Calculation method for wheel angle yaw and aerial work platform

Abstract

The present invention relates to the technical field of aerial work platforms, and particularly to a calculation method for the wheel angle yaw amount and an aerial work platform. By means of the calculation method for the wheel angle yaw amount provided by the present invention, 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 alignment control of the wheel, and further ensuring the normal walking and turning of the aerial work platform after expanding or retracting the bridge.

Description

Technical Field

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

[0002] When the aerial work platform is in the transportation state, it is necessary to reduce the span of the chassis tires to ensure flexibility during the transfer transportation process. When in the working state, it is necessary to increase the span of the chassis tires to ensure the stability of the whole vehicle during the working process. In the chassis control, the expansion or reduction of the tire span is controlled by controlling the telescopic movement of the front axle cylinder and the rear axle cylinder. During the control of bridge expansion and bridge retraction, the tires will yaw, which will affect the normal walking and turning of the aerial work platform after bridge expansion or bridge retraction. Therefore, it is particularly important to calculate the yaw amount of the tires after bridge expansion or bridge retraction. Summary of the Invention

[0003] The purpose of the present invention is to provide a method for calculating the wheel angle yaw amount and an aerial work platform, which can re-calibrate the relative zero point of the wheel angle sensor after the aerial work platform expands or retracts the bridge, and can obtain the actual angle of the wheel, so as to provide a basis for subsequent wheel alignment control, and further ensure the normal walking and turning of the aerial work platform after bridge expansion or bridge retraction.

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

[0005] The method for calculating the wheel angle yaw amount includes:

[0006] Calculating the rotation angle of the wheel after bridge expansion or bridge retraction;

[0007] Calculating the analog voltage value of the wheel angle sensor when the wheel is centered in the bridge expansion or bridge retraction state 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 retraction state, the maximum length of the outrigger cylinder in the bridge expansion state, the minimum length of the outrigger cylinder in the bridge retraction state, and the real-time length of the outrigger cylinder during the bridge expansion or bridge retraction process;

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

[0009] Preferably, when calculating the rotation angle of the wheel after bridge expansion or bridge retraction, first calculate the rotation radian of the wheel after bridge expansion or bridge retraction, and then convert the rotation radian into the rotation angle.

[0010] Preferably,

[0011] The rotation radian of the wheel ;

[0012] The rotation angle of the wheel ;

[0013] Wherein, A is a constant, L1 is the hinge point distance of the chassis, L2 is the initial length of the outrigger cylinder, L3 is the hinge point distance of the outrigger 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 retraction, when the actual angle of the wheel corresponding to the real-time length of the outrigger 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; wherein,

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

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

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

[0019] pLength_In is the minimum length of the outrigger cylinder in the bridge retraction state;

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

[0021] Preferably, after calculating the analog voltage value of the wheel angle sensor when the actual angle of the wheel corresponding to the real-time length of the outrigger cylinder is zero during the process of bridge expansion or retraction, it further 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 angle of the wheel corresponding to the real-time length of the outrigger cylinder is zero during the process of bridge expansion or retraction, and calculating the actual angle of the wheel according to the comparison result, the analog voltage value of the wheel angle sensor when the wheel turns to the left limit, the analog voltage value of the wheel angle sensor when the wheel turns to the right 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 outrigger cylinder is zero during the process of bridge expansion or retraction.

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

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

[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, then the actual angle of the left front wheel:

[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), then the actual angle of the left front wheel:

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

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

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

[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, then the actual angle of the right front wheel:

[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), then the actual angle of the right front wheel:

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

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

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

[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, then the actual angle of the left rear wheel:

[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), then the actual angle of the left rear wheel:

[0044] LR_mAngle_Sensor_Act = 0;

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

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

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

[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, then the actual angle of the right rear wheel:

[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), then the actual angle of the right rear wheel:

[0052] RR_mAngle_Sensor_Act = 0;

[0053] Wherein, 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 calculation method of the wheel angle yaw amount described in any of the above solutions.

[0055] Advantages of the present invention:

[0056] The present invention provides a calculation method for the wheel angle yaw amount. After the aerial work platform expands or retracts the bridge, it can recalibrate the relative zero point of the wheel angle sensor and obtain the actual angle of the wheel, thereby providing a basis for the subsequent alignment control of the wheel, and further ensuring the normal walking and turning of the aerial work platform after expanding or retracting the bridge.

[0057] The present invention also provides an aerial work platform. By adopting the calculation method of the wheel angle yaw amount provided by the present invention, it can ensure the normal walking and turning of the aerial work platform after expanding or retracting the bridge. Description of the drawings

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

[0059] Figure 2 is a schematic structural diagram of the wheels yawing in the bridge expanded state of the aerial work platform provided by the embodiment of the present invention;

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

[0061] Figure 4 It is a schematic structural diagram of the wheel yaw when the aerial work platform provided by the embodiment of the present invention is in the bridge retracted state;

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

[0063] Figure 6 It is a flowchart of the calculation method for the wheel angle yaw provided by the embodiment of the present invention;

[0064] Figure 7 It is a linear schematic diagram of the calculation method for the wheel angle yaw provided by the 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 implementation manners

[0067] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the convenience of description, only the parts related to the present invention rather than all the structures are shown in the drawings.

[0068] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, 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 defined, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but being in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature.

[0070] In the description of this embodiment, the terms "above", "below", "right", etc., which indicate orientation or positional relationships, are based on the orientations or positional relationships shown in the drawings. They are only for the convenience of description and simplifying the operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0071] As Figures 1 to 4 shown, an embodiment of the present invention provides an aerial work platform, which includes a chassis 10, outriggers, outrigger cylinders and wheels. Among them, the outriggers include a left front outrigger 21, a right front outrigger 22, a left rear outrigger 23 and a right rear outrigger 24 that are hinged to the chassis 10; the outrigger cylinders include a front outrigger cylinder 51 and a rear outrigger cylinder 52. The two ends of the front outrigger cylinder 51 are respectively hinged to the left front outrigger 21 and the right front outrigger 22, and the two ends of the rear outrigger cylinder 52 are respectively hinged to the left rear outrigger 23 and the right rear outrigger 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 outrigger 21 through a left front steering cylinder 41, the right front wheel 32 is connected to the right front outrigger 22 through a right front steering cylinder 42, the left rear wheel 33 is connected to the left rear outrigger 23 through a left rear steering cylinder 43, and the right rear wheel 34 is connected to the right rear outrigger 24 through a right rear steering cylinder 44. When the front outrigger cylinder 51 and the rear outrigger cylinder 52 extend, 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 increase, and the aerial work platform is in the outrigger extended state; when the front outrigger cylinder 51 and the rear outrigger cylinder 52 retract, 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 decrease, and the aerial work platform is in the outrigger retracted state.

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

[0073] The front outrigger cylinder 51 and the rear outrigger cylinder 52 will receive the control instructions for extending and retracting the outriggers from the controller. After the front outrigger cylinder 51 and the rear outrigger cylinder 52 receive the outrigger extension instruction from the controller, the front outrigger cylinder 51 and the rear outrigger cylinder 52 extend, the left front outrigger 21 rotates outward around the hinge point A1, the right front outrigger 22 rotates outward around the hinge point B1, the left rear outrigger 23 rotates outward around the hinge point A2, and the right rear outrigger 24 rotates outward around the hinge point B2. The aerial work platform changes from Figure 1 the bridge retracted state shown in Figure 2 to the bridge extended 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 points 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 angle of the wheel not matching the actual angle of the wheel. After the front outrigger cylinder 51 and the rear outrigger cylinder 52 receive the outrigger retraction instruction from the controller, the front outrigger cylinder 51 and the rear outrigger cylinder 52 retract, the left front outrigger 21 rotates inward around the hinge point A1, the right front outrigger 22 rotates inward around the hinge point B1, the left rear outrigger 23 rotates inward around the hinge point A2, and the right rear outrigger 24 rotates inward around the hinge point B2. The aerial work platform changes from Figure 3 the bridge extended state shown in Figure 4 to the bridge retracted 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 points 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 angle of the wheel not matching the actual angle of the wheel.

[0074] As shown in Figure 5 and Figure 6 Based on the above problems, an embodiment of the present invention provides a method for calculating the wheel angle yaw amount, including:

[0075] S1. Calculate the rotation angle of the wheel after the bridge is extended or retracted.

[0076] When calculating the rotation angle of the wheel after the bridge is extended or retracted, first calculate the rotation radian of the wheel after the bridge is extended or retracted, and then convert the rotation radian into the rotation angle.

[0077] Specifically:

[0078] The rotation radian of the wheel ;

[0079] The rotation angle of the wheel ;

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

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

[0082] As Figure 7 shown, through the linear relationship of X[0], X[1], Y[0], and Y[1], the angle value at any rotation angle can be calculated. Therefore, 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, the analog voltage value of the left front wheel angle sensor when the actual angle of the left front wheel 31 is zero corresponding to the real-time length of the outrigger cylinder during the bridge expansion or retraction process 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] Among them, LF_Adc_Out is the analog voltage value of the left front wheel angle sensor when the left front wheel 31 is centered manually in the bridge 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 centered manually in the bridge retraction state;

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

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

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

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

[0095] pLength_Out is the maximum length of the outrigger cylinder (front outrigger cylinder 51 or rear outrigger cylinder 52) under the bridge expansion state.

[0096] pLength_In is the minimum length of the outrigger cylinder (front outrigger cylinder 51 or rear outrigger cylinder 52) under the bridge retraction state.

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

[0098] For the left rear wheel 33, the analog voltage value of the left rear wheel angle sensor when the actual angle of the left rear wheel 33 corresponding to the real-time length of the outrigger cylinder during the bridge expansion or retraction process is zero 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 centered manually under the bridge 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 centered through manual adjustment in the bridge retraction state;

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

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

[0104] mLength_Act is the real-time length of the leg extension cylinder (front leg extension cylinder 51 or rear leg extension cylinder 52) during bridge extension or retraction.

[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 bridge extension or retraction 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] Among them, RR_Adc_Out is the analog voltage value of the right rear wheel angle sensor when the right rear wheel 34 is centered through manual adjustment in the bridge extension state;

[0108] RR_Adc_In is the analog voltage value of the right rear wheel angle sensor when the right rear wheel 34 is centered through manual adjustment in the bridge retraction state;

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

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

[0111] mLength_Act is the real-time length of the leg extension cylinder (front leg extension cylinder 51 or rear leg extension cylinder 52) during bridge extension or retraction.

[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 angle of the wheel corresponding to the real-time length of the leg extension cylinder during bridge extension or retraction is zero.

[0113] S4. Based on the comparison result between 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 bridge expansion or retraction process is zero, and calculate the actual angle of the wheel according to the analog voltage value of the wheel angle sensor when the wheel turns to the left limit, the analog voltage value of the wheel angle sensor when the wheel turns to the right 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 bridge expansion or retraction process 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, and compare LF_Sensor_Adc with LF_pAngle_Adc3 + 3 and LF_pAngle_Adc3 - 3;

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

[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, then the actual angle of the left front wheel 31:

[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), then the actual angle of the left front wheel LF_mAngle_Sensor_Act = 0.

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

[0122] The real-time analog voltage value of the right front wheel angle sensor is RF_Sensor_Adc, and 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:

[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:

[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 of the right front wheel RF_mAngle_Sensor_Act =0.

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

[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, then the actual angle of the left rear wheel 33:

[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 LR_mAngle_Sensor_Act = 0;

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

[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, then the actual angle of the right rear wheel 34:

[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, then the actual angle of the right rear wheel 34:

[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 RR_mAngle_Sensor_Act of the right rear wheel 34 is 0;

[0142] Wherein, 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 angle of the wheel corresponding to the real-time length of the spreader cylinder during the bridge expansion or retraction process is zero, Sensor_Adc is compared with pAngle_Adc3 - 3 and pAngle_Adc3 + 3. Here, 3 is the dead zone value, and this value is set because the value of the wheel angle sensor will fluctuate.

[0144] It should be noted that 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] Through the method for calculating the wheel angle yaw provided by the embodiment of the present invention, after the bridge expansion or retraction of the aerial work platform, 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 the subsequent alignment control of the wheel, and further ensuring the normal walking and turning of the aerial work platform after the bridge expansion or retraction.

[0146] The embodiment of the present invention also provides an aerial work platform, which adopts the above method for calculating the wheel angle yaw. By adopting the above method for calculating the wheel angle yaw, the normal walking and turning of the aerial work platform after the bridge expansion or retraction can be ensured.

[0147] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within 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; 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 in the bridge expansion or bridge retracting process, 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 in the bridge expansion or bridge retracting process is calculated; 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 ; The rotation angle of the wheel σ = w*180 / π; Among them, 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 3, 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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