Method for testing reliability of aerial work platform

Abstract

The invention relates to the technical field of aerial work platform reliability testing, in particular to an aerial work platform reliability testing method. The method comprises the following steps: controlling the aerial work platform to realize vehicle body action for testing; collecting test data through an interface protocol in a test process; and processing the test data to obtain an evaluation result. According to the reliability test method, the RTK positioning unit is introduced to realize the automatic control of the combination of a single action or a plurality of actions of the aerial work platform so as to test, test data is collected in the test process, and the test data can be firstly processed to obtain evaluation parameters for contrasting an evaluation standard table; and then the evaluation parameter is compared with the evaluation standard table to obtain an evaluation result, so that the whole test process can be automatically completed, manual participation of personnel is not needed, the test efficiency is greatly improved, and after the test is completed, a test report is automatically issued to facilitate checking and tracing of the test result.

Description

Technical Field

[0001] The invention relates to the technical field of reliability testing of aerial work platforms, and in particular to a reliability testing method for aerial work platforms. Background Art

[0002] Aerial work platform is a kind of equipment that carries workers and construction equipment to a designated location. Reliability refers to the ability of a product to complete the specified function under specified conditions and within a specified time.

[0003] The reliability test of the aerial work platform is mainly used for tasks such as vehicle automation control, vehicle manual remote control, vehicle information collection and analysis, etc. It uses a tablet computer for vehicle control to solve the problems of lack of key data collection and fault information statistics, lack of subjective and objective evaluation, personnel occupation and lack of safety monitoring, data loss and difficulty in sharing during vehicle reliability testing. It improves the efficiency of vehicle reliability testing, improves personnel utilization efficiency, and ensures the safety and comprehensiveness of vehicle reliability testing.

[0004] The reliability test of existing vehicles relies on human operation. A vehicle is equipped with full-time personnel to operate and record, and the data accuracy is low. Due to the limitations and uncertainties of human operation, the test data may also have large errors and deviations, which affects the reliability of the test results. At the same time, the reliability test efficiency is low. Summary of the invention

[0005] The purpose of the present invention is to provide a reliability testing method for an aerial work platform, which automatically controls the movement of the aerial work platform to perform the test, collects data during the test, and then automatically processes the data to obtain an evaluation result of the reliability test, so as to improve the test efficiency and ensure that the test results are more accurate.

[0006] In order to achieve the above object, the present invention adopts the following technical solution to solve the problem: In a first aspect, the present invention provides a method for testing the reliability of an aerial work platform, comprising: Control the aerial work platform to achieve vehicle body movements for testing; Collect test data through interface protocols during the test process; The test data is processed to obtain an evaluation result.

[0007] Optionally, the aerial work platform includes a vehicle body, a turntable provided on the vehicle body, a multi-section arm provided on the turntable, and a platform provided at the end of the multi-section arm; the vehicle body movements include turntable rotation, platform swing, boom amplitude change and boom extension and retraction.

[0008] Optionally, controlling the aerial work platform to realize the vehicle body movement includes: Establish a three-dimensional coordinate system of the vehicle at the location of the vehicle body; Keeping the position of the vehicle body unchanged, the first RTK positioning unit, the second RTK positioning unit and the third RTK positioning unit are respectively fixed on the platform, the curved arm in the multi-section arm and the No. 1 arm in the multi-section arm; Determine the platform swing angle, the boom luffing angle, the turntable rotation angle and the boom telescopic length according to the coordinates of the first RTK positioning unit, the second RTK positioning unit and the third RTK positioning unit in the vehicle three-dimensional coordinate system; In response to the platform swing angle, the boom amplitude change angle, the turntable rotation angle and the boom extension length all reaching the target control values, the aerial work platform stops moving.

[0009] Optionally, in the vehicle three-dimensional coordinate system: the origin coordinates are (X0, Y0, Z0), and the coordinates of the first RTK positioning unit, the second RTK positioning unit, and the third RTK positioning unit are (X TH1 ,Y TH1 , Z TH1 )、(X TH2 , Y TH2 , Z TH2 ) coordinates (X TH3 , Y TH3 , Z TH3 ); The calculation formulas for the platform swing angle, the crank arm amplitude change angle, the turntable rotation angle and the boom telescopic length are: ; In the formula, is the platform swing angle, is the boom luffing angle, is the turntable rotation angle, is the telescopic length of the boom, Correct the length for boom extension.

[0010] Optionally, the interface protocol includes CAN and Ethernet.

[0011] Optionally, the test data includes at least one of the following: vibration acceleration, mean trouble-free working time of each system of the whole machine, reliability of each system of the whole machine, and mean time before first failure of each system of the whole machine.

[0012] Optionally, the processing the test data to obtain a reliability result includes: When the test data is vibration acceleration, the total weighted vibration acceleration root mean square value is obtained according to the vibration acceleration processing, and compared with the corresponding evaluation standard table to obtain the evaluation result; When the test data is the average trouble-free working time of each system of the whole machine, the average trouble-free working time of each system is obtained to obtain the average trouble-free working time of the whole machine, and compared with the corresponding evaluation standard table to obtain the evaluation result; When the test data is the reliability of each system of the whole machine, the reliability of each system is obtained to obtain the reliability of the whole machine by weighted calculation, and compared with the corresponding evaluation standard table to obtain the evaluation result; When the test data is the average time before the first failure of each system of the whole machine, the average time before the first failure of each system is obtained to obtain the average working time before the first failure of the whole machine through weighted calculation, and compared with the corresponding evaluation standard table to obtain the evaluation result; Optionally, after collecting the test data, the method further comprises: converting the test data into tabular data, and visually presenting the data in the form of a tabular curve.

[0013] In a second aspect, the present invention provides a reliability testing device for an aerial work platform, comprising: A test control unit is used to control the aerial work platform to realize the vehicle body movement for testing; A data receiving unit, used to collect test data through an interface protocol during the test process; The data processing unit is used to process the test data to obtain an evaluation result.

[0014] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the aerial work platform reliability testing method is implemented.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The reliability testing method of the present invention can realize automatic control of a single or multiple complex actions of an aerial work platform for testing by introducing an RTK positioning unit, and collect test data during the test process. The test data can first be processed to obtain evaluation parameters for comparing with an evaluation standard table, and then the evaluation parameters are compared with the evaluation standard table to obtain evaluation results, so that the entire test process can be completed automatically without manual participation of personnel, and the test efficiency is greatly improved. After the test is completed, a test report is automatically issued to facilitate the viewing and tracing of the test results. At the same time, the introduced RTK positioning unit can not only improve the testing accuracy and efficiency of key components, but also support precise assistance of vehicle actions, thereby ensuring the feasibility and accuracy of the reliability test. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flow chart of the test method in Example 1; Figure 2It is a structural schematic diagram of the test system in Example 1; Figure 3 It is a schematic diagram of the structure of the aerial work platform of the vehicle under test in Example 1; Figure 4 Schematic diagram of the process for executing the test method in Example 1. DETAILED DESCRIPTION

[0017] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0018] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention. Example 1

[0019] Combination Figure 1 The present invention provides a reliability test method for an aerial work platform, the method comprising step S1: controlling the aerial work platform to realize body movement for testing; step S2: collecting test data through an interface protocol during the test, the interface protocol comprising CAN and Ethernet; step S3: processing the test data to obtain an evaluation result.

[0020] The method is based on a reliability test system for aerial work platforms. Figure 2The test system includes a vehicle under test, that is, an aerial work platform (including a controller), an RTK device, a sensor unit, a test chassis, and a host computer. The vehicle under test interacts with the test chassis, the sensor unit, and the RTK device, and the host computer interacts with the test chassis.

[0021] The test chassis includes a 4G DTU module, a control module, a temperature acquisition module and a power module. The 41-4G DTU module uploads the vehicle CAN bus data to the designated cloud server in real time through the 4G network to achieve data transmission, interaction and remote management. The control module can send control commands to the test vehicle through the CAN bus, and can obtain the speed, altitude, distance, longitude and latitude of the whole vehicle in real time through the RTK device, so as to achieve the precise control of the vehicle movement in step S1 and collect vehicle information when the vehicle moves.

[0022] The sensor unit includes temperature sensors, voltage sensors and current sensors. The temperature sensor mainly collects the temperature of key components such as drivers and motors when the vehicle is in motion, and obtains the real data of key components. The voltage sensor and current sensor collect key parameters such as battery voltage, battery current, phase current, pressure, etc. when the vehicle is in motion, and obtain the real data of key components. In actual operation, these data can be used for further processing to obtain evaluation parameters, and can also be used to compare with preset thresholds to determine whether there is a fault warning situation.

[0023] Among them, combined Figure 3 The aerial work platform includes a vehicle body, a turntable arranged on the vehicle body, a multi-section arm arranged on the turntable, and a platform arranged at the end of the multi-section arm; the vehicle body movements include turntable rotation, platform swing, boom amplitude change and boom extension and retraction.

[0024] In a specific embodiment, step S1 specifically includes: Step S11: establishing a three-dimensional coordinate system of the vehicle at the location of the vehicle body; The specific process of step S11 is: first, the longitude and latitude coordinates (Latitude1, Longitude1, Height1), Latitude2, Longitude2, Height2), (Latitude3, Longitude3, Height3) of the three RTK positioning units (the first RTK positioning unit, the second RTK positioning unit and the third RTK positioning unit) are respectively converted to the WGS-84 coordinate system (World Geodetic System 1984, a coordinate system established for the use of the GPS global positioning system) to obtain the WGS-84 coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of the three RTK positioning units. Then, the first RTK positioning unit and the second RTK positioning unit are respectively fixed to the special points on the platform and the vehicle body, with the turntable on the vehicle body as the center point of the whole vehicle, the special points of the vehicle body, the special points of the platform and the center point of the whole vehicle are on the same plane, and the straight line between the first RTK positioning unit and the center point is perpendicular to the straight line between the second RTK positioning unit and the center point. The distance from the second RTK positioning unit to the center point of the vehicle in the WGS-84 coordinate system (X L , Y L , Z L ), correct the coordinates of the center point of the vehicle (X3+X L , Y3+Y L , Z3+Z L ), which is the origin coordinate of the vehicle's three-dimensional coordinate system, recorded as (X0, Y0, Z0). Then the straight line between the first RTK positioning unit and the center point is the Y axis of the vehicle's three-dimensional coordinate system, and the straight line between the second RTK positioning unit and the center point is the Z axis of the vehicle's three-dimensional coordinate system; the third RTK positioning unit is placed on a straight line perpendicular to the Y axis and the Z axis respectively and in the same plane as the first RTK positioning unit, and the straight line between this point and the center point is the X axis of the vehicle's three-dimensional coordinate system.

[0025] The plane where (X1, Y1, Z1), (X3, Y3, Z3) and (X0, Y0, Z0) are located is α, the plane where (X1, Y1, Z1), (X2, Y2, Z2) and (X0, Y0, Z0) are located is β, and the plane where (X2, Y2, Z2), (X3, Y3, Z3) and (X0, Y0, Z0) are located is γ. According to the general plane equations of α, β, and γ, the angle between the α plane and the XY plane of the WGS-84 coordinate system is calculated, which is δ; the angle between the β plane and the YZ plane of the WGS-84 coordinate system is ε; and the angle between the γ plane and the YZ plane of the WGS-84 coordinate system is θ. According to the offset of the vehicle coordinate system (X0, Y0, Z0) and the rotation angle (δ, θ, ε) with the XYZ axis of the WG0-84 coordinate system, the coordinate correction formula of each RTK positioning unit in the vehicle's three-dimensional coordinate system is obtained:

[0026] Among them, (X TH ,Y TH ,Z TH ) is the corrected coordinate of one of the positioning units, (X WGS ,Y WGS ,Z WGS ) is the WGS-84 coordinate of the positioning unit.

[0027] In summary, the establishment of the vehicle's three-dimensional coordinate system is completed, and the coordinates corrected by the formula are used as the coordinates of the RTK positioning unit in the vehicle's three-dimensional coordinate system.

[0028] Step S12: Keeping the vehicle body position unchanged, the first RTK positioning unit, the second RTK positioning unit and the third RTK positioning unit are respectively fixed on the platform, the curved arm in the multi-section arm and the No. 1 arm in the multi-section arm. The specific fixing positions can be adjusted according to actual needs.

[0029] Step S13: determining the platform swing angle, the crank arm amplitude change angle, the turntable rotation angle and the boom telescopic length according to the coordinates of the first RTK positioning unit, the second RTK positioning unit and the third RTK positioning unit in the vehicle three-dimensional coordinate system; The coordinates of the first RTK positioning unit, the second RTK positioning unit and the third RTK positioning unit are (X TH1 ,Y TH1 , Z TH1 )、(X TH2 , Y TH2 , Z TH2 ) coordinates (X TH3 , Y TH3 , Z TH3 ); According to the coordinates of the first RTK positioning unit (X TH1 ,Y TH1 , Z TH1 ) and the coordinates of the second RTK positioning unit (X TH2 , Y TH2 , Z TH2 ) coordinates to calculate the platform swing angle and the boom amplitude change angle.

[0030] The calculation formula of the platform swing angle is: ; In the formula, is the platform swing angle; The calculation formula of the crank arm luffing angle is: ; In the formula, is the luffing angle of the crank arm; In a specific embodiment, the platform swing angle is corrected to a circumferential angle according to the quadrant of the vehicle three-dimensional coordinate system, and the correction method is as follows: When X TH1 -X TH2 >0, Y TH1 -Y TH2 >0 o'clock, ; When X TH1 -X TH2 <0: ; When X TH1 -X TH2 >0, Y TH1 -Y TH2 <0: ; Similarly, the bending arm amplitude change angle is corrected to the circumferential angle.

[0031] According to the coordinates of the RTK positioning unit (X TH2 ,Y TH2 , Z TH2 ) and the origin coordinates of the vehicle's three-dimensional coordinate system (X0, Y0, Z0) to calculate the turntable rotation angle: ; In the formula, is the rotation angle of the turntable.

[0032] Similarly, the turntable rotation angle is corrected to the circumferential angle.

[0033] According to the coordinates of the second RTK positioning unit (X TH2 ,Y TH2 , Z TH2 ) and the coordinates of the third RTK positioning unit (X TH3 , Y TH3 , Z TH3 ) coordinates to calculate the telescopic length of the boom: ; In the formula, is the telescopic length of the boom, Correct the length for boom extension.

[0034] Step S14: In response to the turntable rotation angle, platform swing angle and telescopic amplitude angle reaching the target control values, the aerial work platform stops moving.

[0035] Step S14: In response to the turntable rotation angle, platform swing angle and telescopic amplitude angle reaching the target control values, the aerial work platform stops moving.

[0036] In actual operation, the action of the industrial control work platform is a combination of multiple actions. This embodiment can accurately locate the turntable rotation angle, platform swing angle, crank arm luffing angle and boom extension length corresponding to the turntable rotation, platform swing, crank arm luffing and boom extension respectively through the above method. By presetting the target value of the end position of the movement, in response to the platform swing angle, crank arm luffing angle, turntable rotation angle and boom extension length reaching the target control value, the aerial work platform stops the action. Thus, the automatic control of a single or compound action is realized.

[0037] In another specific embodiment, telescopic movements such as boom extension and retraction are controlled by a hydraulic system. For such telescopic movements controlled by hydraulic pressure, this embodiment monitors the pressure of the hydraulic system through a pressure sensor, and when the pressure reaches a set value, the judgment of the extension or retraction action is completed. In view of the situation where the sudden change in pressure affects the action judgment, it is proposed to solve it by calculating the relative standard error (RSE) of the pressure data during the action. If the relative standard error RSE is relatively stable, the value remains near a certain value, and the pressure of the hydraulic system reaches the predetermined pressure value, it is considered that the extension or retraction action has been completed.

[0038] The calculation formula of RSE (Relative Standard Error) is as follows: ; In the formula, SE represents standard error, is the sample mean of the collected pressure data, is the sample data, and n is the sample size.

[0039] Step S3: Process the test data to obtain an evaluation result.

[0040] The test data includes at least one of the following: vibration acceleration, average trouble-free working time of each system of the whole machine, reliability of each system of the whole machine, and average time before first failure of each system of the whole machine.

[0041] Step S3: Process the test data to obtain an evaluation result, wherein the test data includes at least one of the following: vibration acceleration, mean trouble-free working time of each system of the whole machine, reliability of each system of the whole machine, and mean time before first failure of each system of the whole machine.

[0042] 1. The test data is vibration acceleration; Obtaining a total weighted vibration acceleration root mean square value according to the vibration acceleration processing, and comparing it with a corresponding evaluation standard table to obtain an evaluation result; In a specific embodiment, the method for obtaining the evaluation result according to the total weighted vibration acceleration root mean square value is as follows: First, calculate the weighted root mean square value of vibration acceleration in the three axes of X / Y / Z according to the following formula.

[0043] ; Where: is the frequency-weighted vibration acceleration; is the weighting coefficient for a given ith 1 / 3 octave band; is the root mean square value of the vibration acceleration in the i-th 1 / 3 octave band.

[0044] Then the weighted coefficients of the three axes X, Y and Z were determined. The grey correlation analysis method was used and after a large number of implementation verifications, the weighted coefficients of the three axes X / Y / Z of the whole machine's variable amplitude system, telescopic system and slewing system were determined. See Table 1 for details.

[0045] Table 1 Axial weighting coefficients under different systems

[0046] For the telescopic system, the weighting coefficients of the three axes X / Y / Z are For the variable amplitude system, the weighting coefficients of the three axes X / Y / Z are ; For the rotary system, the weighted coefficients of the X / Y / Z axes are Different operating systems perform root mean square synthesis of all axes according to the weighting coefficients of the three axes X / Y / Z.

[0047] According to the obtained root mean square value of weighted vibration acceleration in the three axes of X / Y / Z, the calculation formula of the total root mean square value of weighted vibration acceleration is: ; Where: a v is the root mean square value of the total weighted vibration acceleration; a wx is the calculated X-axis frequency-weighted vibration acceleration; a wy is the calculated Y-axis frequency-weighted vibration acceleration; a wz k is the calculated Z-axis frequency-weighted vibration acceleration; x is the X-axis weighting coefficient given in Table 1; k Y is the Y-axis weighting coefficient given in Table 1; k Z is the Z-axis weighting coefficient given in Table 1.

[0048] The evaluation criteria corresponding to the total weighted vibration acceleration root mean square value are shown in Table 2.

[0049] Table 2 Total weighted vibration acceleration root mean square human perception level classification standard

[0050] 2. The test data is the average trouble-free working time of each system of the whole machine.

[0051] According to the various systems of the whole machine (in a specific embodiment, it is divided into a variable amplitude system, a telescopic system and a slewing system, and of course it can also be divided into more detailed systems), the average trouble-free working time of each system is calculated, and then the average trouble-free working time of the whole machine is calculated according to the weight ratio of each system.

[0052] In a specific embodiment, if each system consists of n units The average trouble-free working time is calculated according to formula (1): ; In the formula is the mean time between failures; t i The cumulative working time of the product, in hours; is the number of times the j-type fault occurs in the i-th unit in the system; is the fault hazard coefficient of the jth type of fault occurring in the i-th unit in the system.

[0053] The calculation formula for the average trouble-free working time of the whole machine is as follows: ; In the formula, The average trouble-free working time of the whole machine, is the weight of the ith system.

[0054] Obtain the mean trouble-free working time of each system to obtain the mean trouble-free working time of the whole machine, and compare it with the corresponding evaluation standard table to obtain the evaluation result; 3. When the test data is the reliability of each system of the whole machine; According to the systems divided into the whole machine, calculate the reliability of each system, and then calculate the reliability of the whole machine according to the weight ratio of each system.

[0055] If the system consists of n units Series composition, according to the calculated reliability: ; Where: R i is the reliability; t i is the cumulative working time of the product, in h; t0 is the comprehensive repair time of the product, in h.

[0056] The calculation formula of the whole machine reliability is as follows: ; In the formula, For the reliability of the whole machine, is the weight of the ith system.

[0057] 4. The test data is the average time before the first failure of each system of the whole machine According to the systems divided into the whole machine, calculate the average time before the first failure of each system, and then calculate the average working time before the first failure of the whole machine according to the weight ratio of each system.

[0058] If a system consists of n units The average working time before the first failure is calculated by the series connection. The average working time before the first failure of the system The calculation formula is: ; Where: MTTFF i is the average working time before the first failure of the i-th system, in hours (h); is the number of failed units in the i-th system; is the total trouble-free working time, in hours (h); is the first failure time of the jth unit in the i-th system, in hours (h), excluding minor failures; n is the total number of systems tested; T c It is the actual reliability test working time, in hours (h).

[0059] The calculation formula for the average working time before the first failure of the whole machine is as follows: ; In the formula, is the weight of the ith system.

[0060]

[0061] Based on the evaluation criteria described in Table 3, the automatic test unit is finally run to perform the reliability configuration and finally issue the evaluation results of the test.

[0062] In summary, combined with Figure 4 The method steps of this embodiment can be understood as: step 1, hardware connection; step 2, confirming the test content; step 3, configuring the vehicle information accordingly according to the test content; step 4, editing the test case accordingly according to the test content, mainly including the control parameters required for the test action; step 5, then executing the test; step 6, finally generating a test table with the test data and the obtained evaluation results, and visually presenting them in the form of a table curve. Example 2

[0063] Based on the same inventive concept as in Example 1, this embodiment provides a reliability testing device for an aerial work platform, which includes: A test control unit is used to control the aerial work platform to realize the vehicle body movement for testing; A data receiving unit, used to collect test data through an interface protocol during the test process; The data processing unit is used to process the test data to obtain an evaluation result. Example 3

[0064] Based on the same inventive concept as in Example 1, this embodiment provides a computer-readable storage medium on which a computer program is stored, and is characterized in that when the computer program is executed by a processor, a reliability testing method for an aerial work platform described in Example 1 is implemented.

[0065] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0066] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0067] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0068] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0069] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A reliability testing method for an aerial work platform, characterized in that: include: Control the aerial work platform to achieve vehicle body movements for testing; Collect test data through interface protocols during the test process; The test data is processed to obtain an evaluation result.

2. The aerial work platform reliability testing method according to claim 1, characterized in that: The aerial work platform includes a vehicle body, a turntable arranged on the vehicle body, a multi-section arm arranged on the turntable, and a platform arranged at the end of the multi-section arm; the vehicle body movements include turntable rotation, platform swing, boom amplitude change and boom extension and retraction.

3. The aerial work platform reliability testing method according to claim 2, characterized in that: The controlling of the aerial work platform to realize the vehicle body movement includes: Establish a three-dimensional coordinate system of the vehicle at the location of the vehicle body; Keeping the position of the vehicle body unchanged, the first RTK positioning unit, the second RTK positioning unit and the third RTK positioning unit are respectively fixed on the platform, the curved arm in the multi-section arm and the No. 1 arm in the multi-section arm; Determine the platform swing angle, the boom luffing angle, the turntable rotation angle and the boom telescopic length according to the coordinates of the first RTK positioning unit, the second RTK positioning unit and the third RTK positioning unit in the vehicle three-dimensional coordinate system; In response to the platform swing angle, the boom amplitude change angle, the turntable rotation angle and the boom extension length all reaching the target control values, the aerial work platform stops moving.

4. The aerial work platform reliability testing method according to claim 3, characterized in that: In the vehicle's three-dimensional coordinate system: the origin coordinates are (X0, Y0, Z0), and the coordinates of the first RTK positioning unit, the second RTK positioning unit, and the third RTK positioning unit are (X TH1 ,Y TH1 , Z TH1 )、(X TH2 , Y TH2 , Z TH2 ) coordinates (X TH3 , Y TH3 , Z TH3 ); The calculation formulas for the platform swing angle, the crank arm amplitude change angle, the turntable rotation angle and the boom telescopic length are: ； In the formula, is the platform swing angle, is the boom luffing angle, is the turntable rotation angle, is the telescopic length of the boom, Correct the length for boom extension.

5. The aerial work platform reliability testing method according to claim 1, characterized in that: The interface protocols include CAN and Ethernet.

6. The aerial work platform reliability testing method according to claim 1, characterized in that: The test data includes at least one of the following: vibration acceleration, mean trouble-free working time of each system of the whole machine, reliability of each system of the whole machine, and mean time before first failure of each system of the whole machine.

7. The aerial work platform reliability testing method according to claim 6, characterized in that: The processing of the test data to obtain a reliability result comprises: When the test data is vibration acceleration, the total weighted vibration acceleration root mean square value is obtained according to the vibration acceleration processing, and compared with the corresponding evaluation standard table to obtain the evaluation result; When the test data is the average trouble-free working time of each system of the whole machine, the average trouble-free working time of each system is obtained to obtain the average trouble-free working time of the whole machine, and compared with the corresponding evaluation standard table to obtain the evaluation result; When the test data is the reliability of each system of the whole machine, the reliability of each system is obtained to obtain the reliability of the whole machine by weighted calculation, and compared with the corresponding evaluation standard table to obtain the evaluation result; When the test data is the average time before the first failure of each system of the whole machine, the average time before the first failure of each system is obtained to obtain the average working time before the first failure of the whole machine by weighted calculation, and compared with the corresponding evaluation standard table to obtain the evaluation result.

8. The aerial work platform reliability testing method according to claim 1, characterized in that: After collecting the test data, the method further includes: converting the test data into tabular data and visually presenting the data in the form of a tabular curve.

9. A reliability test system for an aerial work platform, characterized in that: include: A test control unit is used to control the aerial work platform to realize the vehicle body movement for testing; A data receiving unit, used to collect test data through an interface protocol during the test process; The data processing unit is used to process the test data to obtain an evaluation result.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the reliability testing method for an aerial work platform as described in any one of claims 1 to 8 is implemented.

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