Floating safety control method, device, equipment, medium and aerial work platform

Abstract

The present application discloses a floating safety control method, device, equipment, medium, and aerial work platform. The floating safety control method includes: obtaining a first tilt angle, which is the tilt angle of the vehicle frame before the vehicle falls into a pit; obtaining a second tilt angle, which is the tilt angle of the vehicle frame after the vehicle falls into the pit; obtaining a first change angle, which is the difference between the first tilt angle and the second tilt angle; and executing a floating action or a safety control action based on the first change angle. The floating action is used to control the action of a single-sided floating cylinder corresponding to the corresponding single-sided floating switch triggered after the vehicle falls into the pit, and the safety control action is used to limit the action of the floating cylinder. The present application can achieve safe control of the action of the floating cylinder by the aerial work platform, contributing to the safe operation and stable operation of the aerial work platform.

Description

Technical Field

[0001] The present application relates to the field of aerial work platforms, and in particular to a floating safety control method, device, equipment, medium and aerial work platform. Background Art

[0002] The safety of off-road scissor-type self-propelled platforms operating at height requires full assurance, and the floating function is a crucial control and protection feature. After the platform is raised and the front wheels fall into a pothole, the oscillating axis, or floating cylinder, quickly executes a floating action according to control logic, allowing the front wheels to immediately contact the ground and prevent the vehicle from tipping over, thus ensuring the safety and stability of the platform under these conditions. However, if a device malfunctions and the floating action is incorrectly executed, the safety and stability of the platform can be severely impacted, potentially leading to a serious safety accident such as the vehicle tipping over, posing a serious threat to the safety of the equipment and the lives of those working on it. Summary of the Invention

[0003] The present application aims to propose a floating safety control method, device, equipment, medium and aerial work platform, which can realize the safe control of the floating cylinder action of the aerial work platform, and contribute to the safe operation and stable operation of the aerial work platform.

[0004] According to the first embodiment of the present application, the floating safety control method includes:

[0005] Obtaining a first tilt angle, where the first tilt angle is the tilt angle of the vehicle frame when the vehicle does not fall into a pit;

[0006] Obtaining a second tilt angle, where the second tilt angle is the tilt angle of the vehicle frame after the vehicle falls into the pit; wherein the corresponding single-side floating switch is triggered after the vehicle falls into the pit, and the single-side floating switch includes a left floating switch and a right floating switch;

[0007] Acquire a first change angle, where the first change angle is a difference between the first tilt angle and the second tilt angle;

[0008] According to the first change angle, a floating action or a safety control action is performed; the floating action is used to control and trigger the action of the single-sided floating cylinder corresponding to the corresponding single-sided floating switch after the vehicle falls into a pit, and the safety control action is used to limit the action of the floating cylinder.

[0009] According to some embodiments of the present application, performing a floating action or a safety control action according to the first change angle includes:

[0010] Determining the wheel drop state of the vehicle according to triggering the corresponding single-side floating switch after the vehicle falls into the pit and the first change angle;

[0011] The floating action or the safety control action is performed according to the wheel falling state of the vehicle.

[0012] According to some embodiments of the present application, the tilt angle of the frame when it is in a horizontal state is zero degrees, the tilt angle when the left side of the frame is higher than the right side is positive, and the tilt angle when the left side of the frame is lower than the right side is negative; the first change angle is a first difference obtained by subtracting the first tilt angle from the second tilt angle;

[0013] The method of determining the wheel falling state of the vehicle according to triggering the corresponding single-side floating switch after the vehicle falls into a pit and the first change angle includes:

[0014] When the left floating switch is triggered and the first change angle is less than zero and the absolute value of the first change angle is greater than a first threshold, determining that the wheel drop state of the vehicle is a left front wheel drop state;

[0015] When the right floating switch is triggered and the first change angle is greater than zero, and the absolute value of the first change angle is greater than a first threshold, determining that the wheel drop state of the vehicle is a right front wheel drop state;

[0016] When the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state, the wheel falling state of the vehicle is determined to be an unknown falling state.

[0017] According to some embodiments of the present application, performing a floating action or a safety control action according to the wheel falling state includes:

[0018] When the wheel falling state is the left front wheel falling state, controlling the left floating cylinder corresponding to the triggering of the left floating switch to act;

[0019] When the wheel falling state is the right front wheel falling state, controlling the right floating cylinder corresponding to the triggering of the right floating switch to act;

[0020] When the wheel falling state is the unknown falling state, the safety control action is executed.

[0021] According to some embodiments of the present application, before obtaining the first tilt angle, the method further includes:

[0022] Obtaining a first left floating pressure and a first right floating pressure, where the first left floating pressure and the first right floating pressure are the working pressures of the floating cylinders on the left and right sides when the vehicle does not fall into a pit;

[0023] When the first left floating pressure or the first right floating pressure is greater than a second threshold and the duration is greater than a first preset judgment time, the safety control action is executed.

[0024] According to some embodiments of the present application, before obtaining the second tilt angle, the method further includes:

[0025] Obtaining a second floating pressure, where the second floating pressure is the working pressure of the single-side floating cylinder corresponding to the triggered single-side floating switch after the vehicle falls into a pit;

[0026] When the second floating pressure is less than a third threshold and the duration is greater than a second preset judgment time, the safety control action is executed.

[0027] According to the second aspect of the present application, the floating safety control device includes:

[0028] A first acquisition module is configured to acquire a first tilt angle, where the first tilt angle is a tilt angle of the vehicle frame when the vehicle has not fallen into a pit;

[0029] a second acquisition module for acquiring a second tilt angle, the second tilt angle being the tilt angle of the vehicle frame after the vehicle falls into a pit; wherein the corresponding single-side floating switch is triggered after the vehicle falls into the pit, the single-side floating switch including a left floating switch and a right floating switch;

[0030] A third acquisition module is configured to acquire a first change angle, where the first change angle is a difference between the first tilt angle and the second tilt angle;

[0031] An execution module is used to perform a floating action or a safety control action according to the first change angle; the floating action is used to control and trigger the action of the single-sided floating cylinder corresponding to the corresponding single-sided floating switch after the vehicle falls into a pit, and the safety control action is used to limit the action of the floating cylinder.

[0032] According to an electronic device of an embodiment of the third aspect of the present application, the device includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the floating safety control method as described in any one of the embodiments of the first aspect are implemented.

[0033] According to the fourth embodiment of the present application, the aerial work platform includes the electronic equipment as described in the third embodiment.

[0034] According to the computer-readable storage medium of the fifth embodiment of the present application, computer-executable instructions are stored, and the computer-executable instructions are used to execute the floating safety control method as described in the first embodiment above.

[0035] In the embodiment of the present application, the actual side of the pit where the vehicle fell into the pit is determined by obtaining the change in the frame inclination angle of the aerial work platform from before the vehicle fell into the pit to after the vehicle fell into the pit. Only when the unilateral floating switch triggered by the vehicle falling into the pit corresponds to the actual side of the pit obtained by judgment, and both are on the same side, the floating action is performed. This can effectively ensure that the change in the actual angle of the entire vehicle is consistent with the triggering logic state of the floating switch, and thus make the action direction of the floating cylinder consistent with the corresponding action logic, avoiding the accident of the floating cylinder executing the opposite direction action and causing the vehicle to tip over when the vehicle malfunctions, realizing safe control of the floating cylinder action, improving the safety of the floating function, meeting the requirements of the stability of the entire vehicle, and ensuring the life safety of the workers on the vehicle.

[0036] Other features and advantages of the present application will be set forth in the following description, and in part will be apparent from the description, or may be learned by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0038] Figure 1 is a flow chart of an embodiment of the floating safety control method of the present application;

[0039] Figure 2 It is a structural schematic diagram of an embodiment of the floating safety control device of the present application;

[0040] Figure 3 It is a hardware structure diagram of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0041] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0042] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0043] In the description of this application, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0044] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technical personnel in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0045] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0046] Figure 1 This is a flow chart of the floating safety control method of the embodiment provided in this application. Figure 1 , further elaborating on the embodiments of this application.

[0047] The present invention provides a floating safety control method, which includes the following steps:

[0048] Step 101: Obtain a first tilt angle, where the first tilt angle is the tilt angle of the vehicle frame when the vehicle does not fall into a pit;

[0049] Step 102: Obtain a second tilt angle, which is the tilt angle of the vehicle frame after the vehicle falls into the pit. The corresponding single-side floating switch is triggered after the vehicle falls into the pit. The single-side floating switch includes a left floating switch and a right floating switch.

[0050] Step 103: Obtain a first change angle, where the first change angle is the difference between the first tilt angle and the second tilt angle;

[0051] Step 104: Execute a floating action or a safety control action according to the first change angle; the floating action is used to control the action of the unilateral floating cylinder corresponding to the corresponding unilateral floating switch triggered after the vehicle falls into a pit, and the safety control action is used to limit the action of the floating cylinder.

[0052] In the embodiment of the present application, the actual side of the pit where the vehicle fell into the pit is determined by obtaining the change in the frame inclination angle of the aerial work platform from before the vehicle fell into the pit to after the vehicle fell into the pit. Only when the unilateral floating switch triggered by the vehicle falling into the pit corresponds to the actual side of the pit obtained by judgment, and both are on the same side, the floating action is performed. This can effectively ensure that the change in the actual angle of the entire vehicle is consistent with the triggering logic state of the floating switch, and thus make the action direction of the floating cylinder consistent with the corresponding action logic, avoiding the accident of the floating cylinder executing the opposite direction action and causing the vehicle to tip over when the vehicle malfunctions, realizing safe control of the floating cylinder action, improving the safety of the floating function, meeting the requirements of the stability of the entire vehicle, and ensuring the life safety of the workers on the vehicle.

[0053] The above-mentioned vehicle can be an aerial work platform, that is, an aerial work vehicle, specifically, it can be a scissor-type aerial work platform or a self-propelled aerial work platform.

[0054] For example, the above-mentioned vehicle is an off-road scissor-type self-propelled aerial work platform.

[0055] In order to reflect the tilt direction of the vehicle and to facilitate judging whether it is tilted to the left or right by the tilt angle, the tilt angle of the above-mentioned frame has a positive or negative sign, and the correspondence between the left and right tilt directions and the positive or negative signs needs to be set.

[0056] For example, the tilt angle when the frame is in a horizontal state is determined to be zero degrees, the tilt angle when the frame is higher on the left and lower on the right, that is, when it tilts to the right, is a positive angle, and the tilt angle when the frame is lower on the left and higher on the right, that is, when it tilts to the left, is a negative angle.

[0057] The tilt angle of the frame can reflect the tilt direction and tilt degree of the vehicle. The tilt direction can reflect whether the vehicle is tilting to the left or right, and the tilt degree can reflect the horizontal height difference between the left and right sides of the vehicle.

[0058] The tilt direction can be determined by the positive or negative value of the tilt angle.

[0059] For example, after setting the inclination angle of the frame when it is in a horizontal state to zero degrees, the inclination angle when the left side is higher than the right side is positive, and the inclination angle when the left side is lower than the right side is negative, the obtained inclination angle can be judged as the left side higher than the right side, that is, the frame is tilted to the right side; and the obtained inclination angle can be judged as the left side lower than the right side, that is, the frame is tilted to the left side.

[0060] The degree of the inclination can be determined by the absolute value of the inclination angle.

[0061] When the frame tilt is small, the left and right sides of the vehicle are nearly level, indicating smooth driving. When the frame tilt is large, the left and right sides of the vehicle have a significant difference in level, indicating a leaning to one side. This may result in one wheel falling into a pothole, causing one side of the vehicle to be higher than the other. Therefore, the tilt degree is positively correlated with the absolute value of the tilt angle.

[0062] For example, a larger absolute value of the obtained tilt angle indicates a larger tilt degree, and a smaller absolute value of the obtained tilt angle indicates a smaller tilt degree.

[0063] The tilt angle of the frame can be measured by a level sensor. The level sensor can be arranged on the frame to measure the tilt angle of the frame.

[0064] The above-mentioned frame can be the frame between the left front wheel and the right front wheel of the vehicle. The change in the inclination angle of the frame between the left front wheel and the right front wheel of the vehicle can make it easier to judge when the left front wheel or the right front wheel falls into a pothole.

[0065] The vehicle falling into the pothole can be the left front wheel or the right front wheel. Since the front wheel usually falls into the pothole during the vehicle's travel, the float switch can be set at the rear wheel to detect whether the front wheel has fallen into the pothole.

[0066] The corresponding unilateral floating switch is triggered after the above-mentioned vehicle falls into the pit. The left floating switch is triggered after the left front wheel of the vehicle falls into the pit, and the right floating switch is triggered after the right front wheel of the vehicle falls into the pit.

[0067] Under normal circumstances, after the unilateral floating switch is triggered, the main controller performs the floating action according to the obtained floating switch triggering side. The main controller sends a control signal to the floating function control valve. The floating function control valve extends the unilateral floating cylinder on the corresponding side to support the side that fell into the pit, and locks the floating cylinder to ensure the position of the floating cylinder, ensuring that the vehicle will not tip over after falling into the pit, thereby ensuring the safety of the vehicle.

[0068] However, if a vehicle malfunctions, the trigger side of the float switch may not match the actual pit-falling side. Alternatively, the float switch trigger signal transmitted to the main controller may be incorrect, causing the main controller to receive a mismatch between the trigger side and the actual pit-falling side. In this case, if the main controller executes the float action based on the received float switch trigger side, the control logic will be erroneous. Instead of supporting the pit-falling side, it may actually lift the side that has not fallen into the pit, potentially leading to a serious accident such as a tipping over or rollover.

[0069] In addition, when the left and right front wheels of the vehicle fall into a pothole at the same time, both the left and right floating switches will be triggered. However, the situation when both front wheels fall into a pothole at the same time is more complicated. Extending the floating cylinders on both sides at the same time does not necessarily have a good effect on the stability of the vehicle. On the contrary, it may put the vehicle at risk of rolling.

[0070] The aforementioned float switch can be a travel switch. The operating principle of a travel switch is primarily to utilize the collision of moving mechanical parts to activate contacts, thereby connecting or disconnecting a control circuit and achieving a specific control objective. This type of switch is typically used to limit the position or travel of mechanical movement, enabling the machine to automatically stop, reverse, change speed, or automatically reciprocate at a specific position or travel. Specifically, a travel switch typically has one set of normally open contacts and one set of normally closed contacts. When a moving part contacts the operating mechanism of the travel switch, it activates the internal transmission mechanism and auxiliary contacts, thereby opening and closing the contacts.

[0071] For example, the left float switch can be a left travel switch, and the right float switch can be a right travel switch. When the vehicle has not fallen into a pothole, both the left and right travel switches are in the open state. When the left front wheel of the vehicle falls into the pothole, the mechanical action of the pothole-falling process triggers the left float switch, causing the left travel switch to switch to the closed state. When the right front wheel of the vehicle falls into the pothole, the mechanical action of the pothole-falling process triggers the right float switch, causing the right travel switch to switch to the closed state.

[0072] The first tilt angle is the tilt angle of the vehicle frame before the vehicle falls into the pit, and the second tilt angle is the tilt angle of the vehicle frame after the vehicle falls into the pit. The tilt angle before the vehicle falls into the pit can be when both the left and right floating switches are not triggered, and the tilt angle after the vehicle falls into the pit can be when the left floating switch, the right floating switch, or both floating switches are triggered.

[0073] The first change angle is the difference between the first tilt angle and the second tilt angle, and can be the difference obtained by subtracting the first tilt angle from the second tilt angle, or the difference obtained by subtracting the second tilt angle from the first tilt angle. The first change angle reflects the actual angle change of the vehicle frame after the vehicle falls into the pothole. Therefore, by analyzing the first change angle, the actual situation of the vehicle falling into the pothole can be determined, and the actual pit side and actual tilt situation can be determined.

[0074] Using the first change angle, rather than just the second tilt angle after the pitfall, to determine the actual pitfall side can achieve a more accurate judgment. This is because if the vehicle is not on a horizontal plane before the pitfall, the pitfall side determined solely by the second tilt angle after the pitfall may not match the actual pitfall side. Therefore, judging based on the first change angle, which is the difference between the initial angle before the pitfall, i.e., the first tilt angle, and the second tilt angle after the pitfall, can produce a judgment result that is consistent with the actual situation.

[0075] The above-mentioned floating action can trigger the floating switch after the vehicle falls into a pit. The main controller sends a control signal to the floating function control valve according to the side of the floating switch that is triggered, so that the floating function control valve controls the corresponding single-sided floating cylinder to extend, thereby supporting the side that fell into the pit, and locking the floating cylinder to ensure the position of the floating cylinder, ensuring that the vehicle will not tip over after falling into the pit.

[0076] For example, the above-mentioned floating action can be that the left floating switch is triggered after the vehicle falls into a pit, and the main controller sends a control signal to the floating function control valve, so that the floating function control valve controls the extension of the left floating cylinder and locks the floating cylinder to ensure the position of the floating cylinder. It should be noted that no matter whether the vehicle actually falls into the pit with the left front wheel or the right front wheel, as long as the left floating switch is triggered, the left floating cylinder will be extended after the floating action is executed.

[0077] Therefore, the above-mentioned execution of the floating action or the execution of the safety control action according to the first change angle can be that the floating action is executed when the actual pit side indicated by the first change angle is consistent with the trigger switch side.

[0078] The above-mentioned safety control action can trigger the float switch when the vehicle falls into a pit, and the main controller sends a control signal to the float function control valve, so that the float function control valve limits the extension of the corresponding single-side floating cylinder.

[0079] For example, the vehicle actually fell into a pothole with its right front wheel, but the left float switch was triggered due to a fault. The above-mentioned safety control action can be that the main controller sends a control signal to the float function control valve, so that the float function control valve limits the extension of the left float cylinder, thereby avoiding the vehicle from further tilting to the right or even overturning.

[0080] Therefore, the above-mentioned execution of the floating action or the safety control action according to the first change angle can be to execute the safety control action when the actual pit side indicated by the first change angle is inconsistent with the side of the triggered floating switch.

[0081] The above-mentioned safety control actions may include limiting the walking action of the aerial work platform and limiting the lifting action of the aerial work platform.

[0082] The above-mentioned safety control actions may also include alarm actions to report abnormal vehicle floating, reminding staff to pay attention to operational safety and timely repair.

[0083] In some embodiments, performing a floating action or a safety control action according to the first change angle includes:

[0084] Determining the wheel drop state of the vehicle according to triggering the corresponding single-side floating switch and the first change angle after the vehicle falls into the pit;

[0085] According to the wheel drop status of the vehicle, a floating action or a safety control action is performed.

[0086] In this embodiment, by combining the corresponding floating switch side triggered after the vehicle falls into a pit with the first change angle situation, it is judged whether the triggering side of the floating switch is logically consistent with the actual pit-fall situation, thereby ensuring the accuracy of the judgment and effectively ensuring that the actual angle change of the entire vehicle is consistent with the triggering logic state of the floating switch.

[0087] The above-mentioned method of determining the wheel falling state of the vehicle based on triggering the corresponding single-sided floating switch and the first change angle after the vehicle falls into a pit can be as follows: when the corresponding floating switch side triggered after the vehicle falls into the pit is logically consistent with the first change angle situation, it can be determined that the wheel falling state of the vehicle is that the side corresponding to the triggered single-sided floating switch fell into the pit; when the corresponding floating switch side triggered after the vehicle falls into the pit is logically inconsistent with the first change angle situation, the specific wheel falling state of the vehicle cannot be determined.

[0088] The above-mentioned floating action or safety control action is performed according to the wheel falling state of the vehicle. The floating action can be performed only when the wheel falling state of the vehicle can be determined, and the safety control action can be performed when the specific wheel falling state of the vehicle cannot be determined.

[0089] In some embodiments, the tilt angle of the frame when it is in a horizontal state is zero degrees, the tilt angle when the left side of the frame is higher than the right side is positive, and the tilt angle when the left side of the frame is lower than the right side is negative; the first change angle is a first difference obtained by subtracting the first tilt angle from the second tilt angle;

[0090] Determining the wheel drop state of the vehicle according to triggering the corresponding single-side floating switch and the first change angle after the vehicle falls into the pit includes:

[0091] When the left floating switch is triggered and the first change angle is less than zero and the absolute value of the first change angle is greater than a first threshold, determining that the wheel drop state of the vehicle is a left front wheel drop state;

[0092] When the right floating switch is triggered and the first change angle is greater than zero, and the absolute value of the first change angle is greater than a first threshold, determining that the wheel drop state of the vehicle is a right front wheel drop state;

[0093] When the wheel-falling state cannot be determined as the left front wheel-falling state or the right front wheel-falling state, the wheel-falling state of the vehicle is determined to be an unknown falling state.

[0094] In this implementation, a specific method for judging the wheel falling state is given, and the conditions for determining the left front wheel falling state and the right front wheel falling state are clarified. When the state cannot be determined, it is judged as an unknown falling state, which can truly and effectively determine the actual condition of the vehicle, thereby ensuring the safety of subsequent floating actions.

[0095] The tilt angle of the frame is zero when it is horizontal. The tilt angle is positive when the left side of the frame is higher than the right side, and negative when the left side is lower than the right side. This defines the positive and negative tilt angles of the frame. The first variable angle is the first difference between the second tilt angle and the first tilt angle, which specifically defines the first variable angle.

[0096] Under the premise of the above definition, when the left front wheel of the vehicle falls into the pothole, the tilt angle of the vehicle frame should tilt to the left based on the original first tilt angle, reaching the second tilt angle. Since the tilt angle when the left side of the frame is lower than the right side is a negative angle, the first change angle, that is, the first difference obtained by subtracting the first tilt angle from the second tilt angle, should be a negative value.

[0097] When the right front wheel of the vehicle falls into the pothole, the tilt angle of the vehicle frame should tilt to the right based on the original first tilt angle, reaching a second tilt angle. Since the tilt angle when the left side of the frame is higher and the right side is lower is a positive angle, the first change angle, that is, the first difference obtained by subtracting the first tilt angle from the second tilt angle, should be a positive value.

[0098] Furthermore, the floating action requires the vehicle's frame tilt angle to change by a certain amount, known as a minimum tilt angle. If the tilt angle change is too small and does not affect the vehicle's operation or movement, a floating action is not necessary and a pothole fall cannot be detected. However, if the tilt angle change exceeds the minimum tilt angle, a pothole fall can be detected. This minimum tilt angle can be set based on the vehicle's equipment specifications and other specific circumstances.

[0099] The first threshold may be the absolute value of the minimum change angle.

[0100] The absolute value of the first change angle is greater than the first threshold, that is, the change in the frame inclination angle is greater than the minimum change angle, which can be determined as a fall into a pothole.

[0101] In the above-mentioned case where the left floating switch is triggered, when the first change angle is less than zero, it can be judged that the left front wheel of the vehicle has fallen into a pothole, and when the absolute value of the first change angle is greater than the first threshold, it can be judged that the change in the frame inclination angle is greater than the minimum change angle. Therefore, the triggered floating switch side is consistent with the actual pothole side, and meets the judgment conditions of the pothole condition, so it can be determined that the wheel falling state of the vehicle is the left front wheel falling state.

[0102] In the above-mentioned case where the right floating switch is triggered, when the first change angle is greater than zero, it can be judged that the right front wheel of the vehicle has fallen into a pothole, and when the absolute value of the first change angle is greater than the first threshold, it can be judged that the change in the frame inclination angle is greater than the minimum change angle. Therefore, the triggered floating switch side is consistent with the actual pothole side, and meets the judgment conditions of the pothole condition, so it can be determined that the wheel falling state of the vehicle is the right front wheel falling state.

[0103] In the above-mentioned situation where the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state, it can be determined that the absolute value of the first change angle is less than or equal to the first threshold value, and the change in the frame inclination angle is not greater than the minimum change angle, and the judgment condition of falling into a pothole is not met, so the wheel falling state of the vehicle is determined to be an unknown falling state.

[0104] The above-mentioned situation where the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state can be when the left floating switch is triggered and the absolute value of the first change angle is less than the first threshold value, or when the right floating switch is triggered and the absolute value of the first change angle is greater than the first threshold value. At this time, the triggered floating switch side is inconsistent with the actual falling side, so the wheel falling state of the vehicle is determined to be an unknown falling state.

[0105] The above-mentioned situation where the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state may be when the left floating switch and the right floating switch are triggered at the same time. Since the conditions that the first change angle is less than zero and the first change angle is greater than zero cannot be met at the same time, the wheel falling state of the vehicle is determined to be an unknown falling state. At this time, the left and right front wheels of the vehicle fall into the pit at the same time, and the situation is more complicated. Extending the floating cylinders on both sides at the same time does not necessarily have a good effect on the stability of the vehicle. On the contrary, it may cause the vehicle to be at risk of rolling. Therefore, the wheel falling state of the vehicle is determined to be an unknown falling state.

[0106] In some cases, the definition of the positive and negative inclination angle of the frame and the definition of the first change angle can be changed according to actual conditions. Accordingly, the judgment conditions for determining the wheel drop state of the vehicle need to be adaptively modified, which will not be elaborated here.

[0107] In some embodiments, according to the wheel falling state, performing a floating action or performing a safety control action includes:

[0108] When the wheel falls off in the left front wheel state, the left floating cylinder corresponding to the triggering of the left floating switch is controlled to move;

[0109] When the wheel falls to the right front wheel, the right floating cylinder corresponding to the triggering of the right floating switch is controlled to move;

[0110] When the wheel falling state is an unknown falling state, a safety control action is executed.

[0111] In this embodiment, the floating action is performed only when it is determined that the vehicle's wheel falling state is the left front wheel falling state or the right front wheel falling state, and the corresponding single-sided floating cylinder action is controlled. This can effectively avoid the risk of floating cylinder action in an unknown falling state, improve the safety of the floating function, and meet the stability requirements of the entire vehicle.

[0112] The above-mentioned wheel falling state is an unknown falling state, which may be a situation where the change in the frame inclination angle after the vehicle falls into a pit is not greater than the minimum change angle, that is, the pit into which the vehicle falls is shallow and there is no need to perform a floating action.

[0113] The above-mentioned wheel falling state is an unknown falling state. It can also be a situation where the side of the triggered floating switch is inconsistent with the actual side of the pit, such as triggering the left floating switch and actually falling into the pit on the right side, or triggering the right floating switch and actually falling into the pit on the left side. In this case, controlling the floating cylinder on the corresponding side to extend according to the side of the triggered floating switch will only lead to more serious roll phenomenon, so safety control action needs to be performed.

[0114] The above-mentioned wheel falling state is an unknown falling state. It can also be that the left and right front wheels of the vehicle fall into the pit at the same time. When the left floating switch and the right floating switch are triggered at the same time, the situation in this falling state is more complicated. Extending the floating cylinders on both sides at the same time does not necessarily have a good effect on the stability of the vehicle. On the contrary, it may cause the vehicle to be at risk of rolling. Therefore, safety control actions need to be performed.

[0115] In some embodiments, before obtaining the first tilt angle, the method further includes:

[0116] Obtain the first left floating pressure and the first right floating pressure, which are the working pressures of the left and right floating cylinders when the vehicle does not fall into a pit;

[0117] When the first left floating pressure or the first right floating pressure is greater than the second threshold and the duration is greater than the first preset judgment time, a safety control action is executed.

[0118] In this embodiment, by detecting the left and right floating pressures when the vehicle has not fallen into a pit and determining whether they are within the normal range, a safety control action is performed when the pressure value is abnormal. By safely detecting the floating pressure, the safety of the floating function can be guaranteed.

[0119] The operating pressures of the left and right floating cylinders when the vehicle has not fallen into a pit are described above. Under normal circumstances, when the vehicle has not fallen into a pit, the floating cylinders are not extended. Theoretically, the first left floating pressure and the first right floating pressure can be 0 bar. However, in practice, the actual values ​​may fluctuate within a normal range, which can be between 0 bar and a second threshold. If the first left floating pressure or the first right floating pressure remains above the second threshold for a period exceeding a first predetermined determination time, an abnormality is detected and a safety control action is required.

[0120] When the above-mentioned vehicle has not fallen into a pit, the working pressure of the floating cylinders on the left and right sides can be measured by the floating pressure detection sensor arranged near the connection between the floating function control valve and the floating cylinder, wherein a left floating pressure detection sensor is arranged near the connection between the floating function control valve and the left floating cylinder, and a right floating pressure detection sensor is arranged near the connection between the floating function control valve and the right floating cylinder.

[0121] The second threshold value can be set according to actual conditions, and can be set between 30 and 50 bar, and specifically, can be 40 bar.

[0122] The first preset judgment time mentioned above can be set according to actual conditions.

[0123] In some embodiments, before obtaining the second tilt angle, the method further includes:

[0124] Obtaining a second floating pressure, where the second floating pressure is the working pressure of the unilateral floating cylinder corresponding to the corresponding unilateral floating switch that is triggered after the vehicle falls into a pit;

[0125] When the second floating pressure is less than the third threshold and the duration is greater than the second preset judgment time, a safety control action is executed.

[0126] In this embodiment, the unilateral floating pressure corresponding to the unilateral floating switch triggered after the vehicle falls into a pit is detected, and it is determined whether the pressure value is within the normal range. When the pressure value is abnormal, a safety control action is performed. By safely detecting the floating pressure, the safety of the floating function can be guaranteed.

[0127] The above-mentioned second floating pressure can be the working pressure of the left floating cylinder corresponding to the left floating switch triggered after the vehicle falls into the pit; it can also be the working pressure of the right floating cylinder corresponding to the right floating switch triggered after the vehicle falls into the pit.

[0128] Under normal circumstances, the second floating pressure, when a vehicle falls into a pit, causes the corresponding floating cylinder to extend and support the vehicle. Theoretically, this floating pressure on the corresponding side can be the maximum operating pressure of the floating cylinder. However, in practice, the actual value may fluctuate within a normal range, which can be between a third threshold and the maximum operating pressure of the floating cylinder. If the second floating pressure remains below the third threshold for a sustained period exceeding a second predetermined judgment time, an abnormality has occurred, and the floating cylinder is no longer providing reliable support, requiring a safety control action.

[0129] The third threshold value can be set according to actual conditions. When the maximum working pressure of the floating oil cylinder is 240 bar, the third threshold value can be set between 190 bar and 210 bar. Specifically, the third threshold value can be 200 bar.

[0130] The second preset judgment time mentioned above can be set according to actual conditions.

[0131] In some embodiments, when the scissor platform of the aerial work platform is raised to the working height, during the walking action, the floating control function of the equipment needs to perform floating control according to the control logic to ensure the reliable and stable operation of the entire vehicle under this working condition. Specifically, when the vehicle has not fallen into a pit, the first left floating pressure and the first right floating pressure are obtained to determine whether they are within the normal range. If they are not within the normal range, a safety control action is performed and a first tilt angle is obtained. After falling into the pit, the second floating pressure is obtained to determine whether it is within the normal range. If it is not within the normal range, a safety control action is performed and a second tilt angle is obtained, thereby obtaining a first change angle to determine the wheel drop state. If the wheel drop state is the left front wheel drop state or the right front wheel drop state, a floating action is performed. If the wheel drop state is an unknown drop state, a safety control action is performed.

[0132] In some embodiments, when the scissor platform of the aerial work platform is not raised, the floating cylinder can float freely according to the road conditions, crossing obstacles and potholes, so that the entire vehicle has better off-road performance.

[0133] The floating safety control method provided in the embodiment of the present application can be executed by the floating safety control device 200. In the embodiment of the present application, the floating safety control device 200 executing the floating safety control method is taken as an example to illustrate the floating safety control device 200 provided in the embodiment of the present application.

[0134] See Figure 2 , is a structural diagram of a floating safety control device 200 provided in an embodiment of the present application. Figure 2 As shown, the floating safety control device 200 includes:

[0135] A first acquisition module 201 is configured to acquire a first tilt angle, where the first tilt angle is the tilt angle of the vehicle frame when the vehicle has not fallen into a pit;

[0136] The second acquisition module 202 is configured to acquire a second tilt angle, which is the tilt angle of the vehicle frame after the vehicle falls into a pit. The corresponding single-side floating switch is triggered after the vehicle falls into the pit. The single-side floating switch includes a left floating switch and a right floating switch.

[0137] A third acquisition module 203 is configured to acquire a first change angle, where the first change angle is a difference between the first tilt angle and the second tilt angle;

[0138] The execution module 204 is used to perform a floating action or a safety control action according to the first change angle; the floating action is used to control the action of the unilateral floating cylinder corresponding to the corresponding unilateral floating switch triggered after the vehicle falls into a pit, and the safety control action is used to limit the action of the floating cylinder.

[0139] In some implementations, the execution module 204 may be specifically configured to:

[0140] Determining the wheel drop state of the vehicle according to triggering the corresponding single-side floating switch and the first change angle after the vehicle falls into the pit;

[0141] According to the wheel drop status of the vehicle, a floating action or a safety control action is performed.

[0142] In some embodiments, the tilt angle of the frame when it is in a horizontal state is zero degrees, the tilt angle when the left side of the frame is higher than the right side is positive, and the tilt angle when the left side of the frame is lower than the right side is negative; the first change angle is the difference between the second tilt angle and the first tilt angle;

[0143] The execution module 204 may be specifically configured to:

[0144] When the left floating switch is triggered and the first change angle is less than zero and the absolute value of the first change angle is greater than a first threshold, determining that the wheel drop state of the vehicle is a left front wheel drop state;

[0145] When the right floating switch is triggered and the first change angle is greater than zero, and the absolute value of the first change angle is greater than a first threshold, determining that the wheel drop state of the vehicle is a right front wheel drop state;

[0146] When the wheel-falling state cannot be determined as the left front wheel-falling state or the right front wheel-falling state, the wheel-falling state of the vehicle is determined to be an unknown falling state.

[0147] In some implementations, the execution module 204 may be specifically configured to:

[0148] When the wheel falls off in the left front wheel state, the left floating cylinder corresponding to the triggering of the left floating switch is controlled to move;

[0149] When the wheel falls to the right front wheel, the right floating cylinder corresponding to the triggering of the right floating switch is controlled to move;

[0150] When the wheel falling state is an unknown falling state, a safety control action is executed.

[0151] In some implementations, the first acquisition module 201 may also be used to:

[0152] Obtain the first left floating pressure and the first right floating pressure, which are the working pressures of the left and right floating cylinders when the vehicle does not fall into a pit;

[0153] When the first left floating pressure or the first right floating pressure is greater than the second threshold and the duration is greater than the first preset judgment time, a safety control action is executed.

[0154] In some implementations, the second acquisition module 202 may also be configured to:

[0155] Obtaining a second floating pressure, where the second floating pressure is the working pressure of the unilateral floating cylinder corresponding to the corresponding unilateral floating switch that is triggered after the vehicle falls into a pit;

[0156] When the second floating pressure is less than the third threshold and the duration is greater than the second preset judgment time, a safety control action is executed.

[0157] Since the floating safety control device 200 adopts all the technical solutions of the floating safety control method of the above embodiment, it has at least all the beneficial effects brought by the technical solutions of the above embodiment, which will not be described in detail here.

[0158] Figure 3 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0159] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0160] Specifically, the processor 301 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0161] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 302 may include removable or non-removable (or fixed) media. Where appropriate, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory.

[0162] In some embodiments, the memory 302 may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0163] The processor 301 reads and executes computer program instructions stored in the memory 302 to implement any one of the floating safety control methods in the above embodiments.

[0164] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 3 As shown, the processor 301 , the memory 302 , and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0165] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0166] Bus 310 includes hardware, software or both, and the components of online data flow metering equipment are coupled to each other. For example, but not limitation, bus can include accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 310 can include one or more buses. Although the present application embodiment describes and shows specific bus, the application considers any suitable bus or interconnection.

[0167] The electronic device can execute the floating safety control method in the embodiment of the present application, thereby realizing the combination Figure 1 and Figure 2 Described is a floating safety control method and device.

[0168] An embodiment of the present application may provide an aerial work platform, which includes the above-mentioned electronic equipment.

[0169] In addition, in conjunction with the floating safety control method in the above embodiments, the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any of the floating safety control methods in the above embodiments is implemented.

[0170] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0171] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0172] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0173] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0174] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A floating safety control method, characterized in that: include: Obtaining a first tilt angle, where the first tilt angle is the tilt angle of the vehicle frame when the vehicle does not fall into a pit; Obtaining a second tilt angle, where the second tilt angle is the tilt angle of the vehicle frame after the vehicle falls into the pit; wherein the corresponding single-side floating switch is triggered after the vehicle falls into the pit, and the single-side floating switch includes a left floating switch and a right floating switch; Acquire a first change angle, where the first change angle is a difference between the first tilt angle and the second tilt angle; According to the first change angle, a floating action or a safety control action is performed; the floating action is used to control and trigger the action of the single-sided floating cylinder corresponding to the corresponding single-sided floating switch after the vehicle falls into a pit, and the safety control action is used to limit the action of the floating cylinder.

2. The floating safety control method according to claim 1, characterized in that: The performing of a floating action or a safety control action according to the first change angle includes: Determining the wheel drop state of the vehicle according to triggering the corresponding single-side floating switch after the vehicle falls into the pit and the first change angle; The floating action or the safety control action is performed according to the wheel falling state of the vehicle.

3. The floating safety control method according to claim 2, characterized in that: When the frame is in a horizontal state, the inclination angle of the frame is zero degrees; when the left side of the frame is higher than the right side, the inclination angle of the frame is positive; when the left side of the frame is lower than the right side, the inclination angle of the frame is negative; the first change angle is a first difference obtained by subtracting the first inclination angle from the second inclination angle; The method of determining the wheel falling state of the vehicle according to triggering the corresponding single-side floating switch after the vehicle falls into a pit and the first change angle includes: When the left floating switch is triggered and the first change angle is less than zero and the absolute value of the first change angle is greater than a first threshold, determining that the wheel drop state of the vehicle is a left front wheel drop state; When the right floating switch is triggered and the first change angle is greater than zero, and the absolute value of the first change angle is greater than a first threshold, determining that the wheel drop state of the vehicle is a right front wheel drop state; When the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state, the wheel falling state of the vehicle is determined to be an unknown falling state.

4. The floating safety control method according to claim 3, characterized in that: The performing of a floating action or a safety control action according to the wheel falling state includes: When the wheel falling state is the left front wheel falling state, controlling the left floating cylinder corresponding to the triggering of the left floating switch to act; When the wheel falling state is the right front wheel falling state, controlling the right floating cylinder corresponding to the triggering of the right floating switch to act; When the wheel falling state is the unknown falling state, the safety control action is executed.

5. The floating safety control method according to claim 1, characterized in that: Before obtaining the first tilt angle, the method further includes: Obtaining a first left floating pressure and a first right floating pressure, where the first left floating pressure and the first right floating pressure are the working pressures of the floating cylinders on the left and right sides when the vehicle does not fall into a pit; When the first left floating pressure or the first right floating pressure is greater than a second threshold and the duration is greater than a first preset judgment time, the safety control action is executed.

6. The floating safety control method according to claim 1 or 5, characterized in that: Before obtaining the second tilt angle, the method further includes: Obtaining a second floating pressure, where the second floating pressure is the working pressure of the single-side floating cylinder corresponding to the triggered single-side floating switch after the vehicle falls into a pit; When the second floating pressure is less than a third threshold and the duration is greater than a second preset judgment time, the safety control action is executed.

7. A floating safety control device, characterized in that: include: A first acquisition module is configured to acquire a first tilt angle, where the first tilt angle is a tilt angle of the vehicle frame when the vehicle has not fallen into a pit; a second acquisition module for acquiring a second tilt angle, the second tilt angle being the tilt angle of the vehicle frame after the vehicle falls into a pit; wherein the corresponding single-side floating switch is triggered after the vehicle falls into the pit, the single-side floating switch including a left floating switch and a right floating switch; A third acquisition module is configured to acquire a first change angle, where the first change angle is a difference between the first tilt angle and the second tilt angle; An execution module is used to perform a floating action or a safety control action according to the first change angle; the floating action is used to control and trigger the action of the single-sided floating cylinder corresponding to the corresponding single-sided floating switch after the vehicle falls into a pit, and the safety control action is used to limit the action of the floating cylinder.

8. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the floating safety control method according to any one of claims 1 to 6 are implemented.

9. An aerial work platform, characterized in that: Comprising the electronic device as claimed in claim 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the floating safety control method according to any one of claims 1 to 6.

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