A leveling method, apparatus, equipment and storage medium for an aerial work platform

Abstract

This invention discloses a leveling method, apparatus, equipment, and storage medium for aerial work platforms. The leveling method includes pre-calibrating the correspondence between multiple sets of tilt angle values ​​of the aerial work platform and the proportional values ​​output by a proportional valve, and fitting a multi-point calibration fitting curve. The actual tilt angle value of the aerial work platform is obtained, and the leveling ratio value output by the proportional valve is obtained based on the actual tilt angle value and the multi-point calibration fitting curve. This leveling ratio value is then input to the proportional valve, enabling the ramp function control module and the proportional valve control module to level the aerial work platform according to the leveling ratio value. By controlling the output through a pre-set multi-point calibration fitting curve, with all parameters set in the first quadrant, better output control is achieved, resulting in smooth and precise output control. Furthermore, the ramp function control module avoids sudden increases or decreases in the output value, reducing the impact of leveling and improving comfort and stability.

Description

Technical Field

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

[0002] Automatic leveling control systems all use leveling sensors mounted on the workbench. The signals from these leveling sensors can be either CAN bus type or 4-20mA analog type. The 4-20mA analog type refers to the use of a current range of 4 to 20 milliamps to represent the analog signal output by the sensor or other equipment in industrial control systems. The control module (ECU) collects the signals from the leveling sensors to detect the tilt angle of the platform in real time. Based on the size of the angle, it controls the opening of the leveling proportional valve, causing the leveling cylinder to extend or retract, thereby controlling the rise or fall of the workbench and achieving the purpose of automatic leveling.

[0003] Existing technologies typically use the initial and maximum tilt angles of the calibration platform to correlate with the starting angular velocity and maximum angle of the main boom, thereby achieving synchronous rotation of the worktable and the main boom to achieve the desired leveling effect. Alternatively, an automatic leveling algorithm can be designed using a nonlinear forward propagation method. However, the first approach involves numerous system parameters, is cumbersome to operate, and is not practical for real-world applications. The second approach fails to address the impact of reversing the worktable from positive to negative leveling or vice versa due to changes in the platform tilt angle. This causes the worktable to stop abruptly and then resume movement, affecting leveling comfort. Furthermore, the parameter settings are distributed in the second and fourth quadrants, making parameter setting and maintenance inconvenient. Summary of the Invention

[0004] This invention provides a leveling method, apparatus, equipment, and storage medium for aerial work platforms. Output is controlled by a pre-set multi-point calibration fitting curve, with all parameters located in the first quadrant, enabling better output control and achieving stable and precise output. Furthermore, the ramp function control module avoids sudden increases or decreases in output values, reducing the impact of platform leveling and improving comfort and stability.

[0005] In a first aspect, embodiments of the present invention provide a leveling method for an aerial work platform, wherein the aerial work platform is equipped with a proportional valve; the proportional valve includes a ramp function control module and a proportional valve control module;

[0006] The leveling method includes:

[0007] The correspondence between the tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve is pre-calibrated, and a multi-point calibration fitting curve is obtained by fitting.

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

[0009] The leveling ratio value output by the proportional valve is obtained based on the actual tilt angle value and the multi-point calibration fitting curve. The leveling ratio value is then input to 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-calibration of the correspondence between multiple sets of tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and the fitting of the multi-point calibration fitting curve, includes:

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

[0012] Using the tilt angle 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.

[0013] Let the actual tilt angle be XL and the leveling ratio be YL. If XL < X0, then 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, then the multi-point calibration fitting curve satisfies:

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

[0016] If XL≥XN, then 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 multiple sets of tilt angle values ​​are X0, X1, X2, ..., X8, and the corresponding multiple sets of ratio values ​​include Y0, Y1, Y2, ..., Y8;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0037] Optionally, the aerial work platform is also equipped with a leveling sensor;

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

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

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

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

[0042] The first leveling ratio value output by the proportional valve is obtained based on the actual tilt angle value and the multi-point calibration fitting curve.

[0043] The drive enable direction of the proportional valve is determined based on the first tilt angle value;

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

[0045] Optionally, the step of inputting the leveling ratio value to the ramp function control module and the proportional valve control module, so that the ramp 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 ramp function control module, so that the ramp function control module, according to the leveling ratio value, increases the ramp at the start or decreases the ramp at the stop in each scanning cycle, so that the value gradually changes when the leveling ratio value is reached, and the proportional valve control module generates a drive current according to the gradually changing value to level the aerial work platform.

[0047] Optionally, the proportional valve is preset with a first flutter frequency range and a first amplitude current range;

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

[0049] Secondly, embodiments of the present invention also provide a leveling device for an aerial work platform, wherein a proportional valve is provided on the aerial work platform; the proportional valve includes a ramp function control module and a proportional valve control module;

[0050] The leveling device includes:

[0051] The calibration module is used to pre-calibrate the correspondence between multiple sets of tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and to fit a multi-point calibration fitting curve.

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

[0053] The adjustment module is used to obtain the leveling ratio value output by the proportional valve based on the actual tilt angle value and the multi-point calibration fitting curve, and input the leveling ratio value to 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.

[0054] Thirdly, embodiments of the present invention also provide a leveling setup, wherein the leveling device includes one or more processors. It also includes a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the leveling method described in any embodiment of the present invention.

[0055] Fourthly, embodiments of the present invention also provide a storage medium storing a computer program thereon, which, when executed by a processor, implements any of the leveling methods described in the present invention.

[0056] This invention, in its embodiments, pre-calibrates the correspondence between multiple sets of tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and then fits a multi-point calibration fitting curve. The actual tilt angle value of the aerial work platform is obtained, and the leveling ratio value output by the proportional valve is derived based on the actual tilt angle value and the multi-point calibration fitting curve. This leveling ratio value is then input to the ramp function control module and the proportional valve control module, enabling them to level the aerial work platform according to the leveling ratio value. By controlling the output through a pre-set multi-point calibration fitting curve, with all parameters located in the first quadrant, better output control is achieved, resulting in smooth and precise control. Furthermore, the ramp function control module avoids sudden increases or decreases in the output value, reducing the impact during aerial work platform leveling and improving comfort and stability. Attached Figure Description

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

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

[0059] Figure 3 This is a flowchart illustrating another leveling method for an aerial work platform provided in Embodiment 2 of the present invention.

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

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

[0062] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0064] Example 1

[0065] Figure 1 This is a flowchart 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 Embodiment 1 of the present invention. This embodiment is applicable to situations where there are many system parameters to adjust, the operation is cumbersome, and the aerial work platform may suddenly adjust, resulting in poor leveling comfort. This method can be performed by the leveling device provided in this embodiment of the present invention, which can be implemented in software and / or hardware. This device can be configured in the leveling equipment provided in this embodiment of the present invention.

[0066] See Figure 1 The leveling method for this aerial work platform includes:

[0067] S110. Pre-calibrate the correspondence between the tilt angle values ​​of multiple aerial work platforms and the proportional values ​​output by the proportional valve, and then fit the multi-point calibration fitting curve.

[0068] Specifically, the tilt angle values ​​of multiple sets of aerial work platforms can be the tilt angle values ​​that the aerial work platform may exhibit during operation. For example, during operation, the aerial work platform may exhibit tilt angle values ​​of 0.2°, 0.5°, and 1°, etc. Corresponding to these tilt angle values, the proportional valve needs to output a corresponding proportional value to level the aerial work platform. For example, such as... Figure 2 As shown, 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 value of the aerial work platform is 2, it means that the tilt angle 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 it level. When the corresponding tilt angle of the aerial work platform is 0.5°, Figure 2 The resolution of the angle set in the program is 10. That is, when the value of the aerial work platform is 5 (meaning the tilt angle 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 it level. When the tilt angle of the corresponding aerial work platform is 1°, the proportional valve needs to output a proportional value of 300 to adjust the aerial work platform to keep it level, and so on. In this way, the tilt angle values ​​of multiple aerial work platforms are fitted with the proportional values ​​output by multiple proportional valves to obtain a multi-point calibration fitting curve. In subsequent leveling, there is no need to perform load calculations. Just substitute the actual tilt angle value into the multi-point calibration fitting curve to obtain the proportional value output by the proportional valve. The control method is simple and easy to operate. Moreover, since the set parameters are all located in the first quadrant, the output can be better controlled, achieving the purpose of stable output and precise control.

[0069] It should be noted that the tilt angle values ​​of the above-mentioned multiple sets of aerial work platforms and the proportional values ​​output by the multiple sets of proportional valves are illustrative examples, and the embodiments of the present invention do not limit them. Those skilled in the art can set them according to actual needs.

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

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

[0072] S130. Based on the actual tilt angle value and the multi-point calibration fitting curve, the leveling ratio value output by the proportional valve is obtained, and the leveling ratio value is input to 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.

[0073] Specifically, in this embodiment of the invention, multiple sets of multi-point calibration fitting curves of the tilt angle value of the aerial work platform and the ratio value output by the proportional valve are pre-set in the control module of the proportional valve. Then, after determining the actual tilt angle value of the aerial work platform, the control module of the proportional valve calculates the leveling ratio value matching the current actual tilt angle value based on the multi-point calibration fitting curve and the actual tilt angle value. In this way, the method of obtaining the leveling ratio value is simple and convenient to operate. Moreover, since the set parameters are all located in the first quadrant, the output can be better controlled, achieving the purpose of stable output and precise control. Furthermore, after obtaining the leveling ratio value, it is input into the ramp function control module and the proportional valve control module. The ramp function control module will, according to the leveling ratio value, increase the ramp at the start or decrease it at the stop in each scan cycle of the control module. The increase and decrease will cause the value to gradually increase and decrease when the leveling ratio value is reached. This allows the proportional valve control module to generate a corresponding current transfer to level the aerial work platform based on the gradually changing value. This avoids a sudden increase or decrease in the output value of the proportional valve, reduces the impact of leveling the aerial work platform, and improves comfort and stability.

[0074] In summary, this embodiment of the invention pre-calibrates the correspondence between multiple sets of tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and then fits a multi-point calibration fitting curve. The actual tilt angle value of the aerial work platform is obtained, and the leveling ratio value output by the proportional valve is obtained based on the actual tilt angle value and the multi-point calibration fitting curve. This leveling ratio value is then input to the ramp function control module and the proportional valve control module, enabling them to level the aerial work platform according to the leveling ratio value. By controlling the output through a pre-set multi-point calibration fitting curve, with all parameters located in the first quadrant, better output control is achieved, resulting in smooth and precise control. Furthermore, the ramp function control module avoids sudden increases or decreases in the output value, reducing the impact during aerial work platform leveling and improving comfort and stability.

[0075] Example 2

[0076] Figure 3 This is a flowchart illustrating another leveling method for an aerial work platform provided in Embodiment 2 of the present invention. See also... Figure 2 and Figure 3 The leveling method includes:

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

[0078] Specifically, the correspondence between the tilt angle values ​​of multiple aerial work platforms and the proportional values ​​output by the proportional valves is preset. For example... Figure 2 As shown, the tilt angles of multiple aerial work platforms are used as the X-axis, and the proportional values ​​output by multiple proportional valves are used as the Y-axis. The tilt angle values ​​are X0, X1, X2, ..., XN. The proportional valve values ​​are Y0, Y1, Y2, ..., YN, where N is an integer greater than or equal to 6. X0 corresponds to Y0; in other words, when the tilt angle of the aerial work platform is X0, the proportional valve output should be set to Y0 to level the platform. Similarly, X1 corresponds to Y1; when the tilt angle is X1, the proportional valve output should be set to Y1 to level the platform. ..., XN corresponds to YN; when the tilt angle is XN, the proportional valve output should be set to YN to level the platform. After calibrating the multiple tilt angle and proportional values, a multi-point calibration curve is obtained through fitting. The fitted multi-point calibration curve includes multiple parts. For example, suppose the actual tilt angle of the aerial work platform to be subsequently detected is XL, and the corresponding leveling ratio is 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, then 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. This embodiment of the invention does not limit this; those skilled in the art can set it according to actual accuracy requirements. It is understood that when the multi-point calibration fitting curve is a six-point calibration fitting curve, the X-axis before fitting includes seven sets 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 sets 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 sets 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 explanation. The multiple sets of tilt angle values ​​are X0, X1, X2, ..., X8, and the corresponding multiple sets of scale values ​​include Y0, Y1, Y2, ..., Y8. Under the multi-point calibration fitting curve relationship, let the actual tilt angle of the aerial work platform in subsequent testing be XL, and the corresponding leveling ratio be YL. If XL < X0, then the eight-point calibration fitting curve satisfies: YL = 0; if X0 ≤ XL < X1, then the eight-point calibration fitting curve satisfies: YL = (Y1 - Y0) / (X1 - X0) × (XL - X0) + Y0; if X1 ≤ XL < X2, then the eight-point calibration fitting curve satisfies: YL = (Y2 - Y1) / (X2 - X1) × (XL - X1) + Y1; if X2 ≤ XL < X3, then the eight-point calibration fitting curve satisfies: YL = (Y3 - Y2) / (X3 - X2) × (XL - X2) + Y2; if X3 ≤ XL < X4, then the eight-point calibration fitting curve satisfies: YL = (Y4 - Y3) / (X4 - X3) × (XL - X3) + Y2. Y3; If X4≤XL<X5, then the eight-point calibration fitting curve satisfies: YL=(Y5-Y4) / (X5-X4)×(XL-X4)+Y4; If X5≤XL<X6, then the eight-point calibration fitting curve satisfies: YL=(Y6-Y5) / (X6-X5)×(XL-X5)+Y5; If X6≤XL<X7, then the eight-point calibration fitting curve satisfies: YL=(Y7-Y6) / (X7-X6)×(XL-X6)+Y6;

[0082] If X7 ≤ XL < X8, then the eight-point calibration fitting curve satisfies: YL = (Y8 - Y7) / (X8 - X7) × (XL - X7) + Y7; if XL ≥ XN, then the eight-point calibration fitting curve satisfies: YL = Y8. By controlling the output through a pre-set multi-point calibration fitting curve, with all parameters located in the first quadrant, better output control can be achieved, resulting in stable and precise output control.

[0083] S220. Obtain the 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, determine that the actual tilt angle value of the aerial work platform is 0. When the absolute value of the first tilt angle value is greater than or equal to the preset value, determine that the actual tilt angle value of the aerial work platform is the absolute value of the first tilt angle value.

[0084] Specifically, in this embodiment of the invention, the actual tilt angle value of the aerial work platform can be obtained through a leveling sensor. For example, the tilt angle value obtained by the leveling sensor is the first tilt angle value of the aerial work platform. In this embodiment, the first tilt angle value is not the actual tilt angle value substituted into the multi-point calibration fitting curve. Further processing of the first tilt angle value is required, namely, comparing the absolute value of the first tilt angle value with a preset value. If the absolute value of the first tilt angle value is less than the preset value, it indicates that the tilt angle value is small, and normal operation can be guaranteed without leveling. Therefore, the actual tilt angle value of the aerial work platform is determined to be 0, and the leveling ratio output by the proportional valve is 0 (no leveling is performed). If the absolute value of the first tilt angle value is greater than the preset value, it indicates that the tilt angle value is large, and leveling is required to ensure normal and safe operation. Therefore, the actual tilt angle value is determined to be the absolute value of the first tilt angle value. Thus, leveling is only performed when needed, avoiding waste of system energy.

[0085] S230. Determine the driving enable direction of the proportional valve based on the first tilt angle value. When the driving enable direction is positive, determine the leveling ratio value as the first leveling ratio value. When the driving enable direction is negative, determine the leveling ratio value as 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 based on the actual tilt angle value and the multi-point calibration fitting curve. It is understandable that the first leveling ratio value is not the final leveling ratio value input to the ramp function control module; it also needs to be determined by the drive enable direction of the proportional valve and the first leveling ratio value. For example, the drive 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 positive, the drive enable direction is positive; when the first tilt angle value detected by the leveling sensor is negative, the drive enable direction is negative. Therefore, when the drive enable direction is positive, the leveling ratio value is determined to be the first leveling ratio value, and when the drive enable direction is negative, the leveling ratio value is determined to be the negative of the first leveling ratio value.

[0087] For example, let's take the leveling of an aerial work platform as an example to illustrate how the leveling ratio value input to the ramp control module is obtained. Specifically, when the operator manipulates the boom of the aerial work platform to move upwards, it needs to be leveled to ensure the platform is horizontal. At this time, if... Figure 2As shown, in the preset eight-point calibration fitting curve, the X-axis values ​​are X0=2, X1=5, X2=10, X3=15, X4=20, X5=25, X6=30, X7=35, and X8=40. Since the program's resolution is set to 10, the corresponding tilt angle values ​​are X0=0.2°, X1=0.5°, X2=1°, X3=1.5°, X4=2°, X5=2.5°, X6=3°, X7=3.5°, and X8=4°. The Y-axis values ​​are Y0=100, Y1=200, Y2=300, Y3=500, Y4=600, Y5=700, Y6=800, Y7=900, and Y8=1000. Let the first tilt angle detected by the leveling sensor be -0.3°, and the preset value be 0.2. Then the absolute value of the first tilt angle 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. Substituting it into the eight-point calibration fitting curve YL=(Y1-Y0) / (X1-X0)×(XL-X0)+Y0, we can obtain the first leveling ratio value output by the proportional valve as 133. However, since the first tilt angle value is -0.3, that is, the driving enable direction of the proportional valve is negative, the final leveling ratio value input to the ramp function control module should be the negative value of the first leveling ratio value, that is, -133.

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

[0089] Specifically, the control module of the proportional valve also stores the maximum current value C1 for the proportional valve's downward adjustment. max Adjust the minimum current value C1 of the proportional valve. min The proportional valve is adjusted downwards to level the starting ramp C1. Start The proportional valve is adjusted downwards to stop the ramp C1. Stop Adjust the maximum current value C2 on the proportional valve. max Adjust the minimum current value C2 on the proportional valve. min Adjust the proportional valve to level the starting ramp C2 Start The proportional valve is adjusted to stop the ramp C2. StopAfter determining the leveling ratio value through step S230, the leveling ratio value is input to the ramp function control module. Upon detecting the leveling ratio value, the ramp function control module transmits the leveling ratio value to itself every time the controller scans for one cycle. The ramp function control module starts from the minimum value set for the starting ramp (in one embodiment, the minimum value set for the starting ramp can be 0) and adjusts the starting ramp C1 according to the proportional valve. Start Gradually output the proportional value (let the proportional value output by the ramp function control module be YT, then YT = 0 + C1). Start The values ​​are accumulated sequentially until the proportional value output by the ramp function control module is the leveling proportional value. During this process, the value output by the ramp function control module gradually changes, and the valve port control module generates a drive current (drive current I = (C1)) based on the gradually changing value. max -C1 min / 1000-0)×(YT-0)+ C1 min This process is used to level the aerial work platform. During this process, in each scanning cycle, the starting ramp is increased gradually. This gradual increase prevents the output value from increasing or decreasing abruptly, reducing the impact of leveling the aerial work platform and improving comfort and stability.

[0090] It should be noted that when the operator lowers the boom, the aerial work platform needs to be leveled upwards to ensure its horizontal position. The upward leveling process is similar to the downward leveling process and will not be described in detail here. It is understood that in this embodiment of the invention, when the aerial work platform is leveled upwards and then downwards, or vice versa, the proportional valve includes a ramp control module, preventing abrupt stops or starts. This avoids repeated overshooting or lag of the aerial work platform, increasing its stability and greatly improving operator comfort.

[0091] It should also be noted that the proportional valve's control module has preset first chatter frequency range and first amplitude current range. The first chatter frequency range includes 100Hz-200Hz, and the first amplitude current range includes 100mA-250mA. Setting these first chatter frequency and amplitude current ranges can solve the hysteresis problem of the proportional valve.

[0092] In summary, this embodiment of the invention controls the output by pre-setting an eight-point calibration fitting curve and using the actual tilt angle value and the eight-point calibration fitting curve. Since the parameters of the eight-point calibration fitting curve are all located in the first quadrant, the output can be better controlled, achieving stable and precise control. Furthermore, leveling is only performed when the absolute value of the first tilt angle is greater than a preset value, avoiding energy waste. Moreover, the ramp function control module prevents sudden increases or decreases in the output value, reducing the impact of leveling and improving comfort and stability.

[0093] Example 3

[0094] Figure 4 This is a schematic diagram of a leveling device for an aerial work platform according to Embodiment 3 of the present invention. This embodiment is applicable to situations where leveling auxiliary equipment visually is difficult and not suitable for novice drivers. Furthermore, the poor operability during operation, coupled with the waste of time and reduced work efficiency due to constant manual leveling, makes it challenging. The specific structure of this leveling device is as follows:

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

[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 based on the actual tilt angle value and the multi-point calibration fitting curve, and input the leveling ratio value to 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] Multiple tilt angle values ​​are X0, X1, X2, ..., XN, and corresponding multiple proportional values ​​are 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 values ​​and proportional values ​​to the X-axis (tilt angle of the aerial work platform) and the proportional valve output value (Y-axis) to obtain a multi-point calibration fitting curve. Let the actual tilt angle value be XL and the leveling proportional value be 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, with multiple sets of tilt angle values ​​X0, X1, X2, ..., X8, and corresponding multiple sets of scale values ​​Y0, Y1, Y2, ..., Y8. If XL < X0, then the eight-point calibration fitting curve satisfies: YL = 0; if X0 ≤ XL < X1, then the eight-point calibration fitting curve satisfies:

[0100] YL = (Y1-Y0) / (X1-X0)×(XL-X0)+Y0; If X1≤XL<X2, then the eight-point calibration fitting curve satisfies: YL = (Y2-Y1) / (X2-X1)×(XL-X1)+Y1; If X2≤XL<X3, then the eight-point calibration fitting curve satisfies: YL = (Y3-Y2) / (X3-X2)×(XL-X2)+Y2; If X3≤XL<X4, then the eight-point calibration fitting curve satisfies: YL = (Y4-Y3) / (X4-X3)×(XL-X3)+Y3; If X4≤XL<X5, then the eight-point calibration fitting curve satisfies: YL = (Y5-Y4) / (X5-X4)×(XL-X4)+Y4; If X5≤XL<X6, then the eight-point calibration fitting curve satisfies: YL = (Y6-Y5) / (X6-X5)×(XL-X5)+Y5; If X6≤XL<X7, then the eight-point calibration fitting curve satisfies: YL=(Y7-Y6) / (X7-X6)×(XL-X6)+Y6; If X7≤XL<X8, then 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 the 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 drive enable direction of the proportional valve based on the first tilt angle value. When the drive enable direction is positive, it determines the leveling ratio value as the first leveling ratio value, and when the drive enable direction is negative, it determines the leveling ratio value as the negative 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, based on the leveling ratio value, increases the ramp rate during each scan cycle or decreases it during the stop ramp rate. This results in a gradual change in the value when the leveling ratio value is reached, and the proportional valve control module generates a drive current based on the gradually changing value to level the aerial work platform.

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

[0104] In summary, in this embodiment of the invention, the calibration module is used to pre-calibrate the correspondence between multiple sets of tilt 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 acquisition module is used to acquire the actual tilt angle value of the aerial work platform. The adjustment module is used to obtain the leveling ratio value output by the proportional valve based on the actual tilt angle value and the multi-point calibration fitting curve, and inputs the leveling ratio value to the ramp function control module and the proportional valve control module, so that the ramp function control module and the proportional valve control module level the aerial work platform according to the leveling ratio value. In this way, 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, the ramp function control module avoids sudden increases or decreases in the output value, which can reduce the impact of leveling and improve comfort and stability.

[0105] Example 4

[0106] Figure 5 This is a schematic diagram of a leveling device provided in Embodiment 4 of the present invention. 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 processors, cellular phones, smartphones, 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 illustrative and are not intended to limit the implementation of the 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, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the leveling device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

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

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

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

[0111] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0112] Example 5

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

[0114] The correspondence between the tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve is pre-calibrated, and a multi-point calibration fitting curve is obtained by fitting.

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

[0116] The leveling ratio value output by the proportional valve is obtained based on the actual tilt angle value and the multi-point calibration fitting curve. The leveling ratio value is then input to 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 provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the leveling method provided in any embodiment of the present invention.

[0118] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

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

Claims

1. A leveling method for an aerial work platform, characterized in that, The aerial work platform is equipped with a proportional valve; the proportional valve includes a ramp function control module and a proportional valve control module; the aerial work platform is also equipped with a leveling sensor; The leveling method includes: The correspondence between multiple sets of tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve is pre-calibrated, and a multi-point calibration fitting curve is obtained by fitting. The multiple sets of tilt angle values ​​are X0, X1, X2, ..., XN, and the corresponding multiple sets of proportional values ​​include Y0, Y1, Y2, ..., YN, where N is an integer greater than or equal to 6. Record the actual tilt angle as XL and the leveling ratio as YL; If XL < X0, then 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, then the multi-point calibration fitting curve satisfies: YL=[Y(m+1)-Ym] / [X(m+1)-Xm]×(XL-Xm)+Ym; If XL≥XN, then the multi-point calibration fitting curve satisfies: YL=YN; The parameters for setting the multi-point calibration fitting curve are all located in the first quadrant; the first tilt angle value of the aerial work platform detected by the leveling sensor is obtained; When the absolute value of the first tilt angle is less than a preset value, the actual tilt angle of the aerial work platform is determined to be 0; and when the absolute value of the first tilt angle is greater than or equal to the preset value, the actual tilt angle of the aerial work platform is determined to be the absolute value of the first tilt angle. The leveling ratio value output by the proportional valve is obtained based on the actual tilt angle value and the multi-point calibration fitting curve. The leveling ratio value is then input to 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-calibrated relationship between multiple sets of tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and the fitting of the multi-point calibration fitting curve, includes: Using the tilt angle 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.

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 multiple sets of tilt angle values ​​are X0, X1, X2, ..., X8, and the corresponding multiple sets of ratio values ​​include Y0, Y1, Y2, ..., Y8; If XL < X0, then the eight-point calibration fitting curve satisfies: YL = 0; If X0 ≤ XL < X1, then the eight-point calibration fitting curve satisfies: YL=(Y1-Y0) / (X1-X0)×(XL-X0)+Y0; If X1 ≤ XL < X2, then the eight-point calibration fitting curve satisfies: YL=(Y2-Y1) / (X2-X1)×(XL-X1)+Y1; If X2 ≤ XL < X3, then the eight-point calibration fitting curve satisfies: YL=(Y3-Y2) / (X3-X2)×(XL-X2)+Y2; If X3 ≤ XL < X4, then the eight-point calibration fitting curve satisfies: YL=(Y4-Y3) / (X4-X3)×(XL-X3)+Y3; If X4 ≤ XL < X5, then the eight-point calibration fitting curve satisfies: YL=(Y5-Y4) / (X5-X4)×(XL-X4)+Y4; If X5 ≤ XL < X6, then the eight-point calibration fitting curve satisfies: YL=(Y6-Y5) / (X6-X5)×(XL-X5)+Y5; If X6 ≤ XL < X7, then the eight-point calibration fitting curve satisfies: YL=(Y7-Y6) / (X7-X6)×(XL-X6)+Y6; If X7 ≤ XL < X8, then the eight-point calibration fitting curve satisfies: YL=(Y8-Y7) / (X8-X7)×(XL-X7)+Y7; If XL≥XN, then the eight-point calibration fitting curve satisfies: YL=Y8.

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

5. The leveling method according to claim 1, characterized in that, The leveling ratio value output by the proportional valve is obtained based on the actual tilt angle value and the multi-point calibration fitting curve, including: The first leveling ratio value output by the proportional valve is obtained based on the actual tilt angle value and the multi-point calibration fitting curve. The drive enable direction of the proportional valve is determined based on the first tilt angle value; When the drive enable direction is positive, the leveling ratio is determined to be the first leveling ratio value, and when the drive enable direction is negative, the leveling ratio is determined to be the negative of the first leveling ratio value.

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

7. A leveling device for an aerial work platform, characterized in that, The aerial work platform is equipped with a proportional valve; the proportional valve includes a ramp function control module and a proportional valve control module; the aerial work platform is also equipped with a leveling sensor; The leveling device includes: The calibration module is used to pre-calibrate the correspondence between multiple sets of tilt angle values ​​of the aerial work platform and the proportional values ​​output by the proportional valve, and fit a multi-point calibration fitting curve; wherein, the multiple sets of tilt angle values ​​are X0, X1, X2, ..., XN, and the corresponding multiple sets of proportional values ​​include Y0, Y1, Y2, ..., YN, where N is an integer greater than or equal to 6; Record the actual tilt angle as XL and the leveling ratio as YL; If XL < X0, then 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, then the multi-point calibration fitting curve satisfies: YL=[Y(m+1)-Ym] / [X(m+1)-Xm]×(XL-Xm)+Ym; If XL≥XN, then the multi-point calibration fitting curve satisfies: YL=YN; The parameters for setting the multi-point calibration fitting curve are all located in the first quadrant. The acquisition module is used to acquire the first tilt angle value of the aerial work platform detected by the leveling sensor, and determine that the actual tilt angle value of the aerial work platform is 0 when the absolute value of the first tilt angle value is less than a preset value, and determine that the actual tilt angle value of the aerial work platform is the absolute value of the first tilt angle value when the absolute value of the first tilt angle value is greater than or equal to the preset value. The adjustment module is used to obtain the leveling ratio value output by the proportional valve based on the actual tilt angle value and the multi-point calibration fitting curve, and input the leveling ratio value to 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.

8. A leveling device, characterized in that, The leveling device includes: One or more processors; 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 as described in any one of claims 1-6.

9. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the leveling method as described in any one of claims 1-6.

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