Leveling method, device and equipment for aerial work platform and storage medium

Abstract

The invention discloses a leveling method, device and equipment for an aerial work platform and a storage medium. The leveling method comprises the following steps: pre-calibrating the corresponding relationship between the inclination angle values of multiple groups of aerial work platforms and the proportional value output by the proportional valve, and fitting to obtain a multi-point calibration fitting curve. And an actual inclination angle value of the aerial work platform is obtained, a leveling proportion value output by the proportional valve is obtained according to the actual inclination angle value and the multi-point calibration fitting curve, and the leveling proportion value is input to the proportional valve so that the slope function control module and the proportional valve control module can level the aerial work platform according to the leveling proportion value. Therefore, output is controlled through the preset multi-point calibration fitting curve, the set parameters are all located in the first quadrant, the output can be better controlled, and the purposes of stable output and accurate control are achieved. Besides, through the slope function control module, sudden increase or sudden decrease of an output value is avoided, impact of leveling can be reduced, and comfort and stability are improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of aerial work platforms, and in particular to a leveling method, device, equipment and storage medium for an aerial work platform. Background Art

[0002] The automatic leveling control system uses a leveling sensor installed on the workbench. The signal of the leveling sensor can be CAN bus type or 4-20ma analog type. Among them, the 4-20ma analog type refers to the use of 4 to 20 mA current range to represent the analog signal output by the sensor or other equipment in the industrial control system. The control module (ECU) collects the signal of the leveling sensor to detect the platform inclination angle in real time. According to the size of the angle, the opening of the leveling proportional valve is controlled to extend or retract the leveling cylinder, thereby controlling the rise or fall of the workbench to achieve the purpose of automatic leveling.

[0003] In the prior art, the initial and maximum angles of the calibrated platform inclination are usually associated with the starting angular velocity and maximum angle of the main arm, so as to realize the synchronous rotation of the workbench and the main arm and achieve the desired leveling effect. Alternatively, the automatic leveling algorithm is designed by the nonlinear forward transfer method, but the first solution mentioned above has many system parameters to adjust, and the operation is cumbersome, which is not convenient for practical application. The second solution cannot solve the switching impact from positive leveling to negative leveling or from negative leveling to positive leveling due to the change in the platform inclination angle. The workbench will stop suddenly and then move again, affecting the comfort of leveling. In addition, the parameter settings are distributed in the second and fourth quadrants, which is not convenient for parameter setting and maintenance. Summary of the invention

[0004] The present invention provides a leveling method, device, equipment and storage medium for an aerial work platform. The output is controlled by a pre-set multi-point calibration fitting curve, and the setting parameters are all located in the first quadrant, which can better control the output and achieve the purpose of stable output and precise control. In addition, through the ramp function control module, the sudden increase or decrease of the output value is avoided, the impact of platform leveling can be reduced, and the comfort and stability are improved.

[0005] In a first aspect, an embodiment of the present invention provides a leveling method for an aerial work platform, wherein the aerial work platform is provided with a proportional valve; the proportional valve comprises a ramp function control module and a proportional valve control module;

[0006] The leveling method comprises:

[0007] Pre-calibrate a plurality of groups of corresponding relationships between the tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and obtain a multi-point calibration fitting curve by fitting;

[0008] Obtaining an actual tilt angle value of the aerial work platform;

[0009] The leveling ratio value output by the proportional valve is obtained according to the actual inclination angle value and the multi-point calibration fitting curve, and the leveling ratio value is input into the slope function control module and the proportional valve control module, so that the slope function control module and the proportional valve control module level the aerial work platform according to the leveling ratio value.

[0010] Optionally, the pre-calibrating the correspondence between multiple groups of tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and fitting to obtain a multi-point calibration fitting curve includes:

[0011] The plurality of groups of tilt angle values ​​are respectively X0, X1, X2, ..., XN, and the corresponding plurality of groups of ratio values ​​include Y0, Y1, Y2, ..., YN, wherein N is an integer greater than or equal to 6;

[0012] Taking the inclination angle value of the aerial work platform as the X-axis and the proportional value output by the proportional valve as the Y-axis, fitting the inclination angle value and the proportional value to obtain a multi-point calibration fitting curve;

[0013] The actual tilt angle value is XL, and the leveling ratio value is YL. If XL<X0, the multi-point calibration fitting curve satisfies: YL=0;

[0014] If Xm≤XL<X(m+1), where m is an integer greater than or equal to 0 and less than N, the multi-point calibration fitting curve satisfies:

[0015] YL=[Y(m+1)-Ym] / [ X(m+1)- Xm]×(XL-Xm)+ Ym;

[0016] If XL≥XN, the multi-point calibration fitting curve satisfies: YL=YN.

[0017] Optionally, the multi-point calibration fitting curve includes an eight-point calibration fitting curve;

[0018] The plurality of groups of tilt angle values ​​are respectively X0, X1, X2, ..., X8, and the corresponding plurality of groups of ratio values ​​include Y0, Y1, Y2, ..., Y8;

[0019] If XL<X0, the eight-point calibration fitting curve satisfies: YL=0;

[0020] If X0≤XL<X1, the eight-point calibration fitting curve satisfies:

[0021] YL=(Y1-Y0) / (X1- X0)×(XL-X0)+ Y0;

[0022] If X1≤XL<X2, the eight-point calibration fitting curve satisfies:

[0023] YL=(Y2-Y1) / (X2- X1)×(XL-X1)+ Y1;

[0024] If X2≤XL<X3, the eight-point calibration fitting curve satisfies:

[0025] YL=(Y3-Y2) / (X3- X2)×(XL-X2)+ Y2;

[0026] If X3≤XL<X4, the eight-point calibration fitting curve satisfies:

[0027] YL=(Y4-Y3) / (X4- X3)×(XL-X3)+ Y3;

[0028] If X4≤XL<X5, the eight-point calibration fitting curve satisfies:

[0029] YL=(Y5-Y4) / (X5- X4)×(XL-X4)+ Y4;

[0030] If X5≤XL<X6, the eight-point calibration fitting curve satisfies:

[0031] YL=(Y6-Y5) / (X6- X5)×(XL-X5)+ Y5;

[0032] If X6≤XL<X7, the eight-point calibration fitting curve satisfies:

[0033] YL=(Y7-Y6) / (X7- X6)×(XL-X6)+ Y6;

[0034] If X7≤XL<X8, the eight-point calibration fitting curve satisfies:

[0035] YL=(Y8-Y7) / (X8- X7)×(XL-X7)+ Y7;

[0036] If XL≥XN, the eight-point calibration fitting curve satisfies: YL=Y8.

[0037] Optionally, the aerial work platform is further provided with a leveling sensor;

[0038] The obtaining of the actual tilt angle value of the aerial work platform comprises:

[0039] Acquire a first tilt angle value of the aerial work platform detected by the leveling sensor;

[0040] When the absolute value of the first inclination angle value is less than a preset value, the actual inclination angle value of the aerial work platform is determined to be 0; and when the absolute value of the first inclination angle value is greater than or equal to a preset value, the actual inclination angle value of the aerial work platform is determined to be the absolute value of the first inclination angle value.

[0041] Optionally, obtaining the leveling proportional value output by the proportional valve according to the actual tilt angle value and the multi-point calibration fitting curve includes:

[0042] Obtaining a first leveling proportional value output by the proportional valve according to the actual tilt angle value and the multi-point calibration fitting curve;

[0043] Determining a driving enabling direction of the proportional valve according to the first tilt angle value;

[0044] When the driving enable direction is positive, the leveling ratio value is determined to be the first leveling ratio value, and when the driving enable direction is negative, the leveling ratio value is determined to be a negative value of the first leveling ratio value.

[0045] Optionally, the step of inputting the leveling ratio value into the slope function control module and the proportional valve control module so that the slope function control module and the proportional valve control module level the aerial work platform according to the leveling ratio value includes:

[0046] The leveling ratio value is input into the slope function control module, so that the slope function control module increases according to the start slope or decreases according to the stop slope in each scanning cycle according to the leveling ratio value, so that when the leveling ratio value is reached, the value gradually changes, and the proportional valve control module generates a driving current according to the gradually changing value to level the aerial work platform.

[0047] Optionally, a first vibration frequency range and a first amplitude current range are preset in the proportional valve;

[0048] The first dither frequency range includes 100 Hz-200 Hz, and the first amplitude current range includes 100 mA-250 mA.

[0049] In a second aspect, an embodiment of the present invention further provides a leveling device for an aerial work platform, wherein the aerial work platform is provided with a proportional valve; the proportional valve comprises a slope function control module and a proportional valve control module;

[0050] The leveling device comprises:

[0051] A calibration module, used to pre-calibrate the corresponding relationship between multiple groups of tilt angle values ​​of the aerial work platform and the proportional value output by the proportional valve, and to obtain a multi-point calibration fitting curve by fitting;

[0052] An acquisition module is used to acquire the actual inclination angle value of the aerial work platform;

[0053] The adjustment module is used to obtain the leveling ratio value output by the proportional valve according to the actual inclination angle value and the multi-point calibration fitting curve, and input the leveling ratio value into the slope function control module and the proportional valve control module, so that the slope function control module and the proportional valve control module can level the aerial work platform according to the leveling ratio value.

[0054] In a third aspect, an embodiment of the present invention further provides a leveling device, wherein the leveling device includes one or more processors and a storage device, wherein the storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the leveling method described in any embodiment of the present invention.

[0055] In a fourth aspect, an embodiment of the present invention further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, any leveling method described in the present invention is implemented.

[0056] The embodiment of the present invention pre-calibrates the correspondence between multiple groups of inclination angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and fits a multi-point calibration fitting curve. The actual inclination angle value of the aerial work platform is obtained, and the leveling proportional value output by the proportional valve is obtained according to the actual inclination angle value and the multi-point calibration fitting curve, and the leveling proportional value is input into the slope function control module and the proportional valve control module, so that the slope function control module and the proportional valve control module level the aerial work platform according to the leveling proportional value. In this way, the output is controlled by the pre-set multi-point calibration fitting curve, and its setting parameters are all located in the first quadrant, which can better control the output and achieve the purpose of stable output and precise control. In addition, through the slope function control module, the sudden increase or decrease of the output value is avoided, the impact during the leveling of the aerial work platform can be reduced, and the comfort and stability are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a flow chart of a leveling method for an aerial work platform provided in Embodiment 1 of the present invention;

[0058] Figure 2 is a schematic diagram of a multi-point calibration fitting curve provided in Example 1 of the present invention;

[0059] Figure 3 It is a flow chart of another method for leveling an aerial work platform provided in the second embodiment of the present invention;

[0060] Figure 4It is a structural schematic diagram of a leveling device for an aerial work platform provided in Embodiment 3 of the present invention;

[0061] Figure 5 This is a structural schematic diagram of a leveling device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0062] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0063] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0064] Embodiment 1

[0065] Figure 1 is a flow chart of a leveling method for an aerial work platform provided in Embodiment 1 of the present invention, Figure 2 This is a schematic diagram of a multi-point calibration fitting curve provided in the first embodiment of the present invention. This embodiment is applicable to situations where there are many adjustment system parameters, the operation is cumbersome, and the aerial work platform will be adjusted suddenly, and the leveling comfort is poor. The method can be executed by the leveling device provided in the embodiment of the present invention, and the device can be implemented in software and / or hardware. The device can be configured in the leveling equipment provided in the embodiment of the present invention.

[0066] See also Figure 1 , the leveling method of the aerial work platform includes:

[0067] S110, pre-calibrating the corresponding relationship between multiple groups of tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and fitting to obtain a multi-point calibration fitting curve.

[0068] Specifically, the multiple sets of tilt angle values ​​of the aerial work platform may be tilt angle values ​​that may occur during the working process of the aerial work platform. For example, during the working process, the aerial work platform may have tilt angle values ​​of 0.2°, 0.5°, and 1°, etc. In response to these tilt angle values, the proportional valve needs to output corresponding proportional values ​​to level the aerial work platform. For example, Figure 2 As shown in the figure, the tilt angle values ​​of multiple aerial work platforms correspond to the proportional values ​​output by multiple proportional valves. When the tilt angle value of the corresponding aerial work platform is 0.2° ( Figure 2 The resolution of the angle set in the program is 10, that is, when the aerial work platform value is 2, it means that the tilt angle value of the aerial work platform is 0.2°), the proportional valve needs to output a proportional value of 100 to adjust the aerial work platform to keep the aerial work platform level; when the tilt angle value of the corresponding aerial work platform is 0.5° ( Figure 2 The resolution of the angle set in the program is 10, that is, when the aerial work platform value is 5, it means that the inclination angle value of the aerial work platform is 0.5°), the proportional valve needs to output a proportional value of 200 to adjust the aerial work platform to keep the aerial work platform level; when the corresponding inclination angle value of the aerial work platform is 1°, the proportional valve needs to output a proportional value of 300 to adjust the aerial work platform to keep the aerial work platform level, and so on. In this way, multiple groups of aerial work platform inclination angle values ​​are fitted with the corresponding multiple groups of proportional valve output proportional values ​​to obtain a multi-point calibration fitting curve. There is no need to perform load calculations during subsequent leveling. Only the actual inclination angle value needs to be substituted into the multi-point calibration fitting curve to obtain the proportional value of the proportional valve corresponding output. The control method is simple and easy to operate. Moreover, since the setting parameters are all located in the first quadrant, the output can be better controlled to achieve the purpose of stable output and precise control.

[0069] It should be noted that the above-mentioned multiple groups of tilt angle values ​​of aerial work platforms and multiple groups of proportional values ​​of proportional valve outputs are for exemplary purposes only, and the embodiments of the present invention do not limit this, and those skilled in the art can set them according to actual needs.

[0070] S120: Obtain an actual tilt angle value of the aerial work platform.

[0071] During the actual leveling operation, the actual tilt angle value of the aerial work platform is first obtained. In one embodiment, the actual tilt angle value of the aerial work platform can be directly obtained through the leveling sensor. It should be noted that the embodiment of the present invention does not limit the method for obtaining the actual tilt angle value of the aerial work platform, and those skilled in the art can set it as needed.

[0072] S130, obtaining the leveling ratio value output by the proportional valve according to the actual tilt angle value and the multi-point calibration fitting curve, and inputting the leveling ratio value into the slope function control module and the proportional valve control module, so that the slope function control module and the proportional valve control module level the aerial work platform according to the leveling ratio value.

[0073] Specifically, in an embodiment of the present invention, a multi-point calibration fitting curve of multiple groups of inclination angle values ​​of the aerial work platform and the proportional value output by the proportional valve is pre-set in the control module of the proportional valve. After determining the actual inclination angle value of the aerial work platform, the control module of the proportional valve calculates the leveling proportional value that matches the current actual inclination angle value based on the multi-point calibration fitting curve and the actual inclination angle value. In this way, the method for obtaining the leveling proportional value is simple and easy to operate, and since the setting parameters are all located in the first quadrant, the output can be better controlled to achieve the purpose of smooth output and precise control. In addition, after obtaining the leveling ratio value, the leveling ratio value is input into the slope function control module and the proportional valve control module. The slope function control module will increase according to the start slope or decrease according to the stop slope in each scanning cycle of the control module according to the leveling ratio value. The increase and decrease will cause the value to gradually increase and decrease when the leveling ratio value is reached, so that the proportional valve control module will generate corresponding current shift to level the aerial work platform according to the gradually changing value, thereby avoiding a sudden increase or decrease in the output value of the proportional valve, reducing the impact of leveling the aerial work platform, and improving comfort and stability.

[0074] In summary, the embodiment of the present invention pre-calibrates the correspondence between multiple groups of inclination angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and fits a multi-point calibration fitting curve. The actual inclination angle value of the aerial work platform is obtained, and the leveling proportional value output by the proportional valve is obtained according to the actual inclination angle value and the multi-point calibration fitting curve, and the leveling proportional value is input into the slope function control module and the proportional valve control module, so that the slope function control module and the proportional valve control module level the aerial work platform according to the leveling proportional value. In this way, the output is controlled by the pre-set multi-point calibration fitting curve, and its setting parameters are all located in the first quadrant, which can better control the output and achieve the purpose of stable output and precise control. In addition, through the slope function control module, the sudden increase or decrease of the output value is avoided, the impact when the aerial work platform is leveled can be reduced, and the comfort and stability are improved.

[0075] Embodiment 2

[0076] Figure 3 is a flow chart of another method for leveling an aerial work platform provided in the second embodiment of the present invention, see Figure 2 and Figure 3 , the leveling method includes:

[0077] S210, with the tilt angle value of the aerial work platform as the X-axis and the proportional value output by the proportional valve as the Y-axis, the tilt angle value and the proportional value are fitted to obtain a multi-point calibration fitting curve.

[0078] Specifically, the corresponding relationship between the tilt angle values ​​of multiple aerial work platforms and the proportional values ​​output by the proportional valve is preset. Figure 2 As shown, the inclination angle values ​​of multiple groups of aerial work platforms are X-axis, and the proportional values ​​output by multiple groups of proportional valves are Y-axis. Then the multiple groups of inclination angle values ​​are X0, X1, X2, ..., XN. Multiple groups of proportional valve values ​​include Y0, Y1, Y2, ..., YN, where N is an integer greater than or equal to 6, and X0 corresponds to Y0. In other words, when the inclination angle value of the aerial work platform is X0, the proportional value output by the proportional valve needs to be Y0, and the aerial work platform is leveled by Y0. Similarly, X1 corresponds to Y1. When the inclination angle value of the aerial work platform is X1, the proportional value output by the proportional valve needs to be Y1, and the aerial work platform is leveled by Y1. ..., XN corresponds to YN. When the inclination angle value of the aerial work platform is XN, the proportional value output by the proportional valve needs to be YN, and the aerial work platform is leveled by YN. After calibrating the multiple groups of inclination angle values ​​and proportional values, a multi-point calibration curve is obtained by fitting. The fitted multi-point calibration curve includes multiple parts. For example, let the actual tilt angle value of the aerial work platform to be subsequently detected be XL, and the corresponding leveling ratio value be YL. Then when XL<X0, the multi-point calibration fitting curve satisfies: YL=0; if Xm≤XL<X(m+1), where m is an integer greater than or equal to 0 and less than N, the multi-point calibration fitting curve satisfies:

[0079] YL=[Y(m+1)-Ym] / [ X(m+1)- Xm]×(XL-Xm)+ Ym; if XL≥XN, the multi-point calibration fitting curve satisfies: YL=YN.

[0080] It should be noted that the multi-point calibration fitting curve can be a six-point calibration fitting curve, an eight-point calibration fitting curve, a ten-point calibration fitting curve, etc. The embodiment of the present invention is not limited to this, and those skilled in the art can set it according to the actual accuracy requirements. It can be understood that when the multi-point calibration fitting curve is a six-point calibration fitting curve, the X-axis before fitting includes seven groups of tilt angle values ​​(X0-X6), when the multi-point calibration fitting curve is an eight-point calibration fitting curve, the X-axis before fitting includes nine groups of tilt angle values ​​(X0-X8), and when the multi-point calibration fitting curve is a ten-point calibration fitting curve, the X-axis before fitting includes eleven groups of tilt angle values ​​(X0-X10).

[0081] In one embodiment, a multi-point calibration fitting curve including an eight-point calibration fitting curve is used as an example for description, and the multiple groups of tilt angle values ​​are X0, X1, X2, ..., X8, and the corresponding multiple groups of ratio values ​​are Y0, Y1, Y2, ..., Y8. Under the multi-point calibration fitting curve relationship, the actual inclination angle value of the aerial work platform detected later is recorded as XL, and the corresponding leveling ratio value is YL. If XL is less than X0, the eight-point calibration fitting curve satisfies: YL=0; if X0≤XL<X1, the eight-point calibration fitting curve satisfies: YL=(Y1-Y0) / (X1- X0)×(XL-X0)+ Y0; if X1≤XL<X2, the eight-point calibration fitting curve satisfies: YL=(Y2-Y1) / (X2- X1)×(XL-X1)+ Y1; if X2≤XL<X3, the eight-point calibration fitting curve satisfies: YL=(Y3-Y2) / (X3- X2)×(XL-X2)+ Y2; if X3≤XL<X4, the eight-point calibration fitting curve satisfies: YL=(Y4-Y3) / (X4- X3)×(XL-X3)+ Y3; if X4≤XL<X5, the eight-point calibration fitting curve satisfies: YL=(Y5-Y4) / (X5- X4)×(XL-X4)+ Y4; if X5≤XL<X6, the eight-point calibration fitting curve satisfies: YL=(Y6-Y5) / (X6- X5)×(XL-X5)+Y5; if X6≤XL<X7, the eight-point calibration fitting curve satisfies: YL=(Y7-Y6) / (X7- X6)×(XL-X6)+ Y6;

[0082] If X7≤XL<X8, the eight-point calibration fitting curve satisfies: YL=(Y8-Y7) / (X8- X7)×(XL-X7)+ Y7; if XL≥XN, the eight-point calibration fitting curve satisfies: YL=Y8. In this way, the output is controlled by the pre-set multi-point calibration fitting curve, and its setting parameters are all located in the first quadrant, which can better control the output and achieve the purpose of stable output and precise control.

[0083] S220, obtaining a first inclination angle value of the aerial work platform detected by the leveling sensor, and determining that the actual inclination angle value of the aerial work platform is 0 when the absolute value of the first inclination angle value is less than a preset value, and determining that the actual inclination angle value of the aerial work platform is the absolute value of the first inclination angle value when the absolute value of the first inclination angle value is greater than or equal to the preset value.

[0084] Specifically, in the embodiment of the present invention, the actual tilt angle value of the aerial work platform can be obtained by the leveling sensor. Exemplarily, the tilt angle value obtained by the leveling sensor is the first tilt angle value of the aerial work platform. In the embodiment of the present invention, the first tilt angle value is not the actual tilt angle value substituted into the multi-point calibration fitting curve, and the first tilt angle value needs to be further processed, that is, the absolute value of the first tilt angle value is compared with the preset value. If the absolute value of the first tilt angle value is less than the preset value, it means that the tilt angle value at this time is small, and normal operation can be guaranteed without leveling, and then the actual tilt angle value of the aerial work platform is determined to be 0, and the leveling proportional value output by the proportional valve is 0 (no leveling). If the absolute value of the first tilt angle value is greater than the preset value, it means that the tilt angle value at this time is large, and leveling is required to ensure normal and safe operation, and then the actual tilt angle value is determined to be the absolute value of the first tilt angle value. In this way, leveling is only performed when leveling is required, avoiding waste of system energy.

[0085] S230, determining the driving enable direction of the proportional valve according to the first tilt angle value, and when the driving enable direction is positive, determining the leveling ratio value to be the first leveling ratio value, and when the driving enable direction is negative, determining the leveling ratio value to be the negative value of the first leveling ratio value.

[0086] Specifically, after determining the actual tilt angle value, the first leveling ratio value output by the proportional valve is obtained according to the actual tilt angle value and the multi-point calibration fitting curve. It can be understood that the first leveling ratio value is not the leveling ratio value finally input to the ramp function control module, and the leveling ratio value finally input to the ramp function control module needs to be determined by the driving enable direction of the proportional valve and the first leveling ratio value. Exemplarily, the driving enable direction needs to be determined by the first tilt angle value detected by the leveling sensor. When the first tilt angle value detected by the leveling sensor is a positive value, the driving enable direction is positive. When the first tilt angle value detected by the leveling sensor is a negative value, the driving enable direction is negative. Then, when the driving enable direction is positive, the leveling ratio value is determined to be the first leveling ratio value, and when the driving enable direction is negative, the leveling ratio value is determined to be the negative value of the first leveling ratio value.

[0087] For example, the method of obtaining the leveling ratio value input to the slope function control module is described by taking the downward leveling of the aerial work platform as an example. Specifically, when the operator controls the boom connected to the aerial work platform to move upward, the aerial work platform needs to be leveled downward to ensure the level of the aerial work platform. Figure 2As shown in the figure, in the preset eight-point calibration fitting curve, the X-axis is X0=2, X1=5, X2=10, X3=15, X4=20, X5=25, X6=30, X7=35, X8=40. Since the resolution set by the program is 10, the tilt angle values ​​represented are X0=0.2°, X1=0.5°, X2=1°, X3=1.5°, X4=2°, X5=2.5°, X6=3°, X7=3.5°, X8=4°. The Y-axis is Y0=100, Y1=200, Y2=300, Y3=500, Y4=600, Y5=700, Y6=800, Y7=900, Y8=1000. Assume that the first tilt angle value detected by the leveling sensor is -0.3° and the preset value is 0.2, then the absolute value of the first tilt angle value is greater than the preset value, and the actual tilt angle value XL is determined to be 0.3°. At this time, the actual tilt angle value XL is between X0=0.2 and X0=0.5, then substitute the eight-point calibration fitting curve YL=(Y1-Y0) / (X1- X0)×(XL-X0)+ Y0, and you can get the first leveling proportional value output by the proportional valve is 133, but because the first tilt angle value is -0.3, that is, the driving enable direction of the proportional valve is negative, therefore, the leveling proportional value finally input to the ramp function control module should be the negative value of the first leveling proportional value, that is, -133.

[0088] S240, input the leveling ratio value into the slope function control module, so that the slope function control module increases according to the start slope or decreases according to the stop slope in each scanning cycle according to the leveling ratio value, so that when the leveling ratio value is reached, the value gradually changes, and the proportional valve control module generates a driving current according to the gradually changing value to level the aerial work platform.

[0089] Specifically, the proportional valve control module also stores the proportional valve down-leveling maximum current value C1. max , the minimum current value of the proportional valve is C1 min , proportional valve down-leveling start ramp C1 Start , proportional valve down-level stop ramp C1 Stop , the maximum current value of the proportional valve is C2 max , the minimum current value C2 for the proportional valve to be adjusted min , proportional valve leveling start ramp C2 Start , proportional valve upper level stop ramp C2 StopAfter the leveling ratio value is determined in step S230, the leveling ratio value is input into the ramp function control module. After the ramp function control module detects the leveling ratio value, the leveling ratio value is transmitted to the ramp function control module every time the controller scans a cycle. The ramp function control module starts from the minimum value of the start ramp setting (in one embodiment, the minimum value of the start ramp setting can be 0) and starts leveling according to the proportional valve down leveling start ramp C1. Start Gradually output the proportional value (assuming the proportional value output by the ramp function control module is YT, then YT=0+C1 Start ), and then accumulate until the proportional value output by the ramp function control module is the leveling proportional value. In this process, the value output by the ramp function control module gradually changes, and the valve control module generates a driving current according to the gradually changing value (driving current I=(C1 max -C1 min / 1000-0)×(YT-0)+ C1 min ) to level the aerial work platform. In this process, in each scanning cycle, the value is increased gradually according to the starting ramp, which avoids a sudden increase or decrease in the output value, reduces the impact of the aerial work platform leveling, and improves comfort and stability.

[0090] It should be noted that when the operator operates the boom to change its amplitude downward, the aerial work platform needs to be leveled upward to ensure the level of the aerial work platform. The working process of the upward leveling is similar to that of the downward leveling, and will not be repeated here. It can be understood that in the embodiment of the present invention, when the upper leveling of the aerial work platform is converted to the lower leveling, or when the lower leveling of the aerial work platform is converted to the upper leveling, since the proportional valve includes a slope control function module, it will not cause the proportional valve port to stop or open abruptly, thereby avoiding repeated overshoot or lag of the aerial work platform, increasing the stability of the aerial work platform, and greatly improving the operating comfort.

[0091] It should also be noted that the control module of the proportional valve is also preset with a first dither frequency range and a first amplitude current range. The first dither frequency range includes 100Hz-200Hz, and the first amplitude current range includes 100mA-250mA. The hysteresis problem of the proportional valve can be solved by setting the first dither frequency range and the first amplitude current range.

[0092] In summary, the embodiment of the present invention controls the output by presetting an eight-point calibration fitting curve through the actual tilt angle value and the eight-point calibration fitting curve. Since the setting parameters of the eight-point calibration fitting curve are all located in the first quadrant, the output can be better controlled to achieve the purpose of stable output and precise control. In addition, leveling is performed only when the absolute value of the first tilt angle value is greater than the preset value, thereby avoiding waste of system energy. And through the ramp function control module, the sudden increase or decrease of the output value is avoided, the impact of leveling can be reduced, and the comfort and stability are improved.

[0093] Embodiment 3

[0094] Figure 4 This is a schematic diagram of the structure of a leveling device for an aerial work platform provided in the third embodiment of the present invention. This embodiment is applicable to situations where it is difficult to level the auxiliary tool by visual means, which is not conducive to the operation of novice drivers. In addition, the operability is poor during the work process, and the constant manual leveling wastes working time and affects the work efficiency. The specific structure of the leveling device is as follows:

[0095] The calibration module 100 is used to pre-calibrate the corresponding relationship between multiple groups of tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and to obtain a multi-point calibration fitting curve by fitting.

[0096] The acquisition module 200 is used to acquire the actual tilt angle value of the aerial work platform.

[0097] The adjustment module 300 is used to obtain the leveling ratio value output by the proportional valve according to the actual tilt angle value and the multi-point calibration fitting curve, and input the leveling ratio value into the slope function control module and the proportional valve control module, so that the slope function control module and the proportional valve control module can level the aerial work platform according to the leveling ratio value.

[0098] The multiple groups of tilt angle values ​​are X0, X1, X2, ..., XN, and the corresponding multiple groups of proportional values ​​include Y0, Y1, Y2, ..., YN, where N is an integer greater than or equal to 6. The calibration module 100 is specifically used to fit the tilt angle value and the proportional value with the tilt angle value of the aerial work platform as the X-axis and the proportional value output by the proportional valve as the Y-axis to obtain a multi-point calibration fitting curve. The actual tilt angle value is XL, and the leveling proportional value is YL. If XL<X0, the multi-point calibration fitting curve satisfies: YL=0. If Xm≤XL<X(m+1), where m is an integer greater than or equal to 0 and less than N, the multi-point calibration fitting curve satisfies: YL=[Y(m+1)-Ym] / [ X(m+1)- Xm]×(XL-Xm)+ Ym. If XL≥XN, the multi-point calibration fitting curve satisfies: YL=YN.

[0099] The multi-point calibration fitting curve includes an eight-point calibration fitting curve, and the multiple groups of tilt angle values ​​are X0, X1, X2, ..., X8, and the corresponding multiple groups of ratio values ​​include Y0, Y1, Y2, ..., Y8. If XL < X0, the eight-point calibration fitting curve satisfies: YL = 0; if X0 ≤ XL < X1, the eight-point calibration fitting curve satisfies:

[0100] YL=(Y1-Y0) / (X1- X0)×(XL-X0)+ Y0; if X1≤XL<X2, the eight-point calibration fitting curve satisfies: YL=(Y2-Y1) / (X2- X1)×(XL-X1)+ Y1; if X2≤XL<X3, the eight-point calibration fitting curve satisfies: YL=(Y3-Y2) / (X3- X2)×(XL-X2)+ Y2; if X3≤XL<X4, the eight-point calibration fitting curve satisfies: YL=(Y4-Y3) / (X4- X3)×(XL-X3)+Y3; if X4≤XL<X5, the eight-point calibration fitting curve satisfies: YL=(Y5-Y4) / (X5- X4)×(XL-X4)+ Y4; if X5≤XL<X6, the eight-point calibration fitting curve satisfies: YL=(Y6-Y5) / (X6- X5)×(XL-X5)+ Y5; if X6≤XL<X7, the eight-point calibration fitting curve satisfies: YL=(Y7-Y6) / (X7- X6)×(XL-X6)+ Y6; if X7≤XL<X8, the eight-point calibration fitting curve satisfies: YL=(Y8-Y7) / ( X8- X7)×(XL-X7)+Y7.

[0101] The acquisition module 200 is specifically used to acquire a first tilt angle value of the aerial work platform detected by the leveling sensor. When the absolute value of the first tilt angle value is less than a preset value, the actual tilt angle value of the aerial work platform is determined to be 0, and when the absolute value of the first tilt angle value is greater than or equal to the preset value, the actual tilt angle value of the aerial work platform is determined to be the absolute value of the first tilt angle value.

[0102] The adjustment module 300 is specifically used to determine the driving enable direction of the proportional valve according to the first tilt angle value, and when the driving enable direction is positive, determine the leveling ratio value to be the first leveling ratio value, and when the driving enable direction is negative, determine the leveling ratio value to be the negative value of the first leveling ratio value. It is also used to input the leveling ratio value into the ramp function control module, so that the ramp function control module increases according to the start ramp or decreases according to the stop ramp in each scanning cycle according to the leveling ratio value, so that when the leveling ratio value is reached, the value gradually changes, and the proportional valve control module generates a driving current according to the gradually changing value to level the aerial work platform.

[0103] The proportional valve is preset with a first dither frequency range and a first amplitude current range, wherein the first dither frequency range includes 100 Hz-200 Hz, and the first amplitude current range includes 100 mA-250 mA.

[0104] In summary, the calibration module in the embodiment of the present invention is used to pre-calibrate the correspondence between the inclination angle values ​​of multiple groups of aerial work platforms and the proportional values ​​output by the proportional valve, and to obtain a multi-point calibration fitting curve by fitting. The acquisition module is used to obtain the actual inclination angle value of the aerial work platform. The adjustment module is used to obtain the leveling proportional value output by the proportional valve according to the actual inclination angle value and the multi-point calibration fitting curve, and input the leveling proportional value into the slope function control module and the proportional valve control module, so that the slope function control module and the proportional valve control module level the aerial work platform according to the leveling proportional value. In this way, the output is controlled by a pre-set multi-point calibration fitting curve, and its setting parameters are all located in the first quadrant, which can better control the output and achieve the purpose of stable output and precise control. In addition, through the slope function control module, the sudden increase or decrease of the output value is avoided, the impact of leveling can be reduced, and the comfort and stability are improved.

[0105] Embodiment 4

[0106] Figure 5 A schematic diagram of the structure of a leveling device provided in Embodiment 4 of the present invention is provided. The leveling device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The leveling device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0107] like Figure 5 As shown, the leveling device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the leveling device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0108] A number of components in the leveling device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the leveling device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0109] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above.

[0110] In some embodiments, the leveling method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the leveling device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the compensation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the leveling method in any other suitable manner (e.g., by means of firmware).

[0111] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0112] Embodiment 5

[0113] Embodiment 5 of the present invention further provides a storage medium comprising computer executable instructions, wherein the computer executable instructions are used to execute a leveling method for an aerial work platform when executed by a computer processor, the leveling method comprising:

[0114] Pre-calibrate a plurality of groups of corresponding relationships between the tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and obtain a multi-point calibration fitting curve by fitting;

[0115] Obtaining an actual tilt angle value of the aerial work platform;

[0116] The leveling ratio value output by the proportional valve is obtained according to the actual inclination angle value and the multi-point calibration fitting curve, and the leveling ratio value is input into the slope function control module and the proportional valve control module, so that the slope function control module and the proportional valve control module level the aerial work platform according to the leveling ratio value.

[0117] Of course, the computer executable instructions of a storage medium including computer executable instructions provided by an embodiment of the present invention are not limited to the operations of the method described above, and can also execute related operations in the leveling method provided by any embodiment of the present invention.

[0118] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (FLASH), a hard disk or an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0119] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for leveling an aerial work platform, characterized in that: The aerial work platform is provided with a proportional valve; the proportional valve comprises a slope function control module and a proportional valve control module; The leveling method comprises: Pre-calibrate a plurality of groups of corresponding relationships between the tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and obtain a multi-point calibration fitting curve by fitting; Obtaining an actual tilt angle value of the aerial work platform; The leveling ratio value output by the proportional valve is obtained according to the actual inclination angle value and the multi-point calibration fitting curve, and the leveling ratio value is input into the slope function control module and the proportional valve control module, so that the slope function control module and the proportional valve control module level the aerial work platform according to the leveling ratio value.

2. The leveling method according to claim 1, characterized in that: The pre-calibration of the correspondence between the multiple groups of tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and fitting to obtain a multi-point calibration fitting curve includes: The plurality of groups of tilt angle values ​​are respectively X0, X1, X2, ..., XN, and the corresponding plurality of groups of ratio values ​​include Y0, Y1, Y2, ..., YN, wherein N is an integer greater than or equal to 6; Taking the inclination angle value of the aerial work platform as the X-axis and the proportional value output by the proportional valve as the Y-axis, fitting the inclination angle value and the proportional value to obtain a multi-point calibration fitting curve; The actual tilt angle value is XL, and the leveling ratio value is YL. If XL<X0, the multi-point calibration fitting curve satisfies: YL=0; If Xm≤XL<X(m+1), where m is an integer greater than or equal to 0 and less than N, the multi-point calibration fitting curve satisfies: YL=[Y(m+1)-Ym] / [ X(m+1)- Xm]×(XL-Xm)+ Ym; If XL≥XN, the multi-point calibration fitting curve satisfies: YL=YN.

3. The leveling method according to claim 2, characterized in that: The multi-point calibration fitting curve includes an eight-point calibration fitting curve; The plurality of groups of tilt angle values ​​are respectively X0, X1, X2, ..., X8, and the corresponding plurality of groups of ratio values ​​include Y0, Y1, Y2, ..., Y8; If XL<X0, the eight-point calibration fitting curve satisfies: YL=0; If X0≤XL<X1, the eight-point calibration fitting curve satisfies: YL=(Y1-Y0) / (X1- X0)×(XL-X0)+ Y0; If X1≤XL<X2, the eight-point calibration fitting curve satisfies: YL=(Y2-Y1) / (X2- X1)×(XL-X1)+ Y1; If X2≤XL<X3, the eight-point calibration fitting curve satisfies: YL=(Y3-Y2) / (X3- X2)×(XL-X2)+ Y2; If X3≤XL<X4, the eight-point calibration fitting curve satisfies: YL=(Y4-Y3) / (X4- X3)×(XL-X3)+ Y3; If X4≤XL<X5, the eight-point calibration fitting curve satisfies: YL=(Y5-Y4) / (X5- X4)×(XL-X4)+ Y4; If X5≤XL<X6, the eight-point calibration fitting curve satisfies: YL=(Y6-Y5) / (X6- X5)×(XL-X5)+ Y5; If X6≤XL<X7, the eight-point calibration fitting curve satisfies: YL=(Y7-Y6) / (X7- X6)×(XL-X6)+ Y6; If X7≤XL<X8, the eight-point calibration fitting curve satisfies: YL=(Y8-Y7) / (X8- X7)×(XL-X7)+ Y7; If XL≥XN, the eight-point calibration fitting curve satisfies: YL=Y8.

4. The leveling method according to claim 1, characterized in that: The aerial work platform is also provided with a leveling sensor; The obtaining of the actual tilt angle value of the aerial work platform comprises: Acquire a first tilt angle value of the aerial work platform detected by the leveling sensor; When the absolute value of the first inclination angle value is less than a preset value, the actual inclination angle value of the aerial work platform is determined to be 0; and when the absolute value of the first inclination angle value is greater than or equal to a preset value, the actual inclination angle value of the aerial work platform is determined to be the absolute value of the first inclination angle value.

5. The leveling method according to claim 4, characterized in that: The leveling proportional value output by the proportional valve is obtained according to the actual tilt angle value and the multi-point calibration fitting curve, including: Obtaining a first leveling proportional value output by the proportional valve according to the actual tilt angle value and the multi-point calibration fitting curve; Determining a driving enabling direction of the proportional valve according to the first tilt angle value; When the driving enable direction is positive, the leveling ratio value is determined to be the first leveling ratio value, and when the driving enable direction is negative, the leveling ratio value is determined to be a negative value of the first leveling ratio value.

6. The leveling method according to claim 1, characterized in that: The step of inputting the leveling ratio value into the slope function control module and the proportional valve control module so that the slope function control module and the proportional valve control module level the aerial work platform according to the leveling ratio value comprises: The leveling ratio value is input into the slope function control module, so that the slope function control module increases according to the start slope or decreases according to the stop slope in each scanning cycle according to the leveling ratio value, so that when the leveling ratio value is reached, the value gradually changes, and the proportional valve control module generates a driving current according to the gradually changing value to level the aerial work platform.

7. The leveling method according to claim 1, characterized in that: The proportional valve is preset with a first vibration frequency range and a first amplitude current range; The first dither frequency range includes 100 Hz-200 Hz, and the first amplitude current range includes 100 mA-250 mA.

8. A leveling device for an aerial work platform, characterized in that: The aerial work platform is provided with a proportional valve; the proportional valve comprises a slope function control module and a proportional valve control module; The leveling device comprises: A calibration module, used to pre-calibrate the corresponding relationship between multiple groups of tilt angle values ​​of the aerial work platform and the proportional value output by the proportional valve, and to obtain a multi-point calibration fitting curve by fitting; An acquisition module is used to acquire the actual inclination angle value of the aerial work platform; The adjustment module is used to obtain the leveling ratio value output by the proportional valve according to the actual inclination angle value and the multi-point calibration fitting curve, and input the leveling ratio value into the slope function control module and the proportional valve control module, so that the slope function control module and the proportional valve control module can level the aerial work platform according to the leveling ratio value.

9. A leveling device, characterized in that: The leveling device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the leveling method according to any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the leveling method according to any one of claims 1 to 7 is implemented.

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