaning accessories to stop the cleaning operation;

[0009] Obtain the arm return angle and chassis moving distance;

[0010] Control the boom to perform the return operation according to the return angle;

[0011] Control the chassis to perform the vehicle moving operation according to the vehicle moving distance;

[0012] After the vehicle moving operation is completed, the control arm drives the cleaning attachment to continue the cleaning operation.

[0013] In some embodiments, the return angle is obtained by: obtaining an initial rotation angle and a limit rotation angle of the boom, wherein the limit rotation angle is the corresponding rotation angle of the boom when the boom is in an extreme motion state; and determining the return angle based on the initial rotation angle and the limit rotation angle.

[0014] In some embodiments, the moving distance is obtained by: obtaining the initial position and the extreme cleaning position of the cleaning attachment, wherein the extreme cleaning position is the cleaning position corresponding to the cleaning attachment when the boom is in an extreme motion state; and determining the moving distance based on the initial position and the extreme cleaning position.

[0015] In some embodiments, the initial position is obtained according to the following method: obtaining the initial rotation angle, initial amplitude variation angle and initial telescopic length of the boom; determining the initial position according to the initial rotation angle, initial amplitude variation angle and initial telescopic length; and the extreme cleaning position is obtained according to the following method: obtaining the extreme rotation angle, extreme amplitude variation angle and extreme telescopic length when the boom is in an extreme motion state; determining the extreme cleaning position according to the extreme rotation angle, extreme amplitude variation angle and extreme boom telescopic length.

[0016] In some embodiments, the control method further includes: after the cleaning attachment stops the cleaning operation and before the arm performs the returning operation, controlling the arm to perform the retracting operation.

[0017] In some embodiments, controlling the chassis to perform a moving operation based on the moving distance includes: obtaining a first distance between a front end of the cleaning attachment and a cleaning facade and a second distance between a rear end of the cleaning attachment and the cleaning facade during the chassis performing the moving operation; calculating a difference between the first distance and the second distance; and when the absolute value of the difference exceeds a preset difference, controlling the chassis to perform a path adjustment operation until the absolute value of the difference does not exceed the preset difference.

[0018] In some embodiments, controlling the chassis to perform the path adjustment operation includes: acquiring a path adjustment model; inputting the difference into the path adjustment model to obtain a control current signal; and controlling the chassis to perform the path adjustment operation according to the control current signal.

[0019] In some implementations, the expression of the pathway adjustment model is:

[0020]

[0021] K d (ΔD(k)-ΔD(k-1)),MAXI b )

[0022] Among them, I b is the steering current of the chassis, MINI b is the minimum steering current threshold, MAXI b is the maximum steering current threshold, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, ΔD(k) is the difference corresponding to the current sampling period, ΔD(k-1) is the difference corresponding to the previous sampling period, and ΔD(n) is the difference corresponding to the nth sampling period.

[0023] In some embodiments, the aerial work equipment also includes an alarm device, and the control method also includes: during the process of the chassis performing a vehicle moving operation, determining that a first obstacle exists on a first forward path of the chassis; obtaining the distance between the chassis and the first obstacle; when the distance is less than or equal to a preset distance, controlling the chassis to stop performing the vehicle moving operation and controlling the alarm device to perform an alarm operation.

[0024] In some embodiments, the control method also includes: during the process of the cleaning attachment performing a cleaning operation, determining that a second obstacle exists on a second forward path of the cleaning attachment; obtaining a first vertical safety redundant distance; calculating a vertical obstacle clearance based on the first vertical safety redundant distance; determining an obstacle avoidance path based on the vertical obstacle clearance; and controlling the arm frame based on the obstacle avoidance path to drive the cleaning attachment to perform an obstacle avoidance operation.

[0025] A second aspect of the present invention provides a processor, which is configured to execute the above-mentioned control method of aerial work equipment.

[0026] A third aspect of the present invention provides a control device, which includes: a boom amplitude variation angle sensor for detecting the boom amplitude variation angle; a boom rotation angle sensor for detecting the boom rotation angle; a boom telescopic length sensor for detecting the telescopic length of the boom; and the above-mentioned processor, the processor being communicatively connected with the boom amplitude variation angle sensor, the boom rotation angle sensor and the boom telescopic length sensor.

[0027] A fourth aspect of the present invention provides an aerial work equipment, comprising: a chassis; a boom, which is telescopically arranged on the chassis and can rotate relative to the chassis; a cleaning attachment, which is arranged at the moving end of the boom; and a control device according to the above.

[0028] In the above technical solution, the aerial work equipment includes a chassis, a boom and cleaning accessories. The boom can be telescopically arranged on the chassis and can rotate relative to the chassis. The cleaning accessories are arranged at the moving end of the boom. The control method includes: controlling the cleaning accessories and the boom to perform cleaning operations; determining that the boom is in an extreme motion state; controlling the cleaning accessories to stop the cleaning operation; obtaining the return angle of the boom and the moving distance of the chassis; controlling the boom to perform the return operation according to the return angle; controlling the chassis to perform the moving operation according to the moving distance; after the moving operation is completed, controlling the cleaning accessories and the boom to continue to perform the cleaning operation. In the technical solution of the present invention, when the aerial work equipment is performing an automatic cleaning operation, it can determine whether the boom is in an extreme motion state. When the boom reaches the extreme motion state, the boom cannot drive the cleaning accessories to continue to perform the cleaning operation on the cleaning facade along the preset cleaning path in the extreme motion state. Subsequently, the cleaning accessories can be controlled to stop the cleaning operation, and the arm return angle and the moving distance of the chassis can be obtained. The arm can be controlled to return according to the return angle, so that the arm can rotate to the initial rotation angle. The chassis can be controlled to perform the moving operation according to the moving distance. When the chassis is moved, the cleaning accessories and the arm can be controlled to continue the cleaning operation. By adopting the above-mentioned control method for aerial work equipment, after the aerial work equipment completes the cleaning work of an area, the arm can be automatically returned and the vehicle can be moved, so that the aerial work equipment can continuously operate on the cleaning facade, thereby improving the cleaning efficiency of the aerial work equipment and simplifying the operator's operation.

[0029] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative work. In the accompanying drawings:

[0031] Figure 1 A schematic diagram of the structure of the aerial work equipment provided according to an embodiment of the present invention;

[0032] Figure 2 A flowchart of a method for high-altitude work provided according to an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of a cleaning operation of an aerial work equipment provided according to an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of the spatial coordinates of a cleaning attachment provided according to an embodiment of the present invention;

[0035] Figure 5 A schematic diagram of a boom retracting operation according to an embodiment of the present invention;

[0036] Figure 6 A schematic diagram of an obstacle avoidance path provided according to an embodiment of the present invention;

[0037] Figure 7 The present invention is a control flow chart of aerial work equipment provided according to an embodiment of the present invention.

[0038] Description of Reference Numerals

[0039] 10 Chassis

[0040] 20 Boom

[0041] 30. Cleaning accessories DETAILED DESCRIPTION

[0042] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0043] The aerial work equipment and its control method, processor and control device according to the present invention are described below with reference to the accompanying drawings.

[0044] like Figure 1 As shown, it is a schematic diagram of the structure of the aerial work equipment provided according to an embodiment of the present invention; Figure 2 As shown, it is a flow chart of a high-altitude working method provided according to an embodiment of the present invention.

[0045] The aerial work equipment provided by the embodiment of the present invention includes a chassis 10, a boom 20 and a cleaning attachment 30, the boom 20 is telescopically arranged on the chassis 10 and can rotate relative to the chassis 10, the cleaning attachment 30 is arranged at the moving end of the boom 20, and the control method includes:

[0046] S101, controlling the cleaning attachment 30 and the arm 20 to perform a cleaning operation;

[0047] S102, determining that the arm 20 is in an extreme motion state;

[0048] S103, controlling the cleaning attachment 30 to stop the cleaning operation;

[0049] S104, obtaining the return angle of the boom 20 and the moving distance of the chassis 10;

[0050] S105, controlling the arm 20 to perform a return operation according to the return angle;

[0051] S106, controlling the chassis 10 to perform the vehicle moving operation according to the vehicle moving distance;

[0052] S107, after the vehicle moving operation is completed, the cleaning attachment 30 and the arm 20 are controlled to continue to perform the cleaning operation.

[0053] When the aerial work vehicle performs cleaning work, there is a method in the prior art to control the boom 20 to drive the cleaning attachment 30 to perform the cleaning operation according to the preset rectangular wave cleaning path. However, after the aerial work equipment completes an area, it is limited by the range of motion of the boom 20 of the aerial work equipment, and the operator needs to manually drive the chassis 10 to move to the next area to be cleaned. The operator often needs to reposition the initial position of the cleaning attachment 30, and the degree of intelligence is not high.

[0054] The present invention provides a control method for aerial work equipment, wherein a processor can control a boom 20 to drive a cleaning attachment 30 to automatically perform a cleaning operation according to a preset cleaning path. When the boom 20 drives the cleaning attachment 30 to move according to a preset cleaning trajectory and the processor determines that the boom 20 is in an extreme motion state, the processor controls the cleaning attachment 30 to stop the cleaning operation because it cannot continue to drive the cleaning attachment 30 to move according to the preset trajectory. The processor obtains the return angle of the boom 20 and the moving distance of the chassis 10, wherein the return angle of the boom 20 is the rotation angle of the boom 20 from the initial position to the time when the boom 20 reaches the extreme motion state, and the moving distance of the chassis 10 is the distance required for the chassis 10 to move to the next cleaning position. The processor can control the boom 20 to perform a return operation according to the return angle, and when the boom 20 completes the return operation, the current rotation angle of the boom 20 is the same as the rotation angle of the initial position. After the rotation is completed, the processor controls the chassis 10 to move the vehicle according to the moving distance. After the vehicle is moved, the position of the cleaning attachment 30 overlaps with the end point of the previous cleaning position, and the processor controls the arm 20 to drive the cleaning attachment 30 to continue the cleaning operation, thereby enabling the aerial cleaning vehicle to perform automatic cleaning operations on multiple continuous cleaning areas.

[0055] By adopting the control method of the aerial work equipment, when cleaning a large wall, the cleaning operation can be automatically performed, and after cleaning an area, the rotation angle of the boom 20 and the moving distance can be determined, and the boom 20 can be controlled to rotate, and the chassis 10 can be controlled to perform the moving operation. The control method of the aerial work equipment has a high degree of intelligent cleaning and significantly improves the cleaning efficiency.

[0056] In one embodiment, the return angle is obtained by the following method: obtaining the initial rotation angle and the limit rotation angle of the boom 20, wherein the limit rotation angle is the corresponding rotation angle of the boom 20 when the boom 20 is in the limit motion state; determining the return angle according to the initial rotation angle and the limit rotation angle. When the boom 20 drives the cleaning attachment 30 to perform a cleaning operation on the cleaning facade, the boom 20 will perform a variable amplitude motion and a rotational motion, wherein the variable amplitude motion can change the height of the cleaning attachment 30, and the rotational motion can change the horizontal position of the cleaning attachment 30, and the boom 20 can simultaneously extend and retract the boom 20 when performing the variable amplitude motion and the rotational motion. When the boom 20 moves from the initial position to the limit motion state, the boom 20 moves from the initial rotation angle to the limit rotation angle, and the processor can determine the angle as the return angle of the boom 20 during the cleaning operation according to the angle difference between the initial rotation angle and the limit rotation angle, and control the comparison to rotate in the direction of the initial position according to the return angle. After the arm 20 has returned to its original position, the rotation angle of the arm 20 is the same as the initial rotation angle, and the height of the cleaning attachment 30 is the same as the height in the extreme motion state.

[0057] In a specific embodiment, Figure 3 As shown in the figure, it is a schematic diagram of the cleaning operation of the aerial work equipment provided according to an embodiment of the present invention. Point A is the initial position of the cleaning attachment 30. When the arm 20 is in the extreme motion state, the cleaning position of the cleaning attachment 30 is point B. When performing the automatic cleaning operation, the arm 20 drives the cleaning attachment 30 to move from point A to point B along the rectangular wave trajectory. After reaching point B, the arm 20 rotates to perform the rotational motion. In the process of the arm 20 rotating from point B, the arm first shortens and then lengthens. It is worth noting that Figure 3 The views in the specific embodiments are schematic. In actual operation, the heights of the initial position point A and the extreme cleaning position point B in the motion limit state are usually different, so the position after rotation is different in height from point A with the same rotation angle. By adopting the above-mentioned control method for aerial work equipment, after cleaning an area, the rotation movement can be performed according to the change in the rotation angle, so that after the aerial work equipment performs the moving operation, the automatic cleaning operation starts from the position where the last cleaning was completed, thereby improving the cleaning efficiency of the aerial work equipment.

[0058] In one embodiment, Figure 3 As shown, the moving distance is obtained by the following method: obtaining the initial position and the extreme cleaning position of the cleaning attachment 30, wherein the extreme cleaning position is the cleaning position corresponding to the cleaning attachment 30 when the arm 20 is in the extreme motion state; determining the moving distance according to the initial position and the extreme cleaning position. Because when the cleaning attachment 30 is in the initial position, the rotation angle of the arm 20 is fixed, therefore, according to Figure 3As shown in the parallelogram diagram, when the moving distance of the chassis 10 is the same as the horizontal moving distance of the cleaning attachment 30, after the return operation and the moving operation are performed, the cleaning attachment 30 overlaps with the last cleaning limit cleaning position (that is, after the moving operation, the cleaning attachment 30 is located at point B). Therefore, before the moving operation is performed, the processor can obtain the initial position and the limit cleaning position of the cleaning attachment 30, and determine the moving distance of the chassis 10 according to the horizontal distance difference corresponding to the initial position and the limit cleaning position. By adopting the above control method, the moving distance can be accurately determined, so that after each moving, the cleaning attachment 30 overlaps with the last limit cleaning position, the positioning is accurate, the degree of intelligence is high, and the cleaning efficiency is high.

[0059] In a specific embodiment, the aerial work equipment further includes a wheel encoder, and the travel distance of the chassis 10 can be determined based on the detection result of the wheel encoder. Specifically, the travel distance of the chassis 10 is calculated based on the following expression (1):

[0060] S=γ / 360·2πR (1)

[0061] Among them, S is the travel distance of the chassis 10, γ is the rotation angle output by the wheel encoder, and R is the radius of the wheel of the chassis 10.

[0062] In one embodiment, Figure 4As shown, it is a schematic diagram of the spatial coordinates of the cleaning attachment 30 provided according to an embodiment of the present invention. The initial position is obtained according to the following method: obtaining the initial rotation angle, initial amplitude change angle and initial telescopic length of the boom 20; determining the initial position according to the initial rotation angle, initial amplitude change angle and initial telescopic length; and the limit cleaning position is obtained according to the following method: obtaining the limit rotation angle, limit amplitude change angle and limit telescopic length when the boom 20 is in the limit motion state; determining the limit cleaning position according to the limit rotation angle, limit amplitude change angle and limit telescopic length of the boom 20. When the boom 20 drives the cleaning attachment 30 to move, a spatial coordinate diagram of the cleaning attachment 30 can be determined according to the rotation angle of the boom 20, the amplitude change angle of the boom 20 and the telescopic length of the boom 20, wherein the boom rotation angle sensor can be used to measure the rotation angle of the boom 20, the boom amplitude change angle sensor can be used to measure the amplitude change angle of the boom 20, and the boom telescopic length sensor can be used to measure the telescopic length of the boom 20. The processor can establish a three-dimensional coordinate system, in which the contact point between the arm 20 and the chassis 10 is the origin, the vertical direction of the ground is the Z axis, the moving direction of the chassis 10 is the Y axis, and the direction of the chassis 10 toward the cleaning vertical surface is the X axis. The initial coordinates and the limit coordinates of the cleaning attachment 30 corresponding to the initial position and the limit cleaning position can be determined according to the rotation angle of the arm 20, the amplitude angle of the arm 20, and the telescopic length of the arm 20, and the moving distance can be determined according to the Y-axis coordinate difference between the initial coordinates and the limit coordinates. The above control method can accurately determine the initial position and the limit cleaning position of the cleaning attachment 30, so as to facilitate accurate vehicle moving.

[0063] In a specific embodiment, Figure 4 As shown, the coordinates of the initial position point A can be determined according to the following expression (2):

[0064]

[0065] Among them, x1 is the horizontal coordinate of point A, y1 is the vertical coordinate of point A, z1 is the vertical coordinate of point A, L1 is the initial telescopic length of the boom 20, α1 is the amplitude change angle of the boom 20, and θ1 is the rotation angle of the boom 20.

[0066] The coordinates of the extreme cleaning position point B are determined according to the following expression (3):

[0067]

[0068] Among them, x2 is the horizontal coordinate of point B, y2 is the vertical coordinate of point B, z2 is the vertical coordinate of point B, L2 is the initial telescopic length of the boom 20, α2 is the amplitude change angle of the boom 20, and θ2 is the rotation angle of the boom 20. After conversion, it can be determined that the moving distance of the chassis 10 can be determined according to the difference between y2 and y1.

[0069] In one embodiment, Figure 5 As shown, it is a schematic diagram of the retraction operation of the arm 20 provided according to an embodiment of the present invention. The control method also includes: after the cleaning attachment 30 stops the cleaning operation and before the arm 20 performs the return operation, controlling the arm 20 to perform the retraction operation. Because there may be a second obstacle on the cleaning facade, in order to prevent the cleaning attachment 30 from colliding with the obstacle during the return process, the processor can control the cleaning attachment 30 to retract a preset distance in the direction away from the cleaning facade, and then perform the return operation. In a rectangular wave cleaning path before retraction, the processor can detect and identify the thickness and height of the facade obstacle. The processor saves the obstacle thickness value in the rectangular wave cleaning path before retraction, and takes a distance greater than the maximum thickness preset interval as the preset distance to prevent the arm 20 or the cleaning attachment 30 from colliding with the obstacle.

[0070] Specifically, before the arm 20 returns to its original position, the processor first controls the cleaning attachment 30 to move from point B to point B', wherein the vertical coordinate and the ordinate between point B' are the same as those between point B, and the horizontal coordinates differ by a distance d, that is, the coordinate of B' is (x2-d, y2, z2). Subsequently, the cleaning attachment 30 is controlled to move from point B' to point C'. Finally, the processor controls the arm 20 to move from point C' to point C, wherein the horizontal coordinate and the vertical coordinate between point C and point B are the same, and the vertical coordinate is the same as that of point A, that is, the coordinate of C is (x2, y1, z2). The vertical coordinate and the ordinate between point C' and point C are the same, and the horizontal coordinates differ by a distance d, that is, the coordinate of C' is (x2-d, y1, z2). After the cleaning attachment 30 reaches point C, it is determined that the return operation of the cleaning attachment 30 is completed. The above-mentioned control method can prevent the cleaning attachment 30 from colliding with obstacles, thereby affecting the normal execution of the cleaning work.

[0071] In one embodiment, controlling the chassis 10 to perform a moving operation based on the moving distance includes: obtaining a first distance between the front end of the cleaning attachment 30 and the cleaning facade and a second distance between the rear end of the cleaning attachment 30 and the cleaning facade during the moving operation of the chassis 10; calculating the difference between the first distance and the second distance; and when the absolute value of the difference exceeds a preset difference, controlling the chassis 10 to perform a path adjustment operation until the absolute value of the difference does not exceed the preset difference. Furthermore, the preset difference in this embodiment is preferably 0. The cleaning attachment 30 includes a plurality of position sensors, which can be used to detect the distance between the cleaning attachment 30 and the cleaning facade. During the vehicle moving operation, the processor can obtain the first distance and the second distance once every preset time period, and determine the difference between the first distance and the second distance. When the absolute value of the difference between the first distance and the second distance is greater than the preset difference, it can be determined that the movement direction of the chassis 10 is not parallel to the cleaning facade. The processor can perform a path adjustment operation on the chassis 10 so that the absolute value of the difference between the first distance and the second distance is less than the preset difference, thereby making the movement of the chassis 10 parallel to the cleaning facade. For example, when the preset difference is 0, if the first distance between the front end of the cleaning attachment 30 and the cleaning facade and the second distance between the rear end of the cleaning attachment 30 and the cleaning facade are different, the path of the chassis 10 needs to be adjusted. By adopting the above control method, the moving direction of the chassis 10 can be ensured to be parallel to the cleaning facade during the vehicle moving process of the chassis 10, so that the horizontal distance between the chassis 10 and the cleaning facade is kept constant during the movement process, eliminating the need for manual adjustment by the operator and improving the cleaning efficiency.

[0072] In one embodiment, after the arm 20 completes the return operation, the processor can adjust the distance between the front and rear sides of the cleaning attachment 30 and the cleaning surface so that the distance between the front and rear sides of the cleaning attachment 30 and the cleaning surface is equal. The cleaning attachment 30 is provided with two front and rear ultrasonic detectors, which can detect the distance between the front and rear sides of the cleaning attachment 30 and the cleaning surface. The steering current of the cleaning attachment 30 is determined according to the following expression (4):

[0073]

[0074] Among them, I a is the control current of the cleaning attachment 30, when I a When the cleaning attachment 30 rotates clockwise around the arm 20 in a top-down perspective, a When it is less than zero, the cleaning attachment 30 rotates counterclockwise around the arm 20 in a top-down perspective. k is the current proportionality coefficient, D1 is the distance between the front end of the cleaning attachment 30 and the cleaning vertical surface, D2 is the distance between the rear end of the cleaning attachment 30 and the cleaning vertical surface, and I aminBy adopting the above control method, the front and rear sides of the cleaning attachment 30 can be kept parallel to the cleaning surface before the vehicle is moved, so that the moving direction of the chassis 10 can be adjusted by detecting the distance between the cleaning attachment 30 and the cleaning surface during the vehicle moving process.

[0075] In one embodiment, controlling the chassis 10 to perform a path adjustment operation includes: obtaining a path adjustment model; inputting the difference into the path adjustment model to obtain a control current signal; and controlling the chassis 10 to perform a path adjustment operation according to the control current signal. The processor can determine the difference between the first distance and the second distance once every preset period. When the difference between the first distance and the second distance is greater than the preset difference, the processor can input the difference into the path adjustment model to calculate the control current signal for the chassis 10. The processor can control the chassis 10 to perform a path adjustment operation according to the control current signal. By adopting the above control method, the movement path of the chassis 10 can be accurately adjusted to prevent the movement of the chassis 10 from deviating from the cleaning facade. The adjustment frequency is positively correlated with the signal acquisition cycle of the processor, and the adjustment speed is fast and convenient.

[0076] In one embodiment, the expression of the path adjustment model is:

[0077]

[0078] Among them, I b is the steering current of chassis 10, MINI b is the minimum steering current threshold, MAXI b is the maximum steering current threshold, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, ΔD(k) is the difference corresponding to the current sampling period, ΔD(k-1) is the difference corresponding to the previous sampling period, and ΔD(n) is the difference corresponding to the nth sampling period. The essence of the expression of the above-mentioned path adjustment model is the PID adjustment method. By adjusting the PID adjustment parameters, the motion path of the chassis 10 can be quickly and accurately adjusted to prevent the chassis 10 from deviating from the preset trajectory.

[0079] In one embodiment, the aerial work equipment further includes an alarm device, and the control method further includes: during the process of the chassis 10 performing the vehicle moving operation, determining that there is a first obstacle on the first forward path of the chassis 10; obtaining the distance between the chassis 10 and the first obstacle; when the distance is less than or equal to the preset distance, controlling the chassis 10 to stop performing the vehicle moving operation and controlling the alarm device to perform an alarm operation. When there is a first obstacle on the first forward path of the chassis 10, such as a pedestrian, mechanical equipment, etc., the processor can obtain the distance between the chassis 10 and the obstacle in real time, and when the first distance is less than or equal to the preset distance, control the chassis 10 to stop moving and control the alarm device to perform an alarm operation. Among them, the alarm operation may include flashing of the alarm indicator light, sounding of an alarm prompt sound, etc. When the first obstacle can be moved, after the first obstacle is removed, the processor continues to perform the vehicle moving operation. When the first obstacle is difficult to be moved, the operator drives the aerial work equipment to perform the obstacle avoidance vehicle moving operation, and then the operator readjusts the initial position of the cleaning attachment 30 to facilitate the automatic cleaning operation. The above control method can avoid the aerial work equipment from colliding with the first obstacle during the moving operation on the first forward path, making the moving of the aerial work equipment safer.

[0080] In a specific embodiment, the aerial work equipment includes a millimeter wave radar, which can detect a first obstacle on a first path, determine the distance between the first obstacle and the chassis 10, and transmit the distance to the processor.

[0081] In one embodiment, Figure 6 As shown, it is a schematic diagram of an obstacle avoidance path provided according to an embodiment of the present invention, and the control method further includes: during the cleaning operation of the cleaning attachment 30, determining that there is a second obstacle on the second forward path of the cleaning attachment 30; obtaining a first vertical safety redundant distance; calculating a vertical obstacle crossing distance based on the first vertical safety redundant distance; determining an obstacle avoidance path according to the vertical obstacle crossing distance; and controlling the arm 20 to drive the cleaning attachment 30 to perform an obstacle avoidance operation based on the obstacle avoidance path. When it is determined that there is a second obstacle on the second forward path, the thickness and height of the second obstacle can be determined, and the obstacle avoidance distance at which the cleaning attachment 30 starts to perform the obstacle avoidance operation can be determined according to the thickness of the second obstacle and the first vertical safety redundant distance, wherein the obstacle avoidance distance is the straight-line distance between the cleaning attachment 30 and the second obstacle. Subsequently, the cleaning attachment 30 is controlled to move along the outer contour of the cleaning attachment 30 until the cleaning attachment 30 is again attached to the wall surface, and the cleaning attachment 30 is controlled to continue to perform the cleaning operation according to the second forward path.

[0082] In a specific embodiment, the aerial work equipment includes a depth camera, which can determine the distance between the cleaning attachment 30 and the second obstacle and transmit it to the processor. When the cleaning attachment 30 moves downward, the obstacle avoidance distance is calculated according to the following expression (5):

[0083] D0=L·Tanα+error_L (5)

[0084] Wherein, D0 is the obstacle avoidance distance, L is the thickness of the second obstacle, α is the amplitude change angle of the boom 20, and error_L is the first vertical safety redundancy distance. Figure 6 It can be seen that when the distance between the cleaning attachment 30 and the top of the second obstacle is L·Tanα, the boom 20 and the top of the second obstacle just abut against each other. Setting the first vertical safety redundant distance can avoid the collision between the boom 20 and the second obstacle due to untimely operation, thereby improving the safety performance of the aerial work equipment when performing obstacle avoidance operations and extending the service life of the aerial work equipment.

[0085] When performing the obstacle avoidance operation, the cleaning attachment 30 moves a distance L1 in the lateral direction, and L1 is calculated according to the following expression (6):

[0086] L1=L0+L (6)

[0087] Wherein, L0 is the lateral safety redundant distance, and L is the thickness of the second obstacle. Subsequently, the cleaning attachment 30 moves vertically by a distance H0, and H0 is calculated according to the following expression (7):

[0088] H0=D0+H+error_H+H1 (7)

[0089] Wherein, D0 is the obstacle avoidance distance, H is the structural height of the second obstacle, error_H is the second vertical safety redundant distance, and H1 is the structural height of the cleaning attachment 30. When the cleaning attachment 30 avoids the second obstacle from bottom to top, the obstacle avoidance distance for performing the obstacle avoidance operation between the cleaning attachment 30 and the second obstacle is calculated based on the same principle, which will not be repeated.

[0090] In a specific embodiment, Figure 7As shown, it is a control flow chart of the aerial work equipment provided according to an embodiment of the present invention. When it is necessary to clean the cleaning facade, the operator manually selects the initial position of the cleaning attachment 30 and adjusts the cleaning parameters of the cleaning path (such as cleaning height, cleaning speed, etc.), and the operator presses the start button to make the aerial work equipment perform automatic cleaning operations. When the end of the boom 20 reaches the extreme position point B, the processor controls the end of the boom 20 to retreat d0 to the position point B', wherein point B' is farther away from the cleaning wall than point B. The processor controls the end of the boom 20 to move linearly to point C', wherein point C' has the same amplitude angle and height as point B', but different rotation angles. After the linear movement is completed, it is determined that the boom 20 and the cleaning attachment 30 have completed returning to their positions, and then the posture of the cleaning attachment 30 is adjusted so that the distance between the first distance D1 and the second distance D2 on the front and rear sides of the cleaning attachment 30 is equal. The aerial work equipment is controlled to perform the vehicle moving operation. When the vehicle moving distance S is greater than or equal to the vehicle moving distance STag, the vehicle moving is completed, and the arm frame 20 is controlled to drive the cleaning attachment 30 to perform the automatic cleaning operation again until the cleaning of the facade is completed.

[0091] In one embodiment, a processor is provided, and the processor is configured to execute the above-mentioned control method of aerial work equipment.

[0092] In one embodiment, a control device is provided, which includes: a boom amplitude variation angle sensor for detecting the amplitude variation angle of the boom 20; a boom rotation angle sensor for detecting the rotation angle of the boom 20; a boom telescopic length sensor for detecting the telescopic length of the boom 20; and the above-mentioned processor, wherein the processor is communicatively connected with the boom amplitude variation angle sensor, the boom rotation angle sensor and the boom telescopic length sensor.

[0093] In one embodiment, the control device further includes a depth camera for detecting the distance between the cleaning attachment 30 and the second obstacle.

[0094] In one embodiment, the control device further includes a millimeter wave radar for detecting the distance between the chassis 10 and the first obstacle.

[0095] In one embodiment, an aerial work equipment is provided, including: a chassis 10; a boom 20, which is telescopically disposed on the chassis 10 and can rotate relative to the chassis 10; a cleaning attachment 30, which is disposed at the moving end of the boom 20; and the above-mentioned control device.

[0096] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0097] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0098] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0099] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control method for aerial work equipment, characterized in that: The aerial work equipment comprises a chassis (10), a boom (20) and a cleaning accessory (30), wherein the boom (20) is telescopically arranged on the chassis (10) and is rotatable relative to the chassis, and the cleaning accessory (30) is arranged at the moving end of the boom (20), and the control method comprises: Controlling the arm (20) to drive the cleaning attachment (30) to perform a cleaning operation; Determining that the arm (20) is in an extreme motion state; Controlling the cleaning attachment (30) to stop the cleaning operation; Obtaining the return angle of the arm (20) and the moving distance of the chassis (10); Controlling the arm (20) to perform a return operation according to the return angle; Controlling the chassis (10) to perform a vehicle moving operation according to the vehicle moving distance; After the vehicle moving operation is completed, the arm frame (20) is controlled to drive the cleaning attachment (30) to continue to perform the cleaning operation.

2. The control method of aerial work equipment according to claim 1, characterized in that: The return angle is obtained by: Acquiring an initial rotation angle and a limit rotation angle of the boom (20), wherein the limit rotation angle is the rotation angle corresponding to the boom (20) when the boom (20) is in the limit motion state; The return angle is determined according to the initial rotation angle and the limit rotation angle.

3. The control method of aerial work equipment according to claim 1, characterized in that: The moving distance is obtained by: Acquiring an initial position and an extreme cleaning position of the cleaning attachment (30), wherein the extreme cleaning position is a cleaning position corresponding to the cleaning attachment (30) when the arm (20) is in the extreme motion state; The vehicle moving distance is determined according to the initial position and the extreme cleaning position.

4. The control method of aerial work equipment according to claim 3, characterized in that: The initial position is obtained in the following manner: Obtaining an initial rotation angle, an initial amplitude change angle and an initial telescopic length of the boom (20); Determining the initial position according to the initial rotation angle, the initial amplitude change angle and the initial telescopic length; and, The extreme cleaning position is obtained according to the following method: Obtaining the limit rotation angle, limit amplitude change angle and limit telescopic length of the boom (20) when the boom (20) is in the limit motion state; The limit cleaning position is determined according to the limit rotation angle, the limit amplitude variation angle and the limit telescopic length.

5. The control method of aerial work equipment according to claim 1, characterized in that: The control method further comprises: After the cleaning attachment (30) stops the cleaning operation and before the arm (20) performs the returning operation, the arm (20) is controlled to perform the retracting operation.

6. The control method of aerial work equipment according to claim 1, characterized in that: The step of controlling the chassis (10) to perform a vehicle moving operation according to the vehicle moving distance comprises: During the process of the chassis (10) performing the vehicle moving operation, a first distance between the front end of the cleaning attachment (30) and the cleaning surface and a second distance between the rear end of the cleaning attachment (30) and the cleaning surface are obtained; calculating a difference between the first distance and the second distance; When the absolute value of the difference exceeds a preset difference, the chassis (10) is controlled to perform a path adjustment operation until the absolute value of the difference does not exceed the preset difference.

7. The control method of aerial work equipment according to claim 6, characterized in that: The controlling the chassis (10) to perform a path adjustment operation comprises: Get the path adjustment model; Inputting the difference into the path adjustment model to obtain a control current signal; The chassis (10) is controlled to perform a path adjustment operation according to the control current signal.

8. The control method of aerial work equipment according to claim 7, characterized in that: The expression of the path adjustment model is: Among them, I b is the steering current of the chassis (10), MINI b is the minimum steering current threshold, MAXI b is the maximum steering current threshold, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, ΔD(k) is the difference corresponding to the current sampling period, ΔD(k-1) is the difference corresponding to the previous sampling period, and ΔD(n) is the difference corresponding to the nth sampling period.

9. The control method of aerial work equipment according to claim 1, characterized in that: The aerial work equipment further includes an alarm device, and the control method further includes: During the process of the chassis (10) performing the vehicle moving operation, determining that a first obstacle exists on a first forward path of the chassis (10); Obtaining the distance between the chassis (10) and the first obstacle; When the distance is less than or equal to a preset distance, the chassis (10) is controlled to stop executing the vehicle moving operation and the alarm device is controlled to execute an alarm operation.

10. The control method of aerial work equipment according to claim 1, characterized in that: The control method further comprises: During the process of the cleaning attachment (30) performing the cleaning operation, determining that a second obstacle exists on a second forward path of the cleaning attachment (30); Obtaining the first vertical safety redundancy distance; Calculating a vertical obstacle clearance based on the first vertical safety redundancy distance; Determining an obstacle avoidance path according to the vertical obstacle crossing distance; Based on the obstacle avoidance path, the arm (20) is controlled to drive the cleaning attachment (30) to perform an obstacle avoidance operation.

11. A processor, characterized in that: The processor is configured to execute the control method of aerial work equipment according to any one of claims 1 to 10.

12. A control device, characterized in that: The control device comprises: A boom luffing angle sensor, used for detecting the luffing angle of the boom (20); A boom rotation angle sensor, used for detecting the rotation angle of the boom (20); A boom telescopic length sensor, used for detecting the telescopic length of the boom (20); According to the processor of claim 11, the processor is communicatively connected to the boom amplitude angle sensor, the boom rotation angle sensor and the boom telescopic length sensor.

13. A high-altitude working equipment, characterized in that: The aerial work equipment includes: Chassis (10); An arm (20) is telescopically arranged on the chassis (10) and is rotatable relative to the chassis (10); A cleaning attachment (30) is arranged at the moving end of the arm (20); and A control device according to claim 12.

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