Calculation method of wheel angle deflection and aerial work platform

Abstract

The invention relates to the technical field of aerial work platforms, in particular to a wheel angle deflection amount calculation method and an aerial work platform. According to the calculation method for the wheel angle deflection amount, after bridge expansion or bridge contraction is conducted on the aerial work platform, the relative zero point of the wheel angle sensor can be recalibrated, the actual angle of the wheel can be obtained, and therefore a basis is provided for follow-up straightening control over the wheel, and the accuracy of the wheel angle deflection amount is improved. And therefore, normal walking and steering of the aerial work platform after bridge expansion or bridge contraction are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial work platforms, and in particular to a method for calculating a wheel angle runout amount and an aerial work platform. Background Art

[0002] When the aerial work platform is in the transport state, the span of the chassis tires needs to be reduced to ensure flexibility during the transfer and transportation process. When in the operating state, the span of the chassis tires needs to be increased to ensure the stability of the vehicle during the operation. In chassis control, the increase or decrease of the tire span is controlled by controlling the extension and contraction of the front axle cylinder and the rear axle cylinder. When the bridge is expanded or retracted, the tires will sway, which will affect the normal walking and steering of the aerial work platform after the bridge is expanded or retracted. Therefore, it is particularly important to calculate the sway of the tires after the bridge is expanded or retracted. Summary of the invention

[0003] The object of the present invention is to provide a method for calculating the wheel angle runout and an aerial work platform. After the aerial work platform expands or retracts the bridge, the relative zero point of the wheel angle sensor can be recalibrated, and the actual angle of the wheel can be obtained, thereby providing a basis for subsequent wheel alignment control, thereby ensuring the normal walking and turning of the aerial work platform after the bridge is expanded or retracted.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] The calculation method of the wheel angle runout includes:

[0006] Calculate the rotation angle of the wheels after the bridge is expanded or retracted;

[0007] The analog voltage value of the wheel angle sensor when the wheel is centered in the bridge expansion state or the bridge retracting state is calculated according to the analog voltage value of the wheel angle sensor when the wheel is centered in the bridge expansion state, the analog voltage value of the wheel angle sensor when the wheel is centered in the bridge retracting state, the maximum length of the leg expansion cylinder in the bridge expansion state, the minimum length of the leg expansion cylinder in the bridge retracting state, and the real-time length of the leg expansion cylinder during the bridge expansion or bridge retracting process;

[0008] The actual angle of the wheel is calculated based on the analog voltage value of the wheel angle sensor when the wheel turns left to the limit, the analog voltage value of the wheel angle sensor when the wheel turns right to the limit, and the analog voltage value of the wheel angle sensor when the actual angle of the wheel corresponding to the real-time length of the expansion cylinder during the bridge expansion or bridge retraction process is zero.

[0009] Preferably, when calculating the rotation angle of the wheel after the bridge is expanded or retracted, the rotation arc of the wheel after the bridge is expanded or retracted is calculated first, and then the rotation arc is converted into the rotation angle.

[0010] As a preference,

[0011] The arc of rotation of the wheel ;

[0012] Wheel rotation angle ;

[0013] Among them, A is a constant, L1 is the hinge distance of the chassis, L2 is the initial length of the leg expansion cylinder, L3 is the hinge distance of the leg expansion cylinder, α is the initial angle of the outrigger, and β is the initial angle of the wheel.

[0014] Preferably, during the process of bridge expansion or bridge retraction, when the actual wheel angle corresponding to the real-time length of the expansion cylinder is zero, the analog voltage value of the wheel angle sensor is pAngle_Adc3.

[0015] pAngle_Adc3=(Adc_Out-Adc_In) / (pLength_Out-pLength_In)*(mLength_Act-pLength_In)+Adc_In; where,

[0016] Adc_Out is the analog voltage value of the wheel angle sensor when the wheel is centered in the expanded bridge state;

[0017] Adc_In is the analog voltage value of the wheel angle sensor when the wheel is centered in the bridge retracting state;

[0018] pLength_Out is the maximum length of the leg expansion cylinder in the bridge expansion state;

[0019] pLength_In is the minimum length of the leg expansion cylinder in the bridge retracting state;

[0020] mLength_Act is the real-time length of the leg expansion cylinder during the process of bridge expansion or bridge retraction.

[0021] Preferably, after calculating the analog voltage value of the wheel angle sensor when the actual wheel angle corresponding to the real-time length of the leg expansion cylinder during the process of bridge expansion or bridge retraction is zero, it also includes: comparing the real-time analog voltage value of the wheel angle sensor with the analog voltage value of the wheel angle sensor when the actual wheel angle corresponding to the real-time length of the leg expansion cylinder during the process of bridge expansion or bridge retraction is zero, and calculating the actual angle of the wheel based on the comparison result and the analog voltage value of the wheel angle sensor when the wheel turns left to the limit, the analog voltage value of the wheel angle sensor when the wheel turns right to the limit, and the analog voltage value of the wheel angle sensor when the actual wheel angle corresponding to the real-time length of the leg expansion cylinder during the process of bridge expansion or bridge retraction is zero.

[0022] Preferably, the real-time analog voltage value of the left front wheel angle sensor is LF_Sensor_Adc, and when the actual angle of the left front wheel corresponding to the real-time length of the leg expansion cylinder during the bridge expansion or bridge retraction process is zero, the analog voltage value of the left front wheel angle sensor is LF_pAngle_Adc3, and LF_Sensor_Adc is compared with LF_pAngle_Adc3+3 and LF_pAngle_Adc3-3;

[0023] If LF_Sensor_Adc≥LF_pAngle_Adc3+3, the actual angle of the left front wheel is:

[0024] LF_mAngle_Sensor_Act=(0-(-10*(88-σ))) / (LF_pAngle_Adc3- LF_pAngle_Adc2)*(LF_Sensor_Adc-LF_pAngle_Adc2)+(-10*(88-σ));

[0025] If LF_Sensor_Adc≤LF_pAngle_Adc3-3, the actual angle of the left front wheel is:

[0026] LF_mAngle_Sensor_Act=(0-(-10*(88-σ))) / (LF_pAngle_Adc3- LF_pAngle_Adc1)* (LF_Sensor_Adc-LF_pAngle_Adc1)+(10*σ);

[0027] If (LF_pAngle_Adc3-3)<LF_Sensor_Adc<(LF_pAngle_Adc3+3), the actual angle of the left front wheel is:

[0028] LF_mAngle_Sensor_Act = 0;

[0029] Among them, LF_pAngle_Adc1 is the analog voltage value of the left front wheel angle sensor when the left front wheel turns left to the limit, and LF_pAngle_Adc2 is the analog voltage value of the left front wheel angle sensor when the left front wheel turns right to the limit.

[0030] Preferably, the real-time analog voltage value of the right front wheel angle sensor is RF_Sensor_Adc, and when the actual angle of the right front wheel corresponding to the real-time length of the leg expansion cylinder during the bridge expansion or bridge retraction process is zero, the analog voltage value of the right front wheel angle sensor is RF_pAngle_Adc3, and RF_Sensor_Adc is compared with RF_pAngle_Adc3+3 and RF_pAngle_Adc3-3;

[0031] If RF_Sensor_Adc≥RF_pAngle_Adc3+3, the actual angle of the right front wheel is:

[0032] RF_mAngle_Sensor_Act=(0-(-10*σ)) / (RF_pAngle_Adc3-RF_pAngle_Adc2)*(RF_Sensor_Adc-RF_pAngle_Adc2)+(-10*σ);

[0033] If RF_Sensor_Adc≤RF_pAngle_Adc3-3, the actual angle of the right front wheel is:

[0034] RF_mAngle_Sensor_Act=(0-(10*(88-σ))) / (RF_pAngle_Adc3- RF_pAngle_Adc1)*( RF_Sensor_Adc-RF_pAngle_Adc1)+10*(88-σ);

[0035] If (RF_pAngle_Adc3-3)<RF_Sensor_Adc<(RF_pAngle_Adc3+3), the actual angle of the right front wheel is:

[0036] RF_mAngle_Sensor_Act = 0;

[0037] Among them, RF_pAngle_Adc1 is the analog voltage value of the right front wheel angle sensor when the right front wheel turns left to the limit, and RF_pAngle_Adc2 is the analog voltage value of the right front wheel angle sensor when the right front wheel turns right to the limit.

[0038] Preferably, the real-time analog voltage value of the left rear wheel angle sensor is LR_Sensor_Adc, and when the actual angle of the left rear wheel corresponding to the real-time length of the leg expansion cylinder during the bridge expansion or bridge retraction process is zero, the analog voltage value of the left rear wheel angle sensor is LR_pAngle_Adc3, and LR_Sensor_Adc is compared with LR_pAngle_Adc3+3 and LR_pAngle_Adc3-3;

[0039] If LR_Sensor_Adc≥LR_pAngle_Adc3+3, the actual angle of the left rear wheel is:

[0040] LR_mAngle_Sensor_Act=(0-(-10*σ)) / (LR_pAngle_Adc3-LR_pAngle_Adc1)*(LR_Sensor_Adc-LR_pAngle_Adc1)+(-10*σ);

[0041] If LR_Sensor_Adc≤LR_pAngle_Adc3-3, the actual angle of the left rear wheel is:

[0042] LR_mAngle_Sensor_Act=(0-(10*(88-σ))) / (LR_pAngle_Adc3-LR_pAngle_Adc2)* (LR_Sensor_Adc- LR_pAngle_Adc2)+10*(88-σ);

[0043] If (LR_pAngle_Adc3-3)<LR_Sensor_Adc<(LR_pAngle_Adc3+3), the actual angle of the left rear wheel is:

[0044] LR_mAngle_Sensor_Act=0;

[0045] Among them, LR_pAngle_Adc1 is the analog voltage value of the left rear wheel angle sensor when the left rear wheel turns left to the limit, and LR_pAngle_Adc2 is the analog voltage value of the left rear wheel angle sensor when the left rear wheel turns right to the limit.

[0046] Preferably, the real-time analog voltage value of the right rear wheel angle sensor is RR_Sensor_Adc, and when the actual angle of the right rear wheel corresponding to the real-time length of the leg expansion cylinder during the bridge expansion or bridge retraction process is zero, the analog voltage value of the right rear wheel angle sensor is RR_pAngle_Adc3, and RR_Sensor_Adc is compared with RR_pAngle_Adc3+3 and RR_pAngle_Adc3-3;

[0047] If RR_Sensor_Adc≥RR_pAngle_Adc3+3, the actual angle of the right rear wheel is:

[0048] RR_mAngle_Sensor_Act=(0-(-10*(88-σ))) / (RR_pAngle_Adc3-RR_pAngle_Adc1)* (RR_Sensor_Adc- RR_pAngle_Adc1)+(-10*(88-σ));

[0049] If RR_Sensor_Adc≤RR_pAngle_Adc3-3, the actual angle of the right rear wheel is:

[0050] RR_mAngle_Sensor_Act=(0-(10*(88-σ))) / (RR_pAngle_Adc3- RR_pAngle_Adc2)* (RR_Sensor_Adc-RR_pAngle_Adc2)+10*σ;

[0051] If (RR_pAngle_Adc3-3)<RR_Sensor_Adc<(RR_pAngle_Adc3+3), the actual angle of the right rear wheel is:

[0052] RR_mAngle_Sensor_Act=0;

[0053] Among them, RR_pAngle_Adc1 is the analog voltage value of the right rear wheel angle sensor when the right rear wheel turns left to the limit, and RR_pAngle_Adc2 is the analog voltage value of the right rear wheel angle sensor when the right rear wheel turns right to the limit.

[0054] The aerial work platform adopts the method for calculating the wheel angle runout as described in any of the above schemes.

[0055] Beneficial effects of the present invention:

[0056] The present invention provides a method for calculating the wheel angle runout. After the aerial work platform expands or retracts the bridge, the relative zero point of the wheel angle sensor can be recalibrated, and the actual angle of the wheel can be obtained, thereby providing a basis for subsequent wheel alignment control, thereby ensuring the normal walking and turning of the aerial work platform after the bridge is expanded or retracted.

[0057] The present invention also provides an aerial work platform. By adopting the calculation method of the wheel angle runout amount provided by the present invention, the normal walking and turning of the aerial work platform after the bridge is expanded or retracted can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a schematic structural diagram of the aerial work platform provided by an embodiment of the present invention with the wheels centered in the bridge-retracted state;

[0059] Figure 2 It is a schematic structural diagram of the aerial work platform provided by an embodiment of the present invention in which the wheels deflect when the bridge is expanded;

[0060] Figure 3 It is a schematic structural diagram of the aerial work platform provided by an embodiment of the present invention with the wheels centered in the bridge expansion state;

[0061] Figure 4 It is a schematic structural diagram of the aerial work platform provided by an embodiment of the present invention, in which the wheels deflect when the bridge is retracted;

[0062] Figure 5 It is a simplified structural diagram of the chassis of the aerial work platform provided by an embodiment of the present invention;

[0063] Figure 6 is a flow chart of a method for calculating a wheel angle runout amount provided by an embodiment of the present invention;

[0064] Figure 7 It is a linear principle diagram of the method for calculating the wheel angle runout amount provided by an embodiment of the present invention.

[0065] In the figure:

[0066] 10. Chassis; 21. Left front outrigger; 22. Right front outrigger; 23. Left rear outrigger; 24. Right rear outrigger; 31. Left front wheel; 32. Right front wheel; 33. Left rear wheel; 34. Right rear wheel; 41. Left front steering cylinder; 42. Right front steering cylinder; 43. Left rear steering cylinder; 44. Right rear steering cylinder; 51. Front leg extension cylinder; 52. Rear leg extension cylinder. DETAILED DESCRIPTION

[0067] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0068] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0070] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0071] like Figures 1 to 4 As shown, an embodiment of the present invention provides an aerial work platform, including a chassis 10, outriggers, a leg expansion cylinder and wheels, wherein the outriggers include a left front outrigger 21, a right front outrigger 22, a left rear outrigger 23 and a right rear outrigger 24 hinged to the chassis 10; the leg expansion cylinder includes a front leg expansion cylinder 51 and a rear leg expansion cylinder 52, the two ends of the front leg expansion cylinder 51 are respectively hinged to the left front outrigger 21 and the right front outrigger 22, and the two ends of the rear leg expansion cylinder 52 are respectively It is hinged to the left rear leg 23 and the right rear leg 24; the wheels include a left front wheel 31, a right front wheel 32, a left rear wheel 33 and a right rear wheel 34, the left front wheel 31 is connected to the left front leg 21 through a left front steering cylinder 41, the right front wheel 32 is connected to the right front leg 22 through a right front steering cylinder 42, the left rear wheel 33 is connected to the left rear leg 23 through a left rear steering cylinder 43, and the right rear wheel 34 is connected to the right rear leg 24 through a right rear steering cylinder 44. The front leg spreading cylinder 51 and the rear leg spreading cylinder 52 are extended, the span between the left front wheel 31 and the right front wheel 32 and the span between the left rear wheel 33 and the right rear wheel 34 are increased, and the aerial work platform is in a bridge expanding state; the front leg spreading cylinder 51 and the rear leg spreading cylinder 52 are retracted, the span between the left front wheel 31 and the right front wheel 32 and the span between the left rear wheel 33 and the right rear wheel 34 are reduced, and the aerial work platform is in a bridge retracting state.

[0072] The left front wheel 31 is provided with a left front wheel angle sensor for detecting the real-time rotation angle of the left front wheel 31; the right front wheel 32 is provided with a right front wheel angle sensor for detecting the real-time rotation angle of the right front wheel 32; the left rear wheel 33 is provided with a left rear wheel angle sensor for detecting the real-time rotation angle of the left rear wheel 33; the right rear wheel 34 is provided with a right rear wheel angle sensor for detecting the real-time rotation angle of the right rear wheel 34.

[0073] The front leg extension oil cylinder 51 and the rear leg extension oil cylinder 52 will receive the control instructions of the controller for leg extension and leg retraction. After the front leg extension oil cylinder 51 and the rear leg extension oil cylinder 52 receive the leg extension instructions of the controller, the front leg extension oil cylinder 51 and the rear leg extension oil cylinder 52 extend, the left front leg 21 rotates outward around the hinge point A1, the right front leg 22 rotates outward around the hinge point B1, the left rear leg 23 rotates outward around the hinge point A2, and the right rear leg 24 rotates outward around the hinge point B2. The aerial work platform is Figure 1 The bridge closing state shown switches to Figure 2 The bridge is in the expanded state. At this time, since the left front outrigger 21, the right front outrigger 22, the left rear outrigger 23 and the right rear outrigger 24 will rotate around the hinge point connected to the chassis 10, the relative zero points of the left front wheel angle sensor, the right front wheel angle sensor, the left rear wheel angle sensor and the right rear wheel angle sensor will change, resulting in the detected wheel angle not matching the actual wheel angle. After the front leg expansion cylinder 51 and the rear leg expansion cylinder 52 receive the leg retraction command from the controller, the front leg expansion cylinder 51 and the rear leg expansion cylinder 52 retract, the left front outrigger 21 rotates inwardly around the hinge point A1, the right front outrigger 22 rotates inwardly around the hinge point B1, the left rear outrigger 23 rotates inwardly around the hinge point A2, and the right rear outrigger 24 rotates inwardly around the hinge point B2, and the aerial work platform is Figure 3 The expansion bridge status shown switches to Figure 4 In the retracted bridge state, since the left front leg 21, the right front leg 22, the left rear leg 23 and the right rear leg 24 will rotate around the hinge point connected to the chassis 10, the relative zero points of the left front wheel angle sensor, the right front wheel angle sensor, the left rear wheel angle sensor and the right rear wheel angle sensor will change, resulting in the detected wheel angle not being consistent with the actual wheel angle.

[0074] like Figure 5 and Figure 6 As shown, based on the above problem, an embodiment of the present invention provides a method for calculating the wheel angle runout, comprising:

[0075] S1. Calculate the rotation angle of the wheels after the bridge is expanded or retracted.

[0076] When calculating the rotation angle of the wheel after the bridge is expanded or retracted, the rotation arc of the wheel after the bridge is expanded or retracted is calculated first, and then the rotation arc is converted into the rotation angle.

[0077] Specifically:

[0078] The arc of rotation of the wheel ;

[0079] Wheel rotation angle ;

[0080] Wherein, A is a constant, L1 is the hinge distance of the chassis 10, that is, the distance A between the hinge point of the chassis 10 and the left front leg 21 and the hinge point of the chassis 10 and the right front leg 22. 1 B 1 , or the distance A between the hinge point of the chassis 10 with the left rear leg 23 and the hinge point of the chassis 10 with the right rear leg 24 2 B 2 ; L2 is the initial length C of the front leg expansion cylinder 51 1 D 1 , or the initial length C of the rear expansion cylinder 52 2 D 2 L3 is the hinge distance of the leg expansion cylinder, that is, the distance A between the hinge point of the front leg expansion cylinder 51 and the left front leg 21 and the hinge point of the left front leg 21 and the chassis 10 1 C 1 , or the distance B between the hinge point between the front leg expansion cylinder 51 and the right front leg 22 and the hinge point between the right front leg 22 and the chassis 10 1 D 1 , or the distance A between the hinge point between the rear leg expansion cylinder 52 and the left rear leg 23 and the hinge point between the left rear leg 23 and the chassis 10 2 C 2 , or the distance B between the hinge point between the rear leg expansion cylinder 52 and the right rear leg 24 and the hinge point between the right rear leg 24 and the chassis 10 2 D 2 α is the initial angle of the leg, that is, the angle ∠C between the left front leg 21 and the upper end surface of the chassis 10 1 A 1 B 1 , or the angle ∠D between the right front leg 22 and the upper end surface of the chassis 10 1 B 1 A 1 , or the angle ∠C between the left rear leg 23 and the lower end surface of the chassis 10 2 A 2 B 2 , or the angle ∠D between the right rear leg 24 and the lower end surface of the chassis 2 B 2 A 2; β is the initial angle of the wheel, that is, the angle between the left front wheel 31 and the left end face or the right end face of the chassis 10, or the angle between the right front wheel 32 and the left end face or the right end face of the chassis 10, or the angle between the left rear wheel 33 and the left end face or the right end face of the chassis 10, or the angle between the right rear wheel 34 and the left end face or the right end face of the chassis 10.

[0081] S2. Calculate the analog voltage value of the wheel angle sensor when the actual wheel angle is zero corresponding to the real-time length of the leg spreading cylinder during the process of bridge expansion or bridge retraction based on the analog voltage value of the wheel angle sensor when the wheel is centered in the bridge expansion state, the analog voltage value of the wheel angle sensor when the wheel is centered in the bridge retraction state, the maximum length of the leg spreading cylinder in the bridge expansion state, the minimum length of the leg spreading cylinder in the bridge retraction state, and the real-time length of the leg spreading cylinder during the bridge expansion or bridge retraction process.

[0082] like Figure 7 As shown, through the linear relationship between X[0], X[1], Y[0], and Y[1], the angle value at any rotation angle can be calculated, so it can be known that Y[m]=(Y[1]-Y[0] / X[1]-X[0])*(X[m]-X[0])+Y[0].

[0083] According to the above linear principle, step S2 specifically includes:

[0084] For the left front wheel 31, when the actual angle of the left front wheel 31 corresponding to the real-time length of the expansion cylinder during the process of bridge expansion or bridge retraction is zero, the analog voltage value of the left front wheel angle sensor is LF_pAngle_Adc3.

[0085] LF_pAngle_Adc3=(LF_Adc_Out-LF_Adc_In) / (pLength_Out-pLength_In)*(mLength_Act-pLength_In)+LF_Adc_In;

[0086] Wherein, LF_Adc_Out is the analog voltage value of the left front wheel angle sensor when the left front wheel 31 is manually adjusted to be centered in the axle expansion state;

[0087] LF_Adc_In is the analog voltage value of the left front wheel angle sensor when the left front wheel 31 is manually adjusted to be centered in the bridge retracting state;

[0088] pLength_Out is the maximum length of the leg expansion cylinder (front leg expansion cylinder 51 or rear leg expansion cylinder 52) in the bridge expansion state;

[0089] pLength_In is the minimum length of the leg expansion cylinder (front leg expansion cylinder 51 or rear leg expansion cylinder 52) in the bridge retracting state;

[0090] mLength_Act is the real-time length of the expansion cylinder (the front expansion cylinder 51 or the rear expansion cylinder 52) during the process of expanding or retracting the bridge.

[0091] For the right front wheel 32, when the actual angle of the right front wheel 32 corresponding to the real-time length of the expansion cylinder during the process of bridge expansion or bridge retraction is zero, the analog voltage value of the right front wheel angle sensor is RF_pAngle_Adc3.

[0092] RF_pAngle_Adc3=(RF_Adc_Out-RF_Adc_In) / (pLength_Out-pLength_In)*(mLength_Act-pLength_In)+RF_Adc_In;

[0093] RF_Adc_Out is the analog voltage value of the right front wheel angle sensor when the right front wheel 32 is manually adjusted to be centered in the axle expansion state;

[0094] RF_Adc_In is the analog voltage value of the right front wheel angle sensor when the right front wheel 32 is manually adjusted to be centered in the bridge retracting state;

[0095] pLength_Out is the maximum length of the leg expansion cylinder (front leg expansion cylinder 51 or rear leg expansion cylinder 52) in the bridge expansion state;

[0096] pLength_In is the minimum length of the leg expansion cylinder (front leg expansion cylinder 51 or rear leg expansion cylinder 52) in the bridge retracting state;

[0097] mLength_Act is the real-time length of the expansion cylinder (the front expansion cylinder 51 or the rear expansion cylinder 52) during the process of expanding or retracting the bridge.

[0098] For the left rear wheel 33, when the actual angle of the left rear wheel 33 corresponding to the real-time length of the leg expansion cylinder during the bridge expansion or bridge retraction process is zero, the analog voltage value of the left rear wheel angle sensor is LR_pAngle_Adc3.

[0099] LR_pAngle_Adc3=(LR_Adc_Out-LR_Adc_In) / (pLength_Out-pLength_In)*(mLength_Act-pLength_In)+LR_Adc_In;

[0100] Wherein, LR_Adc_Out is the analog voltage value of the left rear wheel angle sensor when the left rear wheel 33 is manually adjusted to be centered in the axle expansion state;

[0101] LR_Adc_In is the analog voltage value of the left rear wheel angle sensor when the left rear wheel 33 is manually adjusted to be centered in the bridge retracting state;

[0102] pLength_Out is the maximum length of the leg expansion cylinder (front leg expansion cylinder 51 or rear leg expansion cylinder 52) in the bridge expansion state;

[0103] pLength_In is the minimum length of the leg expansion cylinder (front leg expansion cylinder 51 or rear leg expansion cylinder 52) in the bridge retracting state;

[0104] mLength_Act is the real-time length of the expansion cylinder (the front expansion cylinder 51 or the rear expansion cylinder 52) during the process of expanding or retracting the bridge.

[0105] For the right rear wheel 34, when the actual angle of the right rear wheel 34 corresponding to the real-time length of the leg extension cylinder during the bridge expansion or bridge retraction process is zero, the analog voltage value of the right rear wheel angle sensor is RR_pAngle_Adc3.

[0106] RR_pAngle_Adc3=(RR_Adc_Out-RR_Adc_In) / (pLength_Out-pLength_In)*(mLength_Act-pLength_In)+RR_Adc_In;

[0107] Wherein, RR_Adc_Out is the analog voltage value of the right rear wheel angle sensor when the right rear wheel 34 is manually adjusted to be centered in the axle expansion state;

[0108] RR_Adc_In is the analog voltage value of the right rear wheel angle sensor when the right rear wheel 34 is manually adjusted to be centered in the bridge retracting state;

[0109] pLength_Out is the maximum length of the leg expansion cylinder (front leg expansion cylinder 51 or rear leg expansion cylinder 52) in the bridge expansion state;

[0110] pLength_In is the minimum length of the leg expansion cylinder (front leg expansion cylinder 51 or rear leg expansion cylinder 52) in the bridge retracting state;

[0111] mLength_Act is the real-time length of the expansion cylinder (the front expansion cylinder 51 or the rear expansion cylinder 52) during the process of expanding or retracting the bridge.

[0112] S3. Compare the real-time analog voltage value of the wheel angle sensor with the analog voltage value of the wheel angle sensor when the actual wheel angle corresponding to the real-time length of the leg expansion cylinder during the bridge expansion or bridge retraction process is zero.

[0113] S4. Calculate the actual angle of the wheel based on the comparison result of the real-time analog voltage value of the wheel angle sensor and the analog voltage value of the wheel angle sensor when the actual angle of the wheel corresponding to the real-time length of the leg expansion cylinder during the process of bridge expansion or bridge retraction is zero, and the analog voltage value of the wheel angle sensor when the wheel turns left to the limit, the analog voltage value of the wheel angle sensor when the wheel turns right to the limit, and the analog voltage value of the wheel angle sensor when the actual angle of the wheel corresponding to the real-time length of the leg expansion cylinder during the process of bridge expansion or bridge retraction is zero.

[0114] Steps S3-S4 are specifically as follows:

[0115] The real-time analog voltage value of the left front wheel angle sensor is LF_Sensor_Adc. LF_Sensor_Adc is compared with LF_pAngle_Adc3+3 and LF_pAngle_Adc3-3.

[0116] If LF_Sensor_Adc≥LF_pAngle_Adc3+3, the actual angle of the left front wheel 31 is:

[0117] LF_mAngle_Sensor_Act=(0-(-10*(88-σ))) / (LF_pAngle_Adc3- LF_pAngle_Adc2)*(LF_Sensor_Adc-LF_pAngle_Adc2)+(-10*(88-σ));

[0118] If LF_Sensor_Adc≤LF_pAngle_Adc3-3, the actual angle of the left front wheel 31 is:

[0119] LF_mAngle_Sensor_Act=(0-(-10*(88-σ))) / (LF_pAngle_Adc3- LF_pAngle_Adc1)* (LF_Sensor_Adc-LF_pAngle_Adc1)+(10*σ);

[0120] If (LF_pAngle_Adc3-3)<LF_Sensor_Adc<(LF_pAngle_Adc3+3), the actual angle LF_mAngle_Sensor_Act of the left front wheel 31 =0.

[0121] LF_pAngle_Adc1 is the analog voltage value of the left front wheel angle sensor when the left front wheel 31 turns left to the limit, and LF_pAngle_Adc2 is the analog voltage value of the left front wheel angle sensor when the left front wheel 31 turns right to the limit.

[0122] The real-time analog voltage value of the right front wheel angle sensor is RF_Sensor_Adc. RF_Sensor_Adc is compared with RF_pAngle_Adc3+3 and RF_pAngle_Adc3-3.

[0123] If RF_Sensor_Adc≥RF_pAngle_Adc3+3, the actual angle of the right front wheel 32 is:

[0124] RF_mAngle_Sensor_Act=(0-(-10*σ)) / (RF_pAngle_Adc3-RF_pAngle_Adc2)*(RF_Sensor_Adc-RF_pAngle_Adc2)+(-10*σ);

[0125] If RF_Sensor_Adc≤RF_pAngle_Adc3-3, the actual angle of the right front wheel 32 is:

[0126] RF_mAngle_Sensor_Act=(0-(10*(88-σ))) / (RF_pAngle_Adc3- RF_pAngle_Adc1)*( RF_Sensor_Adc-RF_pAngle_Adc1)+10*(88-σ);

[0127] If (RF_pAngle_Adc3−3)<RF_Sensor_Adc<(RF_pAngle_Adc3+3), the actual angle RF_mAngle_Sensor_Act of the right front wheel 32 =0.

[0128] RF_pAngle_Adc1 is the analog voltage value of the right front wheel angle sensor when the right front wheel 32 turns left to the limit, and RF_pAngle_Adc2 is the analog voltage value of the right front wheel angle sensor when the right front wheel 32 turns right to the limit.

[0129] The real-time analog voltage value of the left rear wheel angle sensor is LR_Sensor_Adc, and LR_Sensor_Adc is compared with LR_pAngle_Adc3+3 and LR_pAngle_Adc3-3;

[0130] If LR_Sensor_Adc≥LR_pAngle_Adc3+3, the actual angle of the left rear wheel 33 is:

[0131] LR_mAngle_Sensor_Act=(0-(-10*σ)) / (LR_pAngle_Adc3-LR_pAngle_Adc1)*(LR_Sensor_Adc-LR_pAngle_Adc1)+(-10*σ);

[0132] If LR_Sensor_Adc≤LR_pAngle_Adc3-3, the actual angle of the left rear wheel 33 is:

[0133] LR_mAngle_Sensor_Act=(0-(10*(88-σ))) / (LR_pAngle_Adc3-LR_pAngle_Adc2)* (LR_Sensor_Adc- LR_pAngle_Adc2)+10*(88-σ);

[0134] If (LR_pAngle_Adc3-3)<LR_Sensor_Adc<(LR_pAngle_Adc3+3), then the actual angle of the left rear wheel 33 LR_mAngle_Sensor_Act=0;

[0135] LR_pAngle_Adc1 is the analog voltage value of the left rear wheel angle sensor when the left rear wheel 33 turns left to the limit, and LR_pAngle_Adc2 is the analog voltage value of the left rear wheel angle sensor when the left rear wheel 33 turns right to the limit.

[0136] The real-time analog voltage value of the right rear wheel angle sensor is RR_Sensor_Adc, and RR_Sensor_Adc is compared with RR_pAngle_Adc3+3 and RR_pAngle_Adc3-3;

[0137] If RR_Sensor_Adc≥RR_pAngle_Adc3+3, the actual angle of the right rear wheel 34 is:

[0138] RR_mAngle_Sensor_Act=(0-(-10*(88-σ))) / (RR_pAngle_Adc3-RR_pAngle_Adc1)* (RR_Sensor_Adc- RR_pAngle_Adc1)+(-10*(88-σ));

[0139] If RR_Sensor_Adc≤RR_pAngle_Adc3-3, the actual angle of the right rear wheel 34 is:

[0140] RR_mAngle_Sensor_Act=(0-(10*(88-σ))) / (RR_pAngle_Adc3- RR_pAngle_Adc2)* (RR_Sensor_Adc-RR_pAngle_Adc2)+10*σ;

[0141] If (RR_pAngle_Adc3-3)<RR_Sensor_Adc<(RR_pAngle_Adc3+3), then the actual angle of the right rear wheel 34 RR_mAngle_Sensor_Act=0;

[0142] RR_pAngle_Adc1 is the analog voltage value of the right rear wheel angle sensor when the right rear wheel 34 turns left to the limit, and RR_pAngle_Adc2 is the analog voltage value of the right rear wheel angle sensor when the right rear wheel 34 turns right to the limit.

[0143] It should be noted that when comparing the real-time analog voltage value Sensor_Adc of the wheel angle sensor with the analog voltage value pAngle_Adc3 of the wheel angle sensor when the actual wheel angle corresponding to the real-time length of the leg expansion cylinder during the bridge expansion or bridge retraction process is zero, Sensor_Adc is compared with pAngle_Adc3-3 and pAngle_Adc3+3, where 3 is the dead zone value. Since the value of the wheel angle sensor will fluctuate, this value is set.

[0144] It should be noted that the 88 in the above formula is the angle from the left turn limit to the right turn limit of the wheel, that is, the wheel has a travel of 88°.

[0145] By using the wheel angle runout calculation method provided by the embodiment of the present invention, after the aerial work platform is expanded or retracted, the relative zero point of the wheel angle sensor can be recalibrated, and the actual angle of the wheel can be obtained, thereby providing a basis for subsequent wheel alignment control, thereby ensuring the normal walking and turning of the aerial work platform after the bridge is expanded or retracted.

[0146] The embodiment of the present invention further provides an aerial work platform, which adopts the above-mentioned method for calculating the wheel angle deflection. By adopting the above-mentioned method for calculating the wheel angle deflection, it is possible to ensure the normal walking and turning of the aerial work platform after the bridge is expanded or closed.

[0147] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for calculating the wheel angle runout, characterized in that: include: Calculate the rotation angle of the wheels after the bridge is expanded or retracted; The analog voltage value of the wheel angle sensor when the wheel is centered in the bridge expansion state or the bridge retracting state is calculated according to the analog voltage value of the wheel angle sensor when the wheel is centered in the bridge expansion state, the analog voltage value of the wheel angle sensor when the wheel is centered in the bridge retracting state, the maximum length of the leg expansion cylinder in the bridge expansion state, the minimum length of the leg expansion cylinder in the bridge retracting state, and the real-time length of the leg expansion cylinder during the bridge expansion or bridge retracting process; The actual angle of the wheel is calculated based on the analog voltage value of the wheel angle sensor when the wheel turns left to the limit, the analog voltage value of the wheel angle sensor when the wheel turns right to the limit, and the analog voltage value of the wheel angle sensor when the actual angle of the wheel corresponding to the real-time length of the expansion cylinder during the bridge expansion or bridge retraction process is zero.

2. The method for calculating the wheel angle runout according to claim 1, characterized in that: When calculating the rotation angle of the wheel after the bridge is expanded or retracted, the rotation arc of the wheel after the bridge is expanded or retracted is calculated first, and then the rotation arc is converted into the rotation angle.

3. The method for calculating the wheel angle runout according to claim 2, characterized in that: The arc of rotation of the wheel ; Wheel rotation angle ; Among them, A is a constant, L1 is the hinge distance of the chassis, L2 is the initial length of the leg expansion cylinder, L3 is the hinge distance of the leg expansion cylinder, α is the initial angle of the outrigger, and β is the initial angle of the wheel.

4. The method for calculating the wheel angle runout according to claim 1, characterized in that: During the process of bridge expansion or bridge retraction, when the actual wheel angle corresponding to the real-time length of the expansion cylinder is zero, the analog voltage value of the wheel angle sensor is pAngle_Adc3. pAngle_Adc3=(Adc_Out-Adc_In) / (pLength_Out-pLength_In)*(mLength_Act-pLength_In)+Adc_In; where, Adc_Out is the analog voltage value of the wheel angle sensor when the wheel is centered in the expanded bridge state; Adc_In is the analog voltage value of the wheel angle sensor when the wheel is centered in the bridge retracting state; pLength_Out is the maximum length of the leg expansion cylinder in the bridge expansion state; pLength_In is the minimum length of the leg expansion cylinder in the bridge retracting state; mLength_Act is the real-time length of the leg expansion cylinder during the process of bridge expansion or bridge retraction.

5. The method for calculating the wheel angle runout according to claim 4, characterized in that: After calculating the analog voltage value of the wheel angle sensor when the actual wheel angle corresponding to the real-time length of the leg expansion cylinder during the process of bridge expansion or bridge retraction is zero, it also includes: comparing the real-time analog voltage value of the wheel angle sensor with the analog voltage value of the wheel angle sensor when the actual wheel angle corresponding to the real-time length of the leg expansion cylinder during the process of bridge expansion or bridge retraction is zero, and calculating the actual angle of the wheel based on the comparison result and the analog voltage value of the wheel angle sensor when the wheel turns left to the limit, the analog voltage value of the wheel angle sensor when the wheel turns right to the limit, and the analog voltage value of the wheel angle sensor when the actual wheel angle corresponding to the real-time length of the leg expansion cylinder during the process of bridge expansion or bridge retraction is zero.

6. The method for calculating the wheel angle runout according to claim 5, characterized in that: The real-time analog voltage value of the left front wheel angle sensor is LF_Sensor_Adc. When the actual angle of the left front wheel corresponding to the real-time length of the leg expansion cylinder is zero during the process of bridge expansion or bridge retraction, the analog voltage value of the left front wheel angle sensor is LF_pAngle_Adc3. LF_Sensor_Adc is compared with LF_pAngle_Adc3+3 and LF_pAngle_Adc3-3. If LF_Sensor_Adc≥LF_pAngle_Adc3+3, the actual angle of the left front wheel is: LF_mAngle_Sensor_Act=(0-(-10*(88-σ))) / (LF_pAngle_Adc3- LF_pAngle_Adc2)*(LF_Sensor_Adc-LF_pAngle_Adc2)+(-10*(88-σ)); If LF_Sensor_Adc≤LF_pAngle_Adc3-3, the actual angle of the left front wheel is: LF_mAngle_Sensor_Act=(0-(-10*(88-σ))) / (LF_pAngle_Adc3- LF_pAngle_Adc1)*(LF_Sensor_Adc-LF_pAngle_Adc1)+(10*σ); If (LF_pAngle_Adc3-3)<LF_Sensor_Adc<(LF_pAngle_Adc3+3), the actual angle of the left front wheel is: LF_mAngle_Sensor_Act = 0; Among them, LF_pAngle_Adc1 is the analog voltage value of the left front wheel angle sensor when the left front wheel turns left to the limit, and LF_pAngle_Adc2 is the analog voltage value of the left front wheel angle sensor when the left front wheel turns right to the limit.

7. The method for calculating the wheel angle runout according to claim 5, characterized in that: The real-time analog voltage value of the right front wheel angle sensor is RF_Sensor_Adc. When the actual angle of the right front wheel corresponding to the real-time length of the leg expansion cylinder during the bridge expansion or bridge retraction process is zero, the analog voltage value of the right front wheel angle sensor is RF_pAngle_Adc3. RF_Sensor_Adc is compared with RF_pAngle_Adc3+3 and RF_pAngle_Adc3-3. If RF_Sensor_Adc≥RF_pAngle_Adc3+3, the actual angle of the right front wheel is: RF_mAngle_Sensor_Act=(0-(-10*σ)) / (RF_pAngle_Adc3-RF_pAngle_Adc2)*(RF_Sensor_Adc-RF_pAngle_Adc2)+(-10*σ); If RF_Sensor_Adc≤RF_pAngle_Adc3-3, the actual angle of the right front wheel is: RF_mAngle_Sensor_Act=(0-(10*(88-σ))) / (RF_pAngle_Adc3- RF_pAngle_ Adc1)*(RF_Sensor_Adc-RF_pAngle_Adc1)+10*(88-σ); If (RF_pAngle_Adc3-3)<RF_Sensor_Adc<(RF_pAngle_Adc3+3), the actual angle of the right front wheel is: RF_mAngle_Sensor_Act = 0; Among them, RF_pAngle_Adc1 is the analog voltage value of the right front wheel angle sensor when the right front wheel turns left to the limit, and RF_pAngle_Adc2 is the analog voltage value of the right front wheel angle sensor when the right front wheel turns right to the limit.

8. The method for calculating the wheel angle runout according to claim 5, characterized in that: The real-time analog voltage value of the left rear wheel angle sensor is LR_Sensor_Adc. When the actual angle of the left rear wheel corresponding to the real-time length of the leg expansion cylinder during the bridge expansion or bridge retraction process is zero, the analog voltage value of the left rear wheel angle sensor is LR_pAngle_Adc3. LR_Sensor_Adc is compared with LR_pAngle_Adc3+3 and LR_pAngle_Adc3-3. If LR_Sensor_Adc≥LR_pAngle_Adc3+3, the actual angle of the left rear wheel is: LR_mAngle_Sensor_Act=(0-(-10*σ)) / (LR_pAngle_Adc3-LR_pAngle_Adc1)*(LR_Sensor_Adc-LR_pAngle_Adc1)+(-10*σ); If LR_Sensor_Adc≤LR_pAngle_Adc3-3, the actual angle of the left rear wheel is: LR_mAngle_Sensor_Act=(0-(10*(88-σ))) / (LR_pAngle_Adc3-LR_pAngle_ Adc2)*(LR_Sensor_Adc- LR_pAngle_Adc2)+10*(88-σ); If (LR_pAngle_Adc3-3)<LR_Sensor_Adc<(LR_pAngle_Adc3+3), the actual angle of the left rear wheel is: LR_mAngle_Sensor_Act=0; Among them, LR_pAngle_Adc1 is the analog voltage value of the left rear wheel angle sensor when the left rear wheel turns left to the limit, and LR_pAngle_Adc2 is the analog voltage value of the left rear wheel angle sensor when the left rear wheel turns right to the limit.

9. The method for calculating the wheel angle runout according to claim 5, characterized in that: The real-time analog voltage value of the right rear wheel angle sensor is RR_Sensor_Adc. When the actual angle of the right rear wheel corresponding to the real-time length of the leg expansion cylinder during the bridge expansion or bridge retraction process is zero, the analog voltage value of the right rear wheel angle sensor is RR_pAngle_Adc3. RR_Sensor_Adc is compared with RR_pAngle_Adc3+3 and RR_pAngle_Adc3-3. If RR_Sensor_Adc≥RR_pAngle_Adc3+3, the actual angle of the right rear wheel is: RR_mAngle_Sensor_Act=(0-(-10*(88-σ))) / (RR_pAngle_Adc3-RR_pAngle_Adc1)*(RR_Sensor_Adc- RR_pAngle_Adc1)+(-10*(88-σ)); If RR_Sensor_Adc≤RR_pAngle_Adc3-3, the actual angle of the right rear wheel is: RR_mAngle_Sensor_Act=(0-(10*(88-σ))) / (RR_pAngle_Adc3- RR_pAngle_ Adc2)*(RR_Sensor_Adc-RR_pAngle_Adc2)+10*σ; If (RR_pAngle_Adc3-3)<RR_Sensor_Adc<(RR_pAngle_Adc3+3), the actual angle of the right rear wheel is: RR_mAngle_Sensor_Act=0; Among them, RR_pAngle_Adc1 is the analog voltage value of the right rear wheel angle sensor when the right rear wheel turns left to the limit, and RR_pAngle_Adc2 is the analog voltage value of the right rear wheel angle sensor when the right rear wheel turns right to the limit.

10. Aerial work platform, characterized in that: The method for calculating the wheel angle runout amount is adopted as described in any one of claims 1 to 9.

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