Control method for high-altitude operation machine, high-altitude operation machine and storage medium

Abstract

The invention discloses a control method for a high-altitude operation machine, the high-altitude operation machine and a storage medium, and belongs to the field of high-altitude machines. The aerial work machine comprises a work platform and a weight detection device used for detecting the weight of the work platform. The control method comprises the steps that a weight detection value, detected by the weight detection device, of the work platform is obtained; the weight detection value is determined to be smaller than a preset reverse force judgment weight threshold value, the preset reverse force judgment weight threshold value is smaller than a predetermined empty load weight value of the work platform, and the empty load weight value is the weight value of the work platform under the conditions that the work platform is in an empty load lifting state and no interferent exists below the work platform; determining that interferents exist below the working platform; and high-altitude operation mechanical actions are limited. The hardware cost can be reduced.

Description

Technical Field

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

[0002] Aerial work machinery (such as mast-type aerial work platforms) is a kind of aerial work product widely used in industries such as municipal administration, warehousing, maintenance and construction. As equipment that carries personnel, the safety and reliability of aerial work machinery are particularly important. At present, during the operation of aerial work machinery, there may be interference objects under the work platform, which may affect the normal operation of the aerial work machinery. The prior art usually additionally sets up interference detection equipment (such as a camera) for detecting interference objects, so as to realize the detection of interference objects and prevent the aerial work machinery from being affected by interference objects. However, the above-mentioned prior art has the problem of high hardware cost. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a control method for an aerial work machine, an aerial work machine and a storage medium, so as to solve the problem of high hardware cost in the prior art.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method for an aerial work machine, the aerial work machine comprising a work platform and a weight detection device for detecting the weight of the work platform, the control method comprising:

[0005] Obtaining a weight detection value of the working platform detected by a weight detection device;

[0006] Determining that the weight detection value is less than a preset reverse force judgment weight threshold, wherein the preset reverse force judgment weight threshold is less than a predetermined no-load weight value of the working platform, and the no-load weight value is a weight value of the working platform when it is in an no-load lifting state and there is no interference under the working platform;

[0007] Make sure there are any interferences under the working platform;

[0008] Limit the movement of machinery during aerial work.

[0009] In an embodiment of the present application, the control method also includes: when the weight detection value is greater than the empty weight value, determining the weight difference between the weight detection value and the empty weight value; determining the ratio of the weight difference to the preset maximum load-bearing weight of the working platform to obtain the load rate; when the load rate is greater than the preset load rate threshold, determining that the working platform is overloaded and restricting the movement of the aerial work machinery.

[0010] In an embodiment of the present application, the control method also includes: when the weight detection value is greater than or equal to the preset reverse force judgment weight threshold, and / or the load rate is less than or equal to the preset load rate threshold, determining that the working platform is in a normal working state and not restricting the movement of the aerial work machinery.

[0011] In an embodiment of the present application, determining the no-load weight value includes: determining that the weight detection device is in a normal working state; when the work platform is in an no-load lifting state and there is no interference under the work platform, calibrating the weight detection device to obtain the no-load weight value of the work platform detected by the weight detection device.

[0012] In an embodiment of the present application, determining that the weight detection device is in a normal working state includes: determining that the weight detection device is in a normal working state when data sent by the weight detection device is received within a preset time period and / or at a preset time interval; and / or determining that the weight detection device is in a normal working state when no fault message sent by the weight detection device is received.

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

[0014] In an embodiment of the present application, the weight detection device includes multiple weight detection units, and determining that the weight detection device is in a normal working state includes: acquiring detection data of each weight detection unit in the weight detection device; and determining that the weight detection device is in a normal working state when the difference between the detection data of each weight detection unit is within a preset error range.

[0015] In an embodiment of the present application, the control method further includes: when the difference between the detection data of any two weight detection units is not within a preset error range, determining that the weight detection device has failed and restricting the movement of the aerial work machinery.

[0016] The second aspect of the present application provides an aerial work machinery, comprising: a work platform; a weight detection device for detecting the weight of the work platform; a memory configured to store instructions; and a processor configured to call instructions from the memory and to implement the above-mentioned control method for aerial work machinery when executing the instructions.

[0017] A third aspect of the present application provides a machine-readable storage medium on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned control method for aerial work machinery.

[0018] The above technical solution, by obtaining the weight detection value of the working platform detected by the weight detection device, determines that there is an interference under the working platform when it is determined that the weight detection value is less than the preset reverse force judgment weight threshold, thereby limiting the movement of the aerial work machinery. The above technical solution does not require additional interference detection equipment. It can determine whether there is an interference under the working platform only by the weight information detected by the weight detection device that detects the weight of the working platform, thereby reducing hardware costs; after determining that there is an interference under the working platform, limiting the movement of the aerial work machinery can avoid the working platform from squeezing the interference under the working platform, that is, it can prevent the working platform from squeezing personnel or obstacles, reduce the incidence of personnel injury or equipment damage, improve the safety and reliability of the aerial work machinery, and thus ensure the operating efficiency of the aerial work machinery.

[0019] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0021] Figure 1 A schematic diagram of a flow chart of a control method for aerial work machinery according to an embodiment of the present application is schematically shown;

[0022] Figure 2 A schematic diagram of a flow chart of a control method for aerial work machinery according to another embodiment of the present application is shown;

[0023] Figure 3 A schematic structural diagram of a load detection system according to an embodiment of the present application is shown schematically. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0025] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0026] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0027] Figure 1 The following schematically shows a flow chart of a control method for aerial work machinery according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a control method for an aerial work machine, the aerial work machine includes a work platform and a weight detection device for detecting the weight of the work platform. Taking the control method applied to a processor as an example, the control method may include the following steps:

[0028] Step S102, obtaining the weight detection value of the working platform detected by the weight detection device.

[0029] Step S104, determining that the weight detection value is less than a preset reverse force judgment weight threshold, wherein the preset reverse force judgment weight threshold is less than a predetermined no-load weight value of the working platform, and the no-load weight value is the weight value of the working platform when it is in an no-load lifting state and there is no interference under the working platform.

[0030] Step S106, determining whether there is an interference object below the work platform.

[0031] Step S108, limiting the movement of the aerial work machinery.

[0032] It can be understood that the aerial work machinery is a mechanical device that can perform aerial work, such as a mast-type aerial work platform. The work platform can be used to carry workers, and can also be used to carry items, etc. The weight detection device is a device that can detect the weight or load of the work platform, such as a weighing sensor, and the number of weight detection devices can be one or more. The weight detection value is the weight value or load value of the work platform detected by the weight detection device. The preset reverse force judgment weight threshold is a predetermined weight threshold for judging whether the work platform is subjected to the action of an upward reverse force (i.e., a supporting force) opposite to the direction of gravity, that is, if the weight detection value of the work platform is less than the preset reverse force judgment weight threshold, it can be determined that the work platform is subjected to the action of an upward reverse force opposite to the direction of gravity, which can also indicate that there is an interference under the work platform, and the interference generates an upward supporting force on the work platform. Understandably, the preset reverse force judgment weight threshold is less than the predetermined no-load weight value of the working platform, and the no-load weight value is the weight value of the working platform when it is in an no-load lifting state and there is no interference under the working platform. The no-load lifting state means that there is no person or object on the working platform, and the working platform is in a lifting state, that is, not in a stowed state. The no-load weight value can be determined in advance. Interference objects may include people or objects that may interfere with the normal operation of the aerial work machinery.

[0033] Specifically, when the working platform is in an ascending state, a descending state, or a stationary state, the processor can communicate with the weight detection device, so that the weight detection value of the working platform detected by the weight detection device can be obtained in real time, and the weight detection value can be compared with the preset reverse force judgment weight threshold. When it is determined that the weight detection value is less than the preset reverse force judgment weight threshold, the processor can determine that there is an interference under the working platform at this time, and the interference can be, for example, a wooden block. At this time, the processor can limit the action of the aerial work machinery, for example, it can include limiting the working platform from continuing to rise or fall. Furthermore, the processor can send a signal that the working platform is subjected to abnormal force to prompt the user, and can also send an alarm message, such as an audible and visual alarm, to prompt the user.

[0034] The above control method for aerial work machinery obtains the weight detection value of the working platform detected by the weight detection device, and when it is determined that the weight detection value is less than the preset reverse force judgment weight threshold, it is determined that there is an interference under the working platform, thereby limiting the movement of the aerial work machinery. The above technical solution does not require the additional setting of interference detection equipment. It can determine whether there is an interference under the working platform only by the weight information detected by the weight detection device that detects the weight of the working platform, thereby reducing the hardware cost; after determining that there is an interference under the working platform, limiting the movement of the aerial work machinery can avoid the working platform from squeezing the interference under the working platform, that is, it can prevent the working platform from squeezing personnel or obstacles, reduce the incidence of personnel injury or equipment damage, improve the safety and reliability of the aerial work machinery, and thus ensure the operation efficiency of the aerial work machinery.

[0035] In one embodiment, the control method for aerial work machinery may also include: when the weight detection value is greater than the no-load weight value, determining the weight difference between the weight detection value and the no-load weight value; determining the ratio of the weight difference to the preset maximum load-bearing weight of the work platform to obtain the load rate; when the load rate is greater than the preset load rate threshold, determining that the work platform is overloaded and limiting the movement of the aerial work machinery.

[0036] It can be understood that the preset maximum load weight is the preset maximum load that the working platform can bear. The load rate is the ratio of the weight difference value to the preset maximum load weight. The weight difference value is the difference between the weight detection value and the empty weight value, that is, the weight of the person and / or object carried by the working platform. The preset load rate threshold is a preset load rate threshold for determining whether the working platform is overloaded, such as 85% or 90%. If the load rate is greater than the preset load rate threshold, it can be determined that the working platform is overloaded.

[0037] Specifically, the processor can compare the weight detection value of the working platform with the predetermined no-load weight value of the working platform. When it is determined that the weight detection value is greater than the no-load weight value, the processor can determine the weight difference between the weight detection value and the no-load weight value, and determine the ratio of the weight difference to the preset maximum load-bearing weight of the working platform to obtain the load rate of the working platform at this time. Then, the load rate of the working platform is compared with the preset load rate threshold. When it is determined that the load rate is greater than the preset load rate threshold, the processor can determine that the working platform is overloaded and limit the action of the aerial work machinery, for example, it can include limiting the working platform from continuing to rise or fall. Furthermore, the processor can send a signal that the working platform is overloaded to prompt the user, and can also send an alarm message, such as an audible and visual alarm, to prompt the user.

[0038] In an embodiment of the present application, when the weight detection value is greater than the empty weight value, the load rate of the work platform is determined, and when the load rate is greater than a preset load rate threshold, the work platform is judged to be overloaded. This allows accurate and rapid judgment of the overload of the work platform, further improving the construction safety of the aerial work machinery and extending the service life of the aerial work machinery.

[0039] In one embodiment, the control method for aerial work machinery may also include: when the weight detection value is greater than or equal to a preset reverse force judgment weight threshold, and / or the load rate is less than or equal to a preset load rate threshold, determining that the work platform is in a normal working state and not restricting the movement of the aerial work machinery.

[0040] It can be understood that the normal working state of the working platform may include a working state in which there is no interference under the working platform and / or a working state in which the working platform is not overloaded.

[0041] Specifically, if the weight detection value of the working platform is greater than or equal to the preset reverse force judgment weight threshold, it indicates that there is no interference under the working platform. If the load rate of the working platform is less than or equal to the preset load rate threshold, it indicates that the working platform is not overloaded. When at least one of the above two situations occurs, the processor can determine that the working platform is in a normal working state, and the processor may not restrict the movement of the aerial work machinery.

[0042] In an embodiment of the present application, when the weight detection value of the working platform is greater than or equal to the preset reverse force judgment weight threshold, and / or the load rate of the working platform is less than or equal to the preset load rate threshold, it indicates that the working platform is in a normal working state, and the processor does not restrict the movement of the aerial work machinery, which can further improve the operating efficiency of the aerial work machinery.

[0043] In one embodiment, determining the no-load weight value may include: determining that the weight detection device is in a normal working state; when the working platform is in an no-load lifting state and there are no interferences under the working platform, calibrating the weight detection device to obtain the no-load weight value of the working platform detected by the weight detection device.

[0044] Specifically, when it is determined that the weight detection device is in a normal working state, the work platform is in an empty lifting state, and there is no interference under the work platform, the processor can calibrate the weight detection device to determine the empty weight value of the work platform.

[0045] In one embodiment, determining that the weight detection device is in normal working condition may include: determining that the weight detection device is in normal working condition when data sent by the weight detection device is received within a preset time period and / or at preset time intervals; and / or determining that the weight detection device is in normal working condition when no fault message sent by the weight detection device is received.

[0046] It can be understood that the preset time period is a preset time period, and the preset duration is a preset time length. The fault message is content information indicating that a fault has occurred in the weight detection device.

[0047] Specifically, in one example, the processor may determine that the weight detection device is in normal working condition when the data sent by the weight detection device is received within a preset time period. In another example, the processor may determine that the weight detection device is in normal working condition when the data sent by the weight detection device is received at intervals of a preset duration. In some examples, the processor may determine that the weight detection device is in normal working condition when the data sent by the weight detection device is received within a preset time period and at intervals of a preset duration. In some examples, the processor may determine that the weight detection device is in normal working condition when the fault message sent by the weight detection device is not received. In other examples, the processor may determine that the weight detection device is in normal working condition when the data sent by the weight detection device is received within a preset time period and / or at intervals of a preset duration, and the fault message sent by the weight detection device is not received.

[0048] In one embodiment, the control method for aerial work machinery may also include: determining that the weight detection device has failed and limiting the movement of the aerial work machinery when no data sent by the weight detection device is received within a preset time period and / or at a preset time interval; and / or determining that the weight detection device has failed and limiting the movement of the aerial work machinery when a fault message sent by the weight detection device is received.

[0049] Specifically, in one example, the processor may determine that the weight detection device fails (the fault type may be, for example, a communication fault) when the data sent by the weight detection device is not received within a preset time period, and the processor may limit the action of the aerial work machinery. In another example, the processor may determine that the weight detection device fails (the fault type may be, for example, a communication fault) when the data sent by the weight detection device is not received within a preset time period, and the processor may limit the action of the aerial work machinery. In some examples, the processor may determine that the weight detection device fails when the data sent by the weight detection device is not received within a preset time period and the preset time period, and the processor may limit the action of the aerial work machinery. In some examples, the processor may determine that the weight detection device fails (the fault type may be, for example, a hardware fault) when a fault message sent by the weight detection device is received, and the processor may limit the action of the aerial work machinery. In other examples, the processor may determine that the weight detection device fails when the data sent by the weight detection device is not received within a preset time period and / or the preset time period, and the fault message sent by the weight detection device is received, and the processor may limit the action of the aerial work machinery.

[0050] In an embodiment of the present application, when no data sent by the weight detection device is received within a preset time period and / or at a preset time interval, and / or a fault message sent by the weight detection device is received, the weight detection device is determined to be faulty and the action of the aerial work machinery is restricted to ensure human and machine safety.

[0051] In one embodiment, the weight detection device includes multiple weight detection units, and determining that the weight detection device is in a normal working state may include: obtaining detection data of each weight detection unit in the weight detection device; when the difference between the detection data of each weight detection unit is within a preset error range, determining that the weight detection device is in a normal working state.

[0052] It can be understood that the weight detection unit is a hardware unit or hardware structure that constitutes the weight detection device. For example, when the weight detection device is a weighing sensor, the weight detection unit can be a strain gauge, and the weight detection unit can detect weight information. The preset error range is the preset allowable range of deviation between the detection data (i.e., weight values) of each weight detection unit.

[0053] Specifically, the processor can obtain the detection data of each weight detection unit in the weight detection device, and determine the difference between the detection data of each weight detection unit. When the difference between the detection data of each weight detection unit is within a preset error range, it is determined that the weight detection device is in a normal working state.

[0054] In one embodiment, the control method for aerial work machinery may further include: when the difference between the detection data of any two weight detection units is not within a preset error range, determining that the weight detection device has failed and limiting the movement of the aerial work machinery.

[0055] Specifically, when the difference between the detection data of any two weight detection units is not within the preset error range, the processor can determine that the weight detection device has failed and restrict the action of the aerial work machinery.

[0056] In a specific embodiment, taking the weight detection device as a weighing sensor as an example, the aerial work machinery may include a work platform and a boom. The weighing sensor may be installed at the connection between the work platform and the boom. The weight of the load on the work platform is detected by the change of the strain gauge inside the weighing sensor. The signal is then processed and transmitted to the whole machine controller through the acquisition module. The whole machine controller formulates safety logic in accordance with the safety regulations for aerial work products, and protects the safety of operators and equipment through sound and light alarms and action restrictions.

[0057] In the above embodiment, the number of weighing sensors may be two, namely, weighing sensor 1 and weighing sensor 2. The control method for aerial work machinery may include the following steps:

[0058] Step S201, start.

[0059] Step S202, determine whether the weighing sensor is normal, if normal, proceed to step S203, otherwise proceed to step S204.

[0060] Step S203, determine whether the weighing calibration of the weighing sensor is completed, if completed, proceed to step S205, otherwise proceed to step S206.

[0061] Step S204, reporting a load cell failure, sounding and visually alarming, and limiting the movement of the aerial work machinery.

[0062] Step S205, obtaining the weight detection values ​​of weighing sensor 1 and weighing sensor 2, and step S205 is followed by step S207 and step S208.

[0063] Step S206, reporting that the weighing calibration is not completed, sound and light alarms are given, and the movement of the aerial work machinery is not restricted.

[0064] Step S207, determining whether the load rate of the work platform is greater than a set value (ie, a preset load rate threshold), if so, proceeding to step S209, otherwise returning to step S202.

[0065] Step S208, determine whether the weight detection values ​​of weighing sensor 1 and weighing sensor 2 are less than the reverse force alarm threshold (ie, the preset reverse force judgment weight threshold). If so, proceed to step S210, otherwise return to step S202.

[0066] Step S209, reporting that the work platform is overloaded, sound and light alarms are given, and the movement of the aerial work machinery is restricted.

[0067] Step S210, reporting abnormal force on the working platform, sounding and visually alarming, and limiting the movement of the aerial working machinery.

[0068] Regarding step S202, specifically, in order to ensure the normal operation of the equipment and protect the safety of people and machines, the platform load (i.e., weight) must be detected in real time. The weighing sensor can communicate with the whole machine controller using a preset communication protocol. When the whole machine controller fails to receive data within a set time or receives a predetermined fault message, it reports a communication fault or hardware fault of the corresponding weighing sensor. In order to ensure the safety of people and machines, the equipment action is restricted at this time.

[0069] In order to protect the safety of personnel and equipment, the key component weighing sensor must meet the redundant detection requirements. Two strain gauges are arranged crosswise inside the weighing sensor to detect the force transmitted by the platform at the same time, and the signal is sent to the whole machine controller through different fields to achieve dual-channel redundant design. The whole machine controller judges the difference between the detection values ​​of the two fields. If the difference exceeds the set value, the weighing sensor dual-channel verification error is reported. At this time, the weighing sensor is also considered to be faulty, and the equipment action is restricted.

[0070] Regarding step S203, specifically, when the work platform is unloaded and in a lifted state and there are no obstacles or interferences below, the sum of the weight values ​​detected by weighing sensors 1 and 2 at this time is used as a reference value of the unloaded work platform, that is, the unloaded weight value is obtained. Further, in the program of the whole machine controller of the aerial work machine, the fully loaded weight value can be preset, that is, the preset maximum load weight.

[0071] Regarding step S207, specifically, the whole machine controller can obtain the platform load in real time. When the load is added to the working platform, the calculation formula of the load rate can be:

[0072]

[0073] Among them, G1 and G2 are the weight detection values ​​of weighing sensors 1 and 2 respectively, G0 is the empty weight value of the working platform, and G max The setting value of the platform fully loaded, that is, the preset maximum load weight. The whole machine controller can calculate the load rate in real time. When the load rate exceeds the set percentage, the whole machine controller will send out an audible and visual alarm signal and limit the operation of the equipment.

[0074] Regarding step S207, specifically, in order to prevent the operating platform from squeezing the operator or obstacles when it descends, causing personal injury or equipment damage. The whole machine controller detects the load of the operating platform in real time. When the weighing sensor is in a normal state, the minimum weight detection value should be the weight value of the operating platform when it is in an unloaded state, that is, the weight value of the operating platform itself. If the weight value detected by the weighing sensor is less than the reverse force alarm threshold, it is considered that the operating platform is subjected to the reverse force, such as if there is a wooden block supporting it from below. At this time, it can be reported that the platform is abnormally stressed and the platform is restricted from continuing to descend. It is understandable that the reverse force alarm threshold should be as small as possible from the weight value of the operating platform itself, because when the operating platform is lifted and lowered, it will produce impact due to inertia, causing the weight value detected by the weighing sensor to fluctuate, which may be smaller than the actual value. Therefore, in order to prevent false alarms, the reverse force alarm threshold should be as small as possible from the weight value of the operating platform itself.

[0075] An embodiment of the present application provides an aerial work machine, comprising: a work platform; a weight detection device for detecting the weight of the work platform; a memory configured to store instructions; and a processor configured to call instructions from the memory and to implement the control method for the aerial work machine according to the above-mentioned embodiment when executing the instructions.

[0076] In a specific embodiment, Figure 3 As shown, the aerial work machinery may include a load detection system, which may include a weighing sensor (i.e., a weight detection device), a signal acquisition module, a whole machine controller, a platform controller, and an audible and visual alarm device, etc., wherein the weighing sensor and the signal acquisition module may exist separately or may be integrated together. In addition to the above components, other devices may also include a descending valve, a cylinder, and the like.

[0077] An embodiment of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the control method for aerial work machinery according to the above-mentioned embodiment.

[0078] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt 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.) that contain computer-usable program code.

[0079] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 generate 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.

[0080] 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 including 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.

[0081] 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.

[0082] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0083] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0084] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0085] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0086] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A control method for aerial work machinery, characterized in that: The aerial work machine includes a work platform and a weight detection device for detecting the weight of the work platform, and the control method includes: Obtaining a weight detection value of the working platform detected by the weight detection device; Determining that the weight detection value is less than a preset reverse force judgment weight threshold, wherein the preset reverse force judgment weight threshold is less than a predetermined no-load weight value of the work platform, the no-load weight value being the weight value of the work platform when it is in an no-load lifting state and there is no interference under the work platform; Determining that there is an interference object below the working platform; Limit the movement of the aerial work machinery.

2. The control method according to claim 1, characterized in that: The control method further comprises: In the case where the weight detection value is greater than the no-load weight value, determining a weight difference between the weight detection value and the no-load weight value; Determining a ratio of the weight difference to a preset maximum load-bearing weight of the work platform to obtain a load factor; When the load rate is greater than a preset load rate threshold, the work platform is determined to be overloaded, and the movement of the aerial work machinery is restricted.

3. The control method according to claim 2, characterized in that: The control method further comprises: When the weight detection value is greater than or equal to the preset reverse force judgment weight threshold, and / or the load rate is less than or equal to the preset load rate threshold, it is determined that the work platform is in a normal working state and the movement of the aerial work machinery is not restricted.

4. The control method according to claim 1, characterized in that: The determination of the empty weight value includes: Determining that the weight detection device is in normal working condition; When the working platform is in an empty-load lifting state and there is no interference under the working platform, the weight detection device is calibrated to obtain the empty-load weight value of the working platform detected by the weight detection device.

5. The control method according to claim 4, characterized in that: Determining that the weight detection device is in a normal working state includes: When data sent by the weight detection device is received within a preset time period and / or at a preset time interval, determining that the weight detection device is in a normal working state; and / or In the case where no fault message sent by the weight detection device is received, it is determined that the weight detection device is in a normal working state.

6. The control method according to claim 5, characterized in that: The control method further comprises: If no data sent by the weight detection device is received within a preset time period and / or at a preset time interval, determining that the weight detection device has failed and restricting the movement of the aerial work machinery; and / or When a fault message is received from the weight detection device, it is determined that a fault has occurred in the weight detection device, and the movement of the aerial work machinery is restricted.

7. The control method according to claim 4, characterized in that: The weight detection device includes a plurality of weight detection units, and determining that the weight detection device is in a normal working state includes: Acquiring detection data of each weight detection unit in the weight detection device; When the differences between the detection data of the weight detection units are all within a preset error range, it is determined that the weight detection device is in a normal working state.

8. The control method according to claim 7, characterized in that: The control method further comprises: When the difference between the detection data of any two of the weight detection units is not within the preset error range, it is determined that the weight detection device has failed, and the action of the aerial work machinery is restricted.

9. A high-altitude working machine, characterized in that: include: Working platform; A weight detection device, used to detect the weight of the working platform; a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the control method for aerial work machinery according to any one of claims 1 to 8 when executing the instructions.

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

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