Control method for aerial work machine, aerial work machine, and storage medium

Abstract

The application discloses a control method for an aerial work machine, the aerial work machine and a storage medium, and belongs to the aerial work machine field. The aerial work machine comprises a work platform and a weight detection device for detecting the weight of the work platform. The control method comprises the following steps: acquiring a weight detection value of the work platform detected by the weight detection device; determining that the weight detection value is less than a preset reverse force judgment weight threshold value, wherein the preset reverse force judgment weight threshold value is less than a predetermined empty load weight value of the work platform, and the empty load weight value is a weight value of the work platform in an empty load lifting state and without an interference object below the work platform; determining that there is an interference object below the work platform; and limiting the action of the aerial work machine. The application can reduce the hardware cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-altitude machinery, in particular to a control method for high-altitude working machinery, high-altitude working machinery and a storage medium. BACKGROUND

[0002] High-altitude working machinery (for example, a mast-type aerial work platform) is a high-altitude working product widely used in municipal, warehousing, maintenance construction and other industries. As a personnel-carrying device, the safety and reliability of high-altitude working machinery is particularly important. At present, during the operation of high-altitude working machinery, there may be interference objects below the working platform, thereby affecting the normal work of the high-altitude working machinery. The prior art usually additionally sets an interference object detection device (for example, a camera) for detecting interference objects to realize the detection of interference objects, thereby preventing the high-altitude working machinery from being affected by the interference objects. However, the above prior art has the problem of high hardware cost. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a control method for high-altitude working machinery, high-altitude working machinery and a storage medium, 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 high-altitude working machinery, the high-altitude working machinery comprising a working platform and a weight detection device for detecting the weight of the working platform, the control method comprising:

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

[0006] determining that the weight detection value is less than a preset reverse force judgment weight threshold value, wherein the preset reverse force judgment weight threshold value is less than a predetermined empty load weight value of the working platform, and the empty load weight value is a weight value of the working platform in an empty load lifting state and without interference objects below the working platform;

[0007] determining that there is an interference object below the working platform;

[0008] limiting the action of the high-altitude working machinery.

[0009] In the embodiments of the present application, the control method further comprises: in the case that the weight detection value is greater than the empty load weight value, determining a weight difference value between the weight detection value and the empty load weight value; determining a ratio of the weight difference value to a preset maximum load weight of the working platform to obtain a load rate; and in the case that the load rate is greater than a preset load rate threshold value, determining that the working platform is overloaded and limiting the action of the high-altitude working machinery.

[0010] In the embodiment of the present application, the control method further comprises: in the case that the weight detection value is greater than or equal to a preset reverse force judgment weight threshold value and / or the load rate is less than or equal to a preset load rate threshold value, determining that the work platform is in a normal working state, and not limiting the action of the aerial work machine.

[0011] In the embodiment of the present application, the determination of the empty weight value comprises: determining that the weight detection device is in a normal working state; in the case that the work platform is in an empty lifting state and there is no interference below the work platform, calibrating the weight detection device to obtain the empty weight value of the work platform detected by the weight detection device.

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

[0013] In the embodiment of the present application, the control method further comprises: in the case that no data sent by the weight detection device is received within a preset time period and / or at intervals of a preset time length, determining that the weight detection device has a fault, and limiting the action of the aerial work machine; and / or in the case that a fault message sent by the weight detection device is received, determining that the weight detection device has a fault, and limiting the action of the aerial work machine.

[0014] In the embodiment of the present application, the weight detection device comprises a plurality of weight detection units, and the determination that the weight detection device is in a normal working state comprises: obtaining detection data of each weight detection unit in the weight detection device; in the case that 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.

[0015] In the embodiment of the present application, the control method further comprises: in the case that 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 a fault, and limiting the action of the aerial work machine.

[0016] The second aspect 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 the instructions from the memory and capable of realizing the control method for the aerial work machine according to the above description when executing the instructions.

[0017] The third aspect of the present application provides a machine readable storage medium, and the machine readable storage medium has instructions stored thereon, and the instructions are used to make the machine execute the control method for the aerial work machine according to the above description.

[0018] The technical solution described above, by acquiring the weight detection value of the work platform detected by the weight detection device, determines that there is an interference object below the work platform when the weight detection value is less than the preset reverse force judgment weight threshold, and then limits the action of the aerial work machine. The technical solution described above does not need to additionally set an interference object detection device, but only needs to detect the weight information detected by the weight detection device of the weight of the work platform to determine whether there is an interference object below the work platform, thereby reducing the hardware cost; after determining that there is an interference object below the work platform, the action of the aerial work machine is limited, which can avoid the work platform from being pressed to the interference object below the work platform, i.e., the work platform can be prevented from being pressed to a person or an obstacle, thereby reducing the incidence of the phenomenon of personnel injury or equipment damage, improving the safety and reliability of the aerial work machine, and further ensuring the work efficiency of the aerial work machine.

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

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

[0021] Figure 1 A flowchart of a control method for an aerial work machine according to an embodiment of the present application is schematically shown;

[0022] Figure 2 A flowchart of a control method for an aerial work machine according to another embodiment of the present application is schematically shown;

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

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiments of the present application, and is not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.

[0025] It should be noted that if the application embodiments have directionality indications (such as up, down, left, right, front, back, etc.), the directionality indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directionality indications also change accordingly.

[0026] In addition, if the application embodiments have descriptions of "first", "second", etc., the "first", "second", etc. descriptions are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the application.

[0027] Figure 1 The flowchart of the control method for the aerial work machine according to the embodiments of the application is schematically shown. As shown in Figure 1 The embodiments of the application provide 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 is applied to a processor for example, and the control method can comprise the following steps:

[0028] In step S102, a weight detection value of the work platform detected by the weight detection device is obtained.

[0029] In step S104, it is determined that the weight detection value is less than a preset reverse force judgment weight threshold value, wherein the preset reverse force judgment weight threshold value is less than a predetermined empty load weight value of the work platform, and the empty load weight value is a weight value of the work platform in an empty load lifting state and without interference below the work platform.

[0030] In step S106, it is determined that there is interference below the work platform.

[0031] In step S108, the aerial work machine is limited to move.

[0032] It can be understood that the aerial work machine is a mechanical device that can perform aerial work, for example, it can be a mast aerial work platform. The work platform can be used to carry work personnel, and can also be used to carry articles and the like. The weight detection device is a device that can detect the weight or load of the work platform, for example, it can be a load cell, 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 weight threshold that is determined in advance to determine whether the work platform is subjected to an upward reverse force (i.e., a support force) opposite to the direction of gravity, that is, if the weight detection value of the work platform is less than the preset reverse force judgment weight threshold, it can be determined that the work platform is subjected to an upward reverse force opposite to the direction of gravity, which can indicate that there is an interference object below the work platform, and the interference object generates an upward support force on the work platform. Understandably, the preset reverse force judgment weight threshold is less than the predetermined empty load weight value of the work platform, and the empty load weight value is the weight value of the work platform in the empty load lifting state and without an interference object below the work platform, and the empty load lifting state is that the work platform does not carry people or objects, and the work platform is in a lifting state, i.e., a non-stored state, and the empty load weight value can be determined in advance. The interference object can include people or objects that can interfere with the normal operation of the aerial work machine.

[0033] Specifically, when the work platform is in a rising state or a descending state or a stationary state, the processor can communicate with the weight detection device, so as to obtain the weight detection value of the work platform detected by the weight detection device in real time, and compare the weight detection value 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 object below the work platform at this time, which can be a wooden block for example, and the processor can limit the movement of the aerial work machine, for example, it can include limiting the work platform to continue to rise or descend. Further, the processor can issue a signal that the work platform is subjected to abnormal force to prompt the user, and can also issue an alarm information, for example, perform audible and visual alarm, to prompt the user.

[0034] The control method for the aerial work machine determines that there is an interference object below the work platform when the weight detection value detected by the weight detection device is less than the preset reverse force judgment weight threshold value, and then limits the aerial work machine from moving. The technical solution does not need to additionally set an interference object detection device, but only needs to detect the weight information detected by the weight detection device of the work platform to determine whether there is an interference object below the work platform, thereby reducing the hardware cost. After determining that there is an interference object below the work platform, the aerial work machine is limited from moving, which can avoid the work platform from pressing the interference object below the work platform, i.e., can prevent the work platform from pressing a person or an obstacle, thereby reducing the incidence of personnel injury or equipment damage, improving the safety and reliability of the aerial work machine, and further ensuring the work efficiency of the aerial work machine.

[0035] In one embodiment, the control method for the aerial work machine can further include: determining a weight difference between the weight detection value and the empty weight value when the weight detection value is greater than the empty weight value; determining a load rate by comparing the weight difference with a preset maximum load capacity of the work platform; and determining that the work platform is overloaded and limiting the aerial work machine from moving when the load rate is greater than a preset load rate threshold value.

[0036] It can be understood that the preset maximum load capacity is a maximum load that the work platform can carry. The load rate is a ratio of the weight difference to the preset maximum load capacity. The weight difference is a difference between the weight detection value and the empty weight value, i.e., a weight of a person and / or an object carried on the work platform. The preset load rate threshold value is a preset load rate threshold value for determining whether the work platform is overloaded, for example, 85% or 90%. If the load rate is greater than the preset load rate threshold value, it can be determined that the work platform is overloaded.

[0037] Specifically, the processor can compare the weight detection value of the work platform with the predetermined empty weight value of the work platform, and when it is determined that the weight detection value is greater than the empty weight value, the processor can determine a weight difference between the weight detection value and the empty weight value, and determine a load rate of the work platform by comparing the weight difference with a preset maximum load capacity of the work platform. Then, the processor can compare the load rate of the work platform with a preset load rate threshold value, and when it is determined that the load rate is greater than the preset load rate threshold value, the processor can determine that the work platform is overloaded and limit the aerial work machine from moving, for example, can include limiting the work platform from continuing to rise or descend. Further, the processor can issue a signal that the work platform is overloaded to prompt the user, and can also issue an alarm information, for example, perform audible and light alarms, to prompt the user.

[0038] In the embodiment of the present application, when the weight detection value is greater than the empty load weight value, the load rate of the work platform is determined, and when the load rate is greater than the preset load rate threshold, it is determined that the work platform is overloaded, so that accurate and rapid determination of the overload of the work platform can be realized, the construction safety of the aerial work machine is further improved, and the service life of the aerial work machine is prolonged.

[0039] In one embodiment, the control method for the aerial work machine can further include: determining that the work platform is in a normal working state 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, and not limiting the action of the aerial work machine.

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

[0041] Specifically, if the weight detection value of the work platform is greater than or equal to the preset reverse force judgment weight threshold, it indicates that there is no interference below the work platform, and if the load rate of the work platform is less than or equal to the preset load rate threshold, it indicates that the work platform is not overloaded. When at least one of the above two conditions occurs, the processor can determine that the work platform is in a normal working state, and at this time the processor can not limit the action of the aerial work machine.

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

[0043] In one embodiment, the determination of the empty load weight value can include: determining that the weight detection device is in a normal working state; and calibrating the weight detection device to obtain the empty load weight value of the work platform detected by the weight detection device, when the work platform is in an empty load lifting state and there is no interference below the work platform.

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

[0045] In one embodiment, determining that the weight detection device is in the normal working state can include: determining that the weight detection device is in the normal working state in a case that data sent by the weight detection device is received within a preset time period and / or at a preset interval; and / or determining that the weight detection device is in the normal working state in a case that a fault message sent by the weight detection device is not received.

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

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

[0048] In one embodiment, the control method for the aerial work platform can further include: determining that the weight detection device has a fault and limiting the aerial work platform from moving in a case that data sent by the weight detection device is not received within a preset time period and / or at a preset interval; and / or determining that the weight detection device has a fault and limiting the aerial work platform from moving in a case that a fault message sent by the weight detection device is received.

[0049] Specifically, in one example, the processor can determine that the weight detection device is malfunctioning (the type of malfunction may, for example, be a communication malfunction) if the processor does not receive data sent by the weight detection device within a preset time period, and the processor can limit the aerial work machine from operating in this case. In another example, the processor can determine that the weight detection device is malfunctioning (the type of malfunction may, for example, be a communication malfunction) if the processor does not receive data sent by the weight detection device within a preset time interval, and the processor can limit the aerial work machine from operating in this case. In some examples, the processor can determine that the weight detection device is malfunctioning if the processor does not receive data sent by the weight detection device within a preset time period and within a preset time interval, and the processor can limit the aerial work machine from operating in this case. In some examples, the processor can determine that the weight detection device is malfunctioning (the type of malfunction may, for example, be a hardware malfunction) if the processor receives a malfunction message sent by the weight detection device, and the processor can limit the aerial work machine from operating in this case. In other examples, the processor can determine that the weight detection device is malfunctioning if the processor does not receive data sent by the weight detection device within a preset time period and / or within a preset time interval, and receives a malfunction message sent by the weight detection device, and the processor can limit the aerial work machine from operating in this case.

[0050] In the embodiments of the present application, if the processor does not receive data sent by the weight detection device within a preset time period and / or within a preset time interval, and / or receives a malfunction message sent by the weight detection device, it is determined that the weight detection device is malfunctioning, and the aerial work machine is limited from operating, which can ensure the safety of man-machine.

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

[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 load cell, the weight detection unit can be a strain gauge, and the weight detection unit can detect weight information. The preset error range is a range of allowable deviations between the detection data (i.e., weight values) of each weight detection unit that is set in advance.

[0053] Specifically, the processor can obtain detection data of each weight detection unit in the weight detection device, and determine a difference between the detection data of each weight detection unit. If 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 the aerial work machine can further include: determining that the weight detection device is malfunctioning and limiting the aerial work machine from operating, in a case where a difference between detection data of any two weight detection units is not located within a preset error range.

[0055] Specifically, in a case where a difference between detection data of any two weight detection units is not located within a preset error range, the processor can determine that the weight detection device is malfunctioning and limit the aerial work machine from operating.

[0056] In one specific embodiment, taking a weighing sensor as an example of the weight detection device, the aerial work machine can include a work platform and a boom, and the weighing sensor can be installed at a connection between the work platform and the boom. The weighing sensor detects the weight of the load of the work platform through changes in strain gauges inside the weighing sensor, and then transmits the processed signal to the machine controller through the acquisition module. The machine controller formulates safety logic according to the safety regulations of aerial work products, and protects the safety of the operator and the equipment through audible and visual alarms and operation limiting.

[0057] In the above embodiment, the number of weighing sensors can be two, i.e., weighing sensor 1 and weighing sensor 2, and the control method for the aerial work machine can include the following steps:

[0058] Step S201, start.

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

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

[0061] Step S204, report a weighing sensor malfunction, perform audible and visual alarms, and limit the aerial work machine from operating.

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

[0063] Step S206, report that the weighing calibration is not complete, perform audible and visual alarms, and do not limit the aerial work machine from operating.

[0064] Step S207, determine whether the load rate of the work platform is greater than a set value (i.e., a preset load rate threshold). If it is, proceed to step S209, otherwise return to step S202.

[0065] Step S208, determine whether the weight detection value of the weighing sensor 1 and the weighing sensor 2 is less than the reverse force alarm threshold (i.e. the preset reverse force judgment weight threshold), if yes, go to step S210, otherwise return to step S202.

[0066] Step S209, report the overloading of the work platform, and perform sound and light alarm and limit the action of the aerial work machine.

[0067] Step S210, report the abnormal force of the work platform, and perform sound and light alarm and limit the action of the aerial work machine.

[0068] Regarding step S202, specifically, in order to ensure the normal operation of the equipment and protect the safety of man and machine, the platform load (i.e. weight) must be detected in real time. The weighing sensor can use a preset communication protocol to communicate with the machine controller. When the machine controller does not receive data or receives a predetermined fault message within a set time, it reports a communication fault or hardware fault of the corresponding weighing sensor. In order to ensure the safety of man and machine, the equipment is limited at this time.

[0069] In order to protect the safety of personnel and equipment, the weighing sensor, as a key component, needs to meet the requirement of redundant detection. Two strain gauges are arranged inside the weighing sensor to detect the force transmitted by the platform at the same time, and the signal is sent to the machine controller through different fields to realize double-channel redundant design. The machine controller judges the difference between the detection values of the two fields. If the difference exceeds the set value, it reports a double-channel calibration error of the weighing sensor. At this time, it is also considered that the weighing sensor is malfunctioning, and the equipment is limited.

[0070] Regarding step S203, specifically, when the work platform is empty and in the lifting state and there is no obstacle or interference below, the sum of the weight values detected by the weighing sensors 1 and 2 at this time is taken as the reference value of the empty load of the work platform, i.e. the empty load weight value is obtained. Further, in the program of the machine controller of the aerial work machine, the full load weight value can be preset, i.e. the preset maximum load capacity.

[0071] Regarding step S207, specifically, the machine controller can obtain the platform load in real time. When the load on the work platform is increased, the calculation formula of the load rate at this time can be:

[0072]

[0073] Wherein, G1, G2 are the weight detection values of the weighing sensors 1 and 2 respectively, G0 is the empty load weight value of the work platform, G max is the set value of the full load of the platform, i.e. the preset maximum load capacity. The machine controller can calculate the load rate in real time. When the load rate exceeds the set percentage, the machine controller will issue a sound and light alarm signal and limit the action of the equipment.

[0074] With respect to step S207, specifically, in order to prevent the work platform from being pressed to the operator or the obstacle when descending, causing personal injury or equipment damage. The machine controller detects the work platform load in real time. When the load cell is in a normal state, the minimum weight detection value should be the weight value of the work platform in the empty state, that is, the weight value of the work platform itself. If the weight value detected by the load cell is less than the reverse force alarm threshold, it is considered that the work platform is affected by the reverse force, such as the wood block below supporting, at this time the platform force abnormality can be reported, and the platform continues to descend. Understandably, the reverse force alarm threshold should be as small as possible less than the weight value of the work platform itself, because when the work platform is lifted and descended, impact will be generated due to inertia, resulting in that the weight value detected by the load cell will fluctuate, which may be less than the actual value, so in order to prevent false reporting, the reverse force alarm threshold should be as small as possible less than the weight value of the work platform itself.

[0075] The embodiment of the present application provides a high-altitude 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 the instructions from the memory and capable of realizing the control method for the high-altitude work machine according to the above-mentioned embodiments when executing the instructions.

[0076] In one specific embodiment, as shown in Figure 3 The high-altitude work machine can include a load detection system, which can include a load cell (i.e., a weight detection device), a signal acquisition module, a machine controller, a platform controller, an audible and light alarm device, etc., wherein the load cell and the signal acquisition module can exist separately or can be integrated together. In addition to the above components, devices such as a descending valve and a hydraulic cylinder can also be involved.

[0077] The embodiment of the present application provides a machine-readable storage medium, and the machine-readable storage medium has instructions stored thereon, and the instructions are used to cause a machine to execute the control method for the high-altitude work machine according to the above-mentioned embodiments.

[0078] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can adopt a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can 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.) containing computer usable program code.

[0079] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0080] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0081] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

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

[0083] The memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. The memory can also include non-volatile memory, such as read only memory (ROM) for storing structural information and / or instruction code to implement the functions of the computing device. The memory can additionally or alternatively include mass storage for persistent storage of information and instructions.

[0084] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0085] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0086] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A control method for an aerial work platform, characterized by, The aerial work machine comprises a work platform and a weight detection device for detecting the weight of the work platform, and the control method comprises: obtaining a weight detection value of the work 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 empty load weight value of the work platform, and the empty load weight value is a weight value of the work platform in an empty load lifting state and without an interference object below the work platform; determining that there is an interference object below the work platform; limiting the action of the aerial work machine; wherein the control method further comprises: in the case that the weight detection value is greater than the empty load weight value, determining a weight difference value between the weight detection value and the empty load weight value; determining a load rate by comparing the weight difference value with a preset maximum load weight of the work platform; and in the case that the load rate is greater than a preset load rate threshold, determining that the work platform is overloaded and limiting the action of the aerial work machine.

2. The control method according to claim 1, characterized by, The control method further comprises: in the case that 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 work platform is in a normal working state, and not limiting the action of the aerial work machine.

3. The control method according to claim 1, characterized by, The determination of the empty load weight value comprises: determining that the weight detection device is in a normal working state; in the case that the work platform is in an empty load lifting state and there is no interference object below the work platform, calibrating the weight detection device to obtain the empty load weight value of the work platform detected by the weight detection device.

4. The control method according to claim 3, characterized by The determination that the weight detection device is in a normal working state comprises: in the case that data sent by the weight detection device is received within a preset time period and / or at intervals of a preset time length, determining that the weight detection device is in a normal working state; and / or in the case that no fault message sent by the weight detection device is received, determining that the weight detection device is in a normal working state.

5. The control method according to claim 4, characterized by The control method further comprises: in the case that no data sent by the weight detection device is received within a preset time period and / or at intervals of a preset time length, determining that the weight detection device has failed, and limiting the action of the aerial work machine; and / or in the case that a fault message sent by the weight detection device is received, determining that the weight detection device has failed, and limiting the action of the aerial work machine.

6. The control method according to claim 3, characterized by The weight detection device comprises a plurality of weight detection units, and the determination that the weight detection device is in a normal working state comprises: obtaining detection data of each weight detection unit in the weight detection device; in the case that 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.

7. The control method according to claim 6, characterized by The control method further comprises: In a case where a difference between detection data of any two of the weight detection units is not located within a preset error range, it is determined that the weight detection device has failed, and the aerial work machine action is limited.

8. An aerial work platform, characterized in that Comprising: a work platform; a weight detection device for detecting a weight of the work platform; a memory configured to store instructions; and a processor configured to call the instructions from the memory and, when executing the instructions, enable the control method for an aerial work machine according to any one of claims 1 to 7.

9. A machine-readable storage medium, characterized in that, The machine readable storage medium has instructions stored thereon for causing a machine to perform the control method for an aerial work machine according to any one of claims 1 to 7. The machine readable storage medium has instructions stored thereon for causing a machine to perform the control method for an aerial work machine according to any one of claims 1 to 7.

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