Method and device for aerial work machine anomaly determination, and aerial work machine

Abstract

The application discloses a method and device for aerial work machine anomaly judgment and an aerial work machine, and belongs to the field of aerial work machines. The method comprises the following steps: acquiring a first pressure value of a lifting hydraulic system detected by a pressure detection device and a first weight value of a work platform detected by a weight detection device under the condition that it is determined that the work platform stops the lifting action; acquiring a second pressure value of the lifting hydraulic system detected by the pressure detection device and a second weight value of the work platform detected by the weight detection device after a first preset time interval; and determining that the work platform is in an abnormal lifting state under the condition that the deviation between the first pressure value and the second pressure value is greater than a preset pressure deviation threshold value and the deviation between the first weight value and the second weight value is less than a preset weight deviation threshold value. The application can realize accurate judgment of the abnormal result of the aerial work machine.

Description

Technical Field

[0001] The present application relates to the technical field of aerial machinery, and in particular to a method and device for determining abnormalities of aerial work machinery, and the aerial work machinery. Background Art

[0002] Aerial work platforms (such as mast-type aerial work platforms) are mobile aerial work products widely used in various industries for aerial work, building curtain wall painting, equipment inspection and maintenance, and other applications. As equipment that carries personnel during construction, its safety is paramount. Whether the platform's lifting or lowering is abnormal must be determined before and during use to alert operators and promptly address any issues, preventing safety accidents. How to determine whether the platform's lifting or lowering is abnormal is a pressing issue. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a method, device and aerial work machinery for determining abnormalities of aerial work machinery, so as to solve the technical problem existing in the prior art of how to determine whether the working platform of the aerial work machinery has abnormal lifting.

[0004] To achieve the above-mentioned objectives, the present application provides, in a first aspect, a method for determining abnormalities in aerial work machinery, wherein the aerial work machinery includes a work platform, a lifting hydraulic system, a pressure detection device for detecting the pressure of the lifting hydraulic system, and a weight detection device for detecting the weight of the work platform. The method comprises:

[0005] When it is determined that the work platform stops lifting, obtaining a first pressure value of the lifting hydraulic system detected by the pressure detection device and a first weight value of the work platform detected by the weight detection device;

[0006] After a first preset time interval, obtaining a second pressure value of the lifting hydraulic system detected by the pressure detection device and a second weight value of the working platform detected by the weight detection device;

[0007] When the deviation between the first pressure value and the second pressure value is greater than the preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than the preset weight deviation threshold, it is determined that the work platform is in an abnormal lifting state.

[0008] In an embodiment of the present application, the abnormal lifting and lowering state includes an abnormal descending state or an abnormal ascending state; when the deviation between the first pressure value and the second pressure value is greater than the preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than the preset weight deviation threshold, it is determined that the working platform is in an abnormal lifting and lowering state, including: when the first pressure value is greater than the second pressure value and the deviation between the first pressure value and the second pressure value is greater than the preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than the preset weight deviation threshold, it is determined that the working platform is in an abnormal descending state; or when the first pressure value is less than the second pressure value and the deviation between the first pressure value and the second pressure value is greater than the preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than the preset weight deviation threshold, it is determined that the working platform is in an abnormal ascending state.

[0009] In an embodiment of the present application, the aerial work machinery also includes a work platform operating device for receiving a platform operating signal about the work platform; determining that the work platform stops lifting and lowering includes: determining that the work platform is in a lifting state; and determining that the work platform stops lifting and lowering when no platform operating signal is received from the work platform operating device for a second preset time period.

[0010] In an embodiment of the present application, the aerial work machinery also includes a stowed position detection switch, which is used to trigger a signal when the work platform is in the stowed position; determining whether the work platform is in a lifting state includes: determining that the work platform is in a lifting state when the trigger signal of the stowed position detection switch is not received.

[0011] In an embodiment of the present application, the method for judging abnormalities of aerial work machinery also includes: obtaining a third weight value of the work platform detected by the weight detection device; determining that the third weight value is less than a preset reverse force judgment weight threshold, wherein the preset reverse force judgment weight threshold is less than a predetermined empty weight value of the work platform, and the empty weight value is the weight value of the work platform when it is in an empty lifting state and there is no interference under the work platform; determining that there is an interference under the work platform.

[0012] In an embodiment of the present application, the method for judging abnormalities of aerial work machinery also includes: when the third weight value is greater than the empty weight value, determining the weight difference between the third weight value and the empty weight value; determining the ratio of the weight difference to the preset maximum load-bearing weight of the work platform to obtain the load rate; when the load rate is greater than the preset load rate threshold, determining that the work platform is overloaded.

[0013] In an embodiment of the present application, the method for judging abnormalities of aerial work machinery also includes: determining that the weight detection device and / or pressure detection device has failed when no data sent by the weight detection device and / or pressure detection device is received within a preset time period and / or at an interval of a third preset time length; and / or determining that the weight detection device and / or pressure detection device has failed when a fault message sent by the weight detection device and / or pressure detection device is received.

[0014] In an embodiment of the present application, the weight detection device includes multiple weight detection units and / or the pressure detection device includes multiple pressure detection units, and the method for judging abnormalities of aerial work machinery also includes: obtaining detection data of each weight detection unit in the weight detection device and / or detection data of each pressure detection unit in the pressure detection device; if the difference between the detection data of any two weight detection units is not within a preset error range, determining that the weight detection device has failed, and / or, if the difference between the detection data of any two pressure detection units is not within a preset error range, determining that the pressure detection device has failed.

[0015] A second aspect of the present application provides a control method for aerial work machinery, wherein the aerial work machinery includes a work platform, a lifting hydraulic system, a pressure detection device for detecting the pressure of the lifting hydraulic system, and a weight detection device for detecting the weight of the work platform. The control method includes: determining that an abnormality has occurred in the aerial work machinery according to the above-mentioned method for judging abnormalities in aerial work machinery; and issuing an alarm signal.

[0016] In an embodiment of the present application, the control method for the aerial work machinery further includes: limiting the movement of the aerial work machinery.

[0017] The third aspect of the present application provides a device for determining abnormalities in aerial work machinery, comprising: a memory configured to store instructions; and a processor configured to call instructions from the memory and to implement the above-mentioned method for determining abnormalities in aerial work machinery when executing the instructions.

[0018] The fourth aspect of the present application provides a control device for aerial work machinery, comprising: a memory configured to store instructions; and a processor configured to call instructions from the memory and to implement the above-mentioned control method for aerial work machinery when executing the instructions.

[0019] The fifth aspect of the present application provides an aerial work machinery, comprising: a work platform; a lifting hydraulic system; a pressure detection device for detecting the pressure of the lifting hydraulic system; a weight detection device for detecting the weight of the work platform; and a device for judging abnormalities of aerial work machinery according to the above.

[0020] The sixth aspect of the present application provides an aerial work machine, comprising: a work platform; a lifting hydraulic system; a pressure detection device for detecting the pressure of the lifting hydraulic system; a weight detection device for detecting the weight of the work platform; and a control device for the aerial work machine according to the above.

[0021] In a seventh aspect, the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the above-mentioned method for determining abnormalities in aerial work machinery.

[0022] In an eighth aspect, the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned control method for aerial work machinery.

[0023] The above technical solution, by providing a pressure detection device and a weight detection device, obtains a first pressure value of the lifting hydraulic system and a first weight value of the working platform when the working platform stops lifting, and obtains a second pressure value of the lifting hydraulic system and a second weight value of the working platform after a first preset time interval. When the sum of the deviation between the first pressure value and the second pressure value is greater than a preset pressure deviation threshold and the deviation between the first weight value and the second weight value is less than a preset weight deviation threshold, it is determined that the working platform is in an abnormal lifting state. The above technical solution can determine whether the working platform has an abnormal lifting condition only by using the pressure detection device and the weight detection device. By comparing the pressure value of the lifting hydraulic system and the weight value of the working platform after the working platform stops lifting, combining the pressure value change and the weight value change, it is determined whether the working platform is in an abnormal lifting condition. When the pressure value change is greater than the preset pressure deviation threshold and the weight value change is less than the preset weight deviation threshold, it is determined that the working platform is in an abnormal lifting condition. This can achieve rapid and accurate judgment of abnormal results of aerial work machinery, thereby reducing the impact of abnormal conditions on construction operations and further improving the construction safety of aerial work machinery.

[0024] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0026] Figure 1 The following schematically shows a flow chart of a method for determining abnormality of aerial work machinery according to an embodiment of the present application;

[0027] Figure 2A structural block diagram of a system for abnormality judgment of a high-altitude operation machine is shown schematically according to an embodiment of the present application.

[0028] Figure 3 A flowchart of a control method for a high-altitude operation machine is shown schematically according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific implementation manners described herein are merely used to explain and illustrate the embodiments of the present application, and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort fall within the scope of protection of the present application.

[0030] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are merely used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications also change accordingly.

[0031] In addition, if the embodiments of the present application involve descriptions such as “first”, “second”, etc., the descriptions of “first”, “second”, etc. are merely for description purposes, and should not be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first”, “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can implement the combination, and when the combination of the technical solutions contradicts each other or cannot be implemented, it should be considered that the combination of the technical solutions does not exist, and is also not within the scope of protection claimed by the present application.

[0032] Taking abnormal lowering of a work platform as an example, there are many risk factors that cause abnormal lowering of the work platform, such as internal leakage of a cylinder, stalling of a lowering valve core, abnormal output of a lowering signal, etc. Once abnormal lowering of the work platform occurs in the use process of the high-altitude operation machine, different levels of safety accidents can be caused, and detection of abnormal lowering of the work platform has become a more urgent demand at present.

[0033] Figure 1 A flowchart of a method for abnormality judgment of a high-altitude operation machine is shown schematically according to an embodiment of the present application. As shown in FIG. 4, the method comprises the following steps. Figure 1As shown, an embodiment of the present application provides a method for determining abnormalities in an aerial work machine. The aerial work machine includes a work platform, a lifting hydraulic system, a pressure detection device for detecting the pressure of the lifting hydraulic system, and a weight detection device for detecting the weight of the work platform. The method is described by taking the application of the method to a processor as an example. The method may include the following steps:

[0034] Step S102: When it is determined that the work platform stops lifting, a first pressure value of the lifting hydraulic system detected by the pressure detection device and a first weight value of the work platform detected by the weight detection device are obtained.

[0035] Step S104: After a first preset time interval, a second pressure value of the lifting hydraulic system detected by the pressure detection device and a second weight value of the working platform detected by the weight detection device are obtained.

[0036] In step S106 , when the deviation between the first pressure value and the second pressure value is greater than a preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than a preset weight deviation threshold, it is determined that the work platform is in an abnormal lifting state.

[0037] It can be understood that the lifting hydraulic system is used to realize the lifting action of the working platform. The first pressure value is the pressure detection value of the lifting hydraulic system when the working platform stops lifting. The first weight value is the weight detection value of the working platform when the working platform stops lifting. The first preset time length is a preset time length, such as 2 seconds or 5 seconds. The second pressure value is the pressure detection value of the lifting hydraulic system after the working platform stops lifting. The second weight value is the weight detection value of the working platform after the working platform stops lifting. The preset pressure deviation threshold is a preset pressure deviation threshold of the lifting hydraulic system. The preset weight deviation threshold is a preset weight deviation threshold of the working platform. The lifting action may include a lifting action or a lowering action. The abnormal lifting state may include an abnormal rising state or an abnormal falling state.

[0038] Specifically, when the processor determines that the work platform has stopped lifting, it obtains a first pressure value of the lifting hydraulic system detected by the pressure detection device and a first weight value of the work platform detected by the weight detection device. After a first preset time interval, the processor continues to obtain a second pressure value of the lifting hydraulic system detected by the pressure detection device and a second weight value of the work platform detected by the weight detection device. The processor can then compare the first pressure value with the second pressure value, and the first weight value with the second weight value. If the deviation between the first pressure value and the second pressure value is greater than a preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than a preset weight deviation threshold, the processor can determine that the work platform is in an abnormal lifting state. It can be understood that the deviation between the first pressure value and the second pressure value is greater than the preset pressure deviation threshold, which means that after the working platform stops lifting, the pressure of the lifting hydraulic system has changed significantly, and the deviation between the first weight value and the second weight value is less than the preset weight deviation threshold, which means that after the working platform stops lifting, the weight of the working platform has not changed significantly. Combining the two, the pressure of the lifting hydraulic system has changed, but the weight of the working platform has not changed significantly, thus eliminating the influencing factor of the change in the pressure of the lifting hydraulic system due to the change in the load of the working platform, and it can be determined that the working platform has an abnormal lifting phenomenon, that is, the working platform is in an abnormal lifting state.

[0039] The above-mentioned method for determining abnormalities in aerial work machinery, by providing a pressure detection device and a weight detection device, obtains a first pressure value of the lifting hydraulic system and a first weight value of the working platform when the working platform stops lifting, and obtains a second pressure value of the lifting hydraulic system and a second weight value of the working platform after a first preset time interval. When the sum of the deviation between the first pressure value and the second pressure value is greater than a preset pressure deviation threshold and the deviation between the first weight value and the second weight value is less than a preset weight deviation threshold, the working platform is determined to be in an abnormal lifting state. The above-mentioned technical solution can determine whether the working platform has abnormal lifting conditions only by using the pressure detection device and the weight detection device. By comparing the pressure value of the lifting hydraulic system and the weight value of the working platform after the working platform stops lifting, combining the pressure value change and the weight value change, it is determined whether the working platform is in an abnormal lifting condition. When the pressure value change is greater than the preset pressure deviation threshold and the weight value change is less than the preset weight deviation threshold, the working platform is determined to be in an abnormal lifting condition. This can achieve rapid and accurate determination of abnormal results of aerial work machinery, thereby reducing the impact of abnormal conditions on construction operations and further improving the construction safety of aerial work machinery.

[0040] In one embodiment, the abnormal lifting and lowering state includes an abnormal descending state or an abnormal ascending state; when the deviation between the first pressure value and the second pressure value is greater than the preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than the preset weight deviation threshold, the working platform is determined to be in an abnormal lifting and lowering state, including: when the first pressure value is greater than the second pressure value and the deviation between the first pressure value and the second pressure value is greater than the preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than the preset weight deviation threshold, the working platform is determined to be in an abnormal descending state; or when the first pressure value is less than the second pressure value and the deviation between the first pressure value and the second pressure value is greater than the preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than the preset weight deviation threshold, the working platform is determined to be in an abnormal ascending state.

[0041] Specifically, the abnormal lifting state may include an abnormal descending state or an abnormal ascending state. If the first pressure value is greater than the second pressure value and the deviation between the first pressure value and the second pressure value is greater than a preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than a preset weight deviation threshold, the processor may determine that the working platform is in an abnormal descending state; if the first pressure value is less than the second pressure value and the deviation between the first pressure value and the second pressure value is greater than the preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than the preset weight deviation threshold, the processor may determine that the working platform is in an abnormal ascending state. It is understandable that, under normal circumstances, during the descent of the working platform, the pressure of the lifting hydraulic system tends to decrease, and during the ascent of the working platform, the pressure of the lifting hydraulic system tends to increase.

[0042] In one embodiment, the aerial work machinery also includes a work platform operating device for receiving a platform operating signal about the work platform; determining that the work platform stops lifting and lowering includes: determining that the work platform is in a lifting state; and determining that the work platform stops lifting and lowering when no platform operating signal is received from the work platform operating device for a second preset time period.

[0043] It is understood that the work platform control device is a device used to control the movement of the work platform. An operator can input platform operation instructions into the work platform control device to operate the work platform. The platform operation signal is an operation instruction regarding the work platform received by the work platform control device. The second preset duration is a pre-set waiting time, for example, 3 seconds or 5 seconds.

[0044] Specifically, when the working platform is in a lifting state, if the processor does not receive a platform operating signal sent by the working platform operating device for a second preset time period, it can be determined that the working platform stops lifting.

[0045] In some embodiments, the determination that the work platform stops the lifting action can be obtained by the height detection device, i.e., the processor can receive the lifting height value of the work platform detected by the height detection device, and if the lifting height value remains unchanged for a preset time length, it can be determined that the work platform stops the lifting action.

[0046] In one embodiment, the aerial work machine further comprises a stowed position detection switch configured to trigger a signal when the work platform is located at the stowed position; and the determination that the work platform is in the lifting state comprises: determining that the work platform is in the lifting state in a case that the trigger signal of the stowed position detection switch is not received.

[0047] It can be understood that the stowed position is a position close to the bottom (e.g., the chassis) of the aerial work machine, and the stowed position detection switch can trigger a signal when the work platform is located at the stowed position. For example, the stowed position detection switch can be installed at a position close to the bottom of the boom of the chassis, and can detect whether the work platform is in the stowed position. When the work platform is lowered to a position close to the bottom of the boom of the chassis, the boom can trigger the stowed position detection switch, and the processor can determine that the work platform is in the stowed position after receiving the trigger signal of the stowed position detection switch. Conversely, when the work platform is lifted from the stowed position, the outermost boom will move upward synchronously and leave the trigger area of the stowed position switch, so that the switch is in an untriggered state. At this time, the processor does not receive the trigger signal of the stowed position detection switch, and can determine that the work platform is in the lifting state.

[0048] Specifically, the stowed position detection switch can trigger a signal when the work platform is located at the stowed position, and if the processor does not receive the trigger signal of the stowed position detection switch, it can be determined that the work platform is in the lifting state. That is, the processor can determine whether the work platform is in the lifting state or the stowed state through the stowed position detection switch.

[0049] In the embodiments of the present application, when the work platform is in the stowed position, the bottom of the work platform is often very close to or basically close to the support of the upper part of the chassis of the aerial work machine. At this position, even if an abnormal lifting occurs, there is no safety risk to the operator on the platform, so it is only necessary to judge the abnormal lifting of the work platform when the work platform is in the non-stowed position, thereby avoiding unnecessary waste of resources and improving work efficiency.

[0050] In some embodiments, the determination that the work platform is in the lifting state can be obtained by the height detection device, i.e., the processor can receive the lifting height value of the work platform detected by the height detection device, and if the lifting height value changes continuously, it can be determined that the work platform is in the lifting state.

[0051] In one embodiment, the method for judging abnormalities of aerial work machinery also includes: obtaining a third weight value of the work platform detected by the weight detection device; determining that the third weight value is less than a preset reverse force judgment weight threshold, wherein the preset reverse force judgment weight threshold is less than a predetermined empty weight value of the work platform, and the empty weight value is the weight value of the work platform when it is in an empty lifting state and there is no interference under the work platform; determining that there is an interference under the work platform.

[0052] It is understood that the third weight value is the weight value of the work platform detected by the weight detection device in any scenario. The preset reverse force judgment weight threshold is a predetermined weight threshold for determining whether the work platform is subjected to an upward reverse force (i.e., a supporting force) opposite to the direction of gravity. That is, if the weight detection value of the work platform is less than the preset reverse force judgment weight threshold, it can be determined that the work platform is subjected to an upward reverse force opposite to the direction of gravity, which also indicates that there is an interference object below the work platform, which generates an upward supporting force on the work platform. It is understandable that the preset reverse force judgment weight threshold is less than the predetermined unloaded weight value of the work platform. The unloaded weight value is the weight value of the work platform when it is in an unloaded lifting state and there is no interference object below the work platform. The unloaded lifting state is the weight value of the work platform when there is no person or object on the work platform and the work platform is in a lifted state, i.e., a non-stowed state. The unloaded weight value can be determined in advance. Interference objects may include people or objects that may interfere with the normal operation of the aerial work machinery, such as blocks of wood.

[0053] Specifically, when the working platform is in an ascending state, a descending state, or a stationary state, the processor can communicate with the weight detection device, so as to obtain the third weight value of the working platform detected by the weight detection device in real time, and compare the third weight value with the preset reverse force judgment weight threshold. When it is determined that the third weight value is less than the preset reverse force judgment weight threshold, the processor can determine that there is an interference under the working platform at this time.

[0054] In the embodiment of the present application, by obtaining the weight detection value of the work platform detected by the weight detection device, when it is determined that the weight detection value is less than a preset reverse force judgment weight threshold, it is determined that there is an interference object below the work platform. No additional interference detection equipment is required. The presence of an interference object below the work platform can be determined solely by the weight information detected by the weight detection device that detects the weight of the work platform, reducing hardware costs and thereby improving the construction safety of aerial work machinery.

[0055] In one embodiment, the method for judging abnormalities of aerial work machinery also includes: when the third weight value is greater than the empty weight value, determining the weight difference between the third weight value and the empty weight value; determining the ratio of the weight difference to the preset maximum load weight of the work platform to obtain the load rate; when the load rate is greater than the preset load rate threshold, determining that the work platform is overloaded.

[0056] It will be understood that the preset maximum load weight is the maximum load that the work platform can carry. The load rate is the ratio of the weight difference to the preset maximum load weight. The weight difference is the difference between the third weight value and the empty weight value, that is, the weight of the person and / or object carried by the work platform. The preset load rate threshold is a preset load rate threshold for determining whether the work platform is overloaded, such as 85% or 90%. If the load rate exceeds this preset load rate threshold, the work platform can be determined to be overloaded.

[0057] Specifically, the processor may compare the third weight value of the work platform with a predetermined unloaded weight value of the work platform. If it is determined that the third weight value is greater than the unloaded weight value, the processor may determine the weight difference between the third weight value and the unloaded weight value, and determine the ratio of the weight difference to the preset maximum load weight of the work platform to obtain the load rate of the work platform at that time. The load rate of the work platform may then be compared with a preset load rate threshold. If it is determined that the load rate is greater than the preset load rate threshold, the processor may determine that the work platform is overloaded.

[0058] In an embodiment of the present application, when the third weight value is greater than the empty weight value, the load rate of the work platform is determined, and when the load rate is greater than the preset load rate threshold, the work platform is judged to be overloaded. This can achieve accurate and rapid judgment of the overload of the work platform, further improve the construction safety of the aerial work machinery, and extend the service life of the aerial work machinery.

[0059] In one embodiment, the method for judging abnormalities of aerial work machinery also includes: determining that the weight detection device and / or pressure detection device has failed when no data sent by the weight detection device and / or pressure detection device is received within a preset time period and / or at an interval of a third preset time length; and / or determining that the weight detection device and / or pressure detection device has failed when a fault message sent by the weight detection device and / or pressure detection device is received.

[0060] It can be understood that the preset time period is a preset time period, and the third preset duration is a preset time length. The fault message is content information indicating that a fault has occurred in the detection device.

[0061] Specifically, taking the weight detection device as an example for explanation, in one example, the processor may determine that the weight detection device has failed (the failure type may be, for example, a communication failure) when the data sent by the weight detection device is not received within a preset time period. In another example, the processor may determine that the weight detection device has failed (the failure type may be, for example, a communication failure) when the data sent by the weight detection device is not received within a third preset time period. In some examples, the processor may determine that the weight detection device has failed when the data sent by the weight detection device is not received within a preset time period and within a third preset time period. In some examples, the processor may determine that the weight detection device has failed (the failure type may be, for example, a hardware failure) when a fault message sent by the weight detection device is received. In other examples, the processor may determine that the weight detection device has failed when the data sent by the weight detection device is not received within a preset time period and / or within a third preset time period, and when a fault message sent by the weight detection device is received. By analogy, the method steps for determining whether the pressure detection device has failed are similar to the method steps for determining whether the weight detection device has failed.

[0062] In an embodiment of the present application, when no data is received from the weight detection device and / or the pressure detection device within a preset time period and / or within a third preset time interval, and / or a fault message is received from the weight detection device and / or the pressure detection device, it is determined that a fault has occurred in the weight detection device and / or the pressure detection device, thereby enabling rapid abnormality judgment of the aerial work machinery.

[0063] In one embodiment, the weight detection device includes multiple weight detection units and / or the pressure detection device includes multiple pressure detection units, and the method for judging abnormalities of aerial work machinery also includes: obtaining detection data of each weight detection unit in the weight detection device and / or detection data of each pressure detection unit in the pressure detection device; if the difference between the detection data of any two weight detection units is not within a preset error range, determining that the weight detection device has failed, and / or, if the difference between the detection data of any two pressure detection units is not within a preset error range, determining that the pressure detection device has failed.

[0064] It is understood that a weight detection unit is a hardware unit or hardware structure that constitutes a weight detection device. For example, when the weight detection device is a weighing sensor, the weight detection unit can be a strain gauge, and the weight detection unit can detect weight information. A pressure detection unit is a hardware unit or hardware structure that constitutes a pressure detection device. For example, when the pressure detection device is a pressure sensor, the pressure detection unit can be a strain gauge, and the pressure detection unit can detect pressure information. The preset error range is a preset range of allowable deviations between the detection data of each detection unit.

[0065] Specifically, taking a weight detection device as an example, the processor can obtain detection data from each weight detection unit. If the difference between the detection data of any two weight detection units is not within a preset error range, the processor can determine that the weight detection device has failed. Taking a pressure detection device as an example, the processor can obtain detection data from each pressure detection unit. If the difference between the detection data of any two pressure detection units is not within a preset error range, the processor can determine that the pressure detection device has failed.

[0066] An embodiment of the present application provides a control method for aerial work machinery, which includes a work platform, a lifting hydraulic system, a pressure detection device for detecting the pressure of the lifting hydraulic system, and a weight detection device for detecting the weight of the work platform. The control method is applied to a processor as an example. The control method includes: determining that an abnormality has occurred in the aerial work machinery according to the method for judging abnormalities in the aerial work machinery in the above-mentioned embodiment; and issuing an alarm signal.

[0067] It can be understood that when the method for determining abnormality of aerial work machinery in the above embodiment is used to determine that an abnormality occurs in the aerial work machinery, the processor can send an alarm signal to the alarm device to prompt the user. The alarm device can be an audible and visual alarm device.

[0068] The above technical solution, after using the method for determining abnormalities of aerial work machinery in the above embodiment to determine that an abnormality has occurred in the aerial work machinery, sends an alarm signal, which can improve the construction safety of the aerial work machinery and ensure the safety of the operators.

[0069] In one embodiment, the above control method may further include: limiting the movement of the aerial work machinery.

[0070] It can be understood that when it is determined that the aerial work machinery has an abnormality, the processor can limit the movement of the aerial work machinery to avoid unexpected situations and further improve construction safety.

[0071] An embodiment of the present application provides a device for determining abnormalities in aerial work machinery, comprising: a memory configured to store instructions; and a processor configured to call instructions from the memory and, when executing the instructions, to implement the method for determining abnormalities in aerial work machinery according to the above-mentioned embodiment.

[0072] An embodiment of the present application provides a control device for aerial work machinery, comprising: a memory configured to store instructions; and a processor configured to call instructions from the memory and to implement the control method for aerial work machinery according to the above-mentioned embodiment when executing the instructions.

[0073] In a specific embodiment, Figure 2 As shown, a system for determining abnormalities in aerial work machinery is provided. The system may include: a detection device, a control device, and an execution device. The detection device may include a stowed position detection switch, a weighing sensor (i.e., a weight detection device), and a pressure sensor (i.e., a pressure detection device). The control device may include a platform control box and a whole machine controller. The execution device may include an audible and visual alarm device, etc.

[0074] In one example, the weighing sensor can be located at the top of the working platform where it is connected to the boom. The weighing sensor can be, for example, a pin-type force sensor, which can detect the load information on the working platform in real time and send the specific load signal to the processor or the whole machine controller.

[0075] In one example, a pressure sensor can be located on the hydraulic valve block at the bottom of the lifting cylinder. The bottom of the lifting cylinder can be connected and fixed to the chassis via a hydraulic valve, and a port for installing a pressure sensor can be reserved on the hydraulic valve. This pressure sensor can detect the pressure of the lifting hydraulic system in real time. When the work platform is lifted to a certain position and stops, the pressure of the lifting system will be locked to a fixed value if the load on the work platform remains unchanged. If the work platform is stationary, the hydraulic cylinder leaks, the valve core becomes stuck, or the lowering valve outputs an abnormal signal, it may cause the work platform to descend abnormally.

[0076] Take the abnormal descent of the working platform as an example. Figure 3 As shown, the embodiment of the present application also provides a control method for aerial work machinery, which can realize the judgment of abnormal descent of the work platform, and specifically can include the following steps:

[0077] After the whole machine is powered on, the operation platform control box (i.e., the operation platform control device) makes the operation platform in a lifting state. The whole machine controller (i.e., the ECU) records the pressure signal value P1 and the platform load signal value G1 at the time when the operation platform stops the lifting action for 2s, and compares the pressure value and the platform load value after 2s. The pressure value and the platform load value continuously received after 2s are set as P2 and G2 respectively. When it is detected that the pressure value decreases by more than ΔP and the operation platform load value does not decrease by more than ΔG, the whole machine controller outputs a signal to control the sound and light alarm device to alarm. After the alarm, the whole machine controller can limit other operations, and only can be lowered, or can limit all actions, i.e., the alarm condition can be: P1-P2>ΔP and G1-G2<ΔG.

[0078] wherein ΔP and ΔG are threshold values preset in the whole machine controller in advance, and the two threshold values are obtained according to actual working condition tests of the whole machine and can be adjusted in the whole machine controller. The set threshold values are reasonable, which can effectively detect the abnormal lowering of the operation platform and prevent false alarms.

[0079] wherein the whole machine controller can judge whether the operation platform stops by whether the signal of the platform control box is received or not, and starts timing for 2s after the signal of the platform control box is disconnected. The 2s is according to the time required for the pressure value to stabilize after the whole machine action stops, and different devices can have slight differences. The 2s can be adjusted in actual application.

[0080] When the platform control box is operated again to make a lifting or lowering action, or after power-on again, the above data is automatically cleared, and the pressure signal value P1 and the platform load signal value G1 at the time of stopping are collected again, and the above control logic is executed again.

[0081] The technical scheme provided by the embodiment of the application can automatically detect whether the operation platform has abnormal lowering under different working conditions, and can realize automatic detection before or during use of the device, and remind the operator to timely repair the abnormality, thereby reducing the safety risk.

[0082] The embodiment of the application provides a high-altitude operation machine, which comprises an operation platform, a lifting hydraulic system, a pressure detection device for detecting the pressure of the lifting hydraulic system, a weight detection device for detecting the weight of the operation platform, and a device for abnormal judgment of the high-altitude operation machine according to the above embodiment.

[0083] In one embodiment, the high-altitude operation machine can further comprise a sound and light alarm device, which can be installed on the chassis of the high-altitude operation machine, and when the whole machine controller of the high-altitude operation machine detects that the operation platform is abnormally lowered or abnormally raised, a signal can be output to control the sound and light alarm device to alarm.

[0084] The embodiment of the present application provides a kind of aerial working machine, comprising: work platform;Lifting hydraulic system;Pressure detection device, for detecting the pressure of lifting hydraulic system;Weight detection device, for detecting the weight of work platform;And control device for aerial working machine in above-mentioned embodiment.

[0085] The embodiment of the present application provides a kind of machine readable storage medium, machine readable storage medium has instruction, instruction is used to make machine execute the method for abnormal judgment of aerial working machine in above-mentioned embodiment.

[0086] The embodiment of the present application provides a kind of machine readable storage medium, machine readable storage medium has instruction, instruction is used to make machine execute the control method for aerial working machine in above-mentioned embodiment.

[0087] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, system or computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of computer program product implemented on one or more computer usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer usable program code.

[0088] The present application is described with reference to flowcharts and / or block diagrams of the method, equipment (system), computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of general-purpose computer, special-purpose computer, embedded processor or other programmable data processing equipment to produce a machine, so that the instructions executed by the processor of computer or other programmable data processing equipment produce a means for implementing the functions specified in the flow Figure 1 The function specified in one flow or multiple flows and / or blocks Figure 1 The function specified in one flow or multiple flows and / or blocks

[0089] These computer program instructions can also be stored in computer readable memory capable of guiding computer or other programmable data processing equipment to work in a specific way, so that the instructions stored in the computer readable memory produce a product including instruction means, which implements the functions specified in the flow Figure 1 The function specified in one flow or multiple flows and / or blocks Figure 1 The function specified in one flow or multiple flows and / or blocks

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0091] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0092] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0093] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0094] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0095] The above merely provides an example of the present application, and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall fall into the scope of claims of the present application.

Claims

1. A method for determining abnormality of aerial work machinery, characterized in that: The aerial work machine includes a work platform, a lifting hydraulic system, a pressure detection device for detecting the pressure of the lifting hydraulic system, and a weight detection device for detecting the weight of the work platform. The method includes: When it is determined that the work platform stops lifting, obtaining a first pressure value of the lifting hydraulic system detected by the pressure detection device and a first weight value of the work platform detected by the weight detection device; After a first preset time interval, obtaining a second pressure value of the lifting hydraulic system detected by the pressure detection device and a second weight value of the working platform detected by the weight detection device; When the deviation between the first pressure value and the second pressure value is greater than a preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than a preset weight deviation threshold, it is determined that the work platform is in an abnormal lifting state.

2. The method according to claim 1, characterized in that The abnormal lifting state includes an abnormal descending state or an abnormal ascending state; when the deviation between the first pressure value and the second pressure value is greater than a preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than a preset weight deviation threshold, determining that the work platform is in the abnormal lifting state includes: When the first pressure value is greater than the second pressure value and the deviation between the first pressure value and the second pressure value is greater than a preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than a preset weight deviation threshold, it is determined that the work platform is in an abnormal descending state; or When the first pressure value is less than the second pressure value and the deviation between the first pressure value and the second pressure value is greater than the preset pressure deviation threshold, and the deviation between the first weight value and the second weight value is less than the preset weight deviation threshold, it is determined that the work platform is in an abnormal rising state.

3. The method according to claim 1, characterized in that The aerial work machine further includes a work platform operating device for receiving a platform operating signal regarding the work platform; The step of determining that the work platform stops lifting or lowering comprises: Determining that the work platform is in a raised or lowered state; When no platform operating signal is received from the operating device of the working platform for a second preset period of time, it is determined that the working platform stops the lifting action.

4. The method according to claim 3, characterized in that The aerial work machine further includes a stowed position detection switch, the stowed position detection switch being configured to trigger a signal when the work platform is in the stowed position; Determining that the work platform is in a lifting state includes: In the case where no trigger signal of the storage position detection switch is received, it is determined that the working platform is in the lifting state.

5. The method according to claim 1, wherein The method further comprises: obtaining a third weight value of the work platform detected by the weight detection device; Determining that the third weight value is less than a preset reverse force determination weight threshold, wherein the preset reverse force determination weight threshold is less than a predetermined no-load weight value of the work platform, the no-load weight value being a weight value of the work platform when the work platform is in an unloaded lifted state and there is no interfering object below the work platform; It is determined that there is an interference object below the work platform.

6. The method according to claim 5, characterized in that The method further comprises: If the third weight value is greater than the empty weight value, determining a weight difference between the third weight value and the empty weight value; determining a ratio of the weight difference to a preset maximum load-bearing weight of the work platform to obtain a load factor; When the load rate is greater than a preset load rate threshold, it is determined that the work platform is overloaded.

7. The method according to claim 1, characterized in that The method further comprises: If no data sent by the weight detection device and / or the pressure detection device is received within a preset time period and / or an interval of a third preset time length, determining that the weight detection device and / or the pressure detection device has failed; and / or When a fault message is received from the weight detection device and / or the pressure detection device, it is determined that a fault occurs in the weight detection device and / or the pressure detection device.

8. The method according to claim 1, characterized in that The weight detection device includes a plurality of weight detection units and / or the pressure detection device includes a plurality of pressure detection units, and the method further includes: Acquiring detection data of each weight detection unit in the weight detection device and / or detection data of each pressure detection unit in the pressure detection device; If the difference between the detection data of any two weight detection units is not within the preset error range, the weight detection device is determined to have failed, and / or if the difference between the detection data of any two pressure detection units is not within the preset error range, the pressure detection device is determined to have failed.

9. A control method for aerial work machinery, characterized in that: The aerial work machine includes a work platform, a lifting hydraulic system, a pressure detection device for detecting the pressure of the lifting hydraulic system, and a weight detection device for detecting the weight of the work platform. The control method includes: According to the method for determining abnormality of aerial work machinery according to any one of claims 1 to 8, determining that the aerial work machinery has an abnormality; Send out an alarm signal.

10. The control method according to claim 9, characterized in that: Also includes: Restrict the movement of the aerial work machinery.

11. A device for determining abnormality of aerial work machinery, characterized in that: include: a memory configured to store instructions; as well as The processor is configured to call the instruction from the memory and implement the method for abnormality judgment of aerial work machinery according to any one of claims 1 to 8 when executing the instruction.

12. A control device for aerial work machinery, characterized in that: include: a memory configured to store instructions; as well as The processor is configured to call the instructions from the memory and implement the control method for aerial work machinery according to claim 9 or 10 when executing the instructions.

13. A high-altitude working machine, characterized in that: include: Working platform; Lifting hydraulic system; A pressure detection device for detecting the pressure of the lifting hydraulic system; A weight detection device, used to detect the weight of the work platform; as well as The device for determining abnormalities in aerial work machinery according to claim 11.

14. A high-altitude working machine, characterized in that: include: Working platform; Lifting hydraulic system; A pressure detection device for detecting the pressure of the lifting hydraulic system; A weight detection device, used to detect the weight of the work platform; as well as The control device for aerial work machinery according to claim 12.

15. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions for causing a machine to execute the method for determining abnormality of aerial work machinery according to any one of claims 1 to 8.

16. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions for causing a machine to execute the control method for aerial work machinery according to claim 9 or 10.

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