Control method and device for high-altitude operation equipment and high-altitude operation equipment

Abstract

The embodiment of the invention provides a control method and device for high-altitude operation equipment and the high-altitude operation equipment. The high-altitude operation equipment comprises a chassis assembly, the chassis assembly comprises a steering mechanism, a driving device and walking wheels, the steering mechanism is used for executing steering operation on the walking wheels, the driving device is used for driving the walking wheels to rotate, and the control method comprises the steps that the running speed of the high-altitude operation equipment is obtained; determining the maximum steering angle corresponding to the traveling wheel according to the traveling speed; the steering angle of the walking wheel is obtained; judging whether the steering angle exceeds the maximum steering angle or not; determining a target driving current of the driving device according to the steering angle under the condition that the steering angle exceeds the maximum steering angle; and the driving current of the driving device is adjusted to the target driving current, so that the driving speed of the high-altitude operation equipment is reduced to not exceed the target driving speed, and the maximum steering angle corresponding to the target driving speed is the steering angle.

Description

Technical Field

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

[0002] The main working places for aerial work equipment are construction sites, workshops, and roadsides. When working, it is necessary to lift workers, tools, materials, etc. to the designated aerial position through the platform for various installation, maintenance and other operations. It is a special lifting equipment. Due to the rapid development of aerial machinery in recent years, the per capita share of aerial work vehicles in the world has increased rapidly, so the use cost and rental cost of aerial work equipment have been significantly reduced, which has brought severe challenges to the manufacturers and lessors of aerial work vehicles. Reducing the cost of various components of aerial work vehicles can effectively reduce manufacturing costs and improve product price advantages, but at the same time it will reduce its performance parameters and product operability.

[0003] The prior art has developed a low-power engine configuration, but since the weight of the aerial work equipment exceeds 7 tons, the low-power engine configuration has the problem of low torque. When the steering angle of the aerial work equipment is too large, its driving steering resistance is large, causing the hydraulic system to generate overflow pressure after the pressure is blocked, resulting in the aerial work equipment being unable to complete the steering. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a control method, device and aerial work equipment for aerial work equipment, so as to solve the technical defect in the prior art that low-power aerial work equipment cannot complete steering when the steering angle is too large.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method for aerial work equipment, wherein the aerial work equipment includes a chassis assembly, the chassis assembly includes a steering mechanism, a driving device and a running wheel, the steering mechanism is used to perform a steering operation on the running wheel, the driving device is used to drive the running wheel to rotate, and the control method includes:

[0006] Get the travel speed of aerial work equipment;

[0007] Determine the maximum steering angle corresponding to the travel wheel according to the travel speed;

[0008] Get the steering angle of the travel wheel;

[0009] Determine whether the steering angle exceeds the maximum steering angle;

[0010] When the steering angle exceeds the maximum steering angle, determining a target driving current of the driving device according to the steering angle;

[0011] The driving current of the driving device is adjusted to the target driving current so that the driving speed of the aerial work equipment is reduced to not more than the target driving speed, and the maximum steering angle corresponding to the target driving speed is the steering angle.

[0012] In an embodiment of the present application, the driving device includes an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve and a travel motor reducer. Adjusting the driving current of the driving device to a target driving current so that the driving speed of the aerial work equipment is reduced to not more than the target driving speed includes: after determining the target driving current of the driving device, adjusting the driving current of the engine to the target driving current; adjusting the valve opening of the hydraulic main valve based on the target driving current to adjust the driving flow delivered to the travel motor reducer so that the driving speed of the aerial work equipment is reduced to not more than the target driving speed.

[0013] In an embodiment of the present application, the steering mechanism includes a steering cylinder connected to the traveling wheel and a steering knuckle fixedly connected to the traveling wheel through a traveling motor reducer, and an inclination sensor is installed at the steering knuckle. Obtaining the steering angle of the traveling wheel includes: obtaining the steering angle of the traveling wheel by obtaining data collected by the inclination sensor.

[0014] In an embodiment of the present application, the driving device includes an engine, a driver, a power unit and a travel motor reducer. Adjusting the driving current of the driving device to a target driving current so that the travel speed of the aerial work equipment is reduced to not more than the target travel speed includes: after determining the target driving current of the driving device, adjusting the driving current of the engine to the target driving current; controlling the driver to adjust the driving current of the travel motor reducer based on the target driving current so that the travel speed of the aerial work equipment is reduced to not more than the target driving speed.

[0015] In an embodiment of the present application, a current detection device is installed at the power unit, and obtaining the steering angle of the travel wheel includes: obtaining the power data of the power unit by obtaining the data collected by the current detection device; and determining the steering angle of the travel wheel based on the power data.

[0016] A second aspect of the present application provides a control device for aerial work equipment, comprising:

[0017] a memory configured to store instructions;

[0018] The processor is configured to call the instructions from the memory and implement the above-mentioned control method for aerial work equipment when executing the instructions.

[0019] The third aspect of the present application provides an aerial work equipment, comprising:

[0020] Travel wheels;

[0021] A steering mechanism, used for performing a steering operation on the travel wheels;

[0022] A driving device, used for driving the traveling wheels to rotate;

[0023] The above-mentioned control device for aerial work equipment.

[0024] In an embodiment of the present application, the driving device includes an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve and a travel motor reducer.

[0025] In an embodiment of the present application, the steering mechanism includes a steering cylinder connected to the travel wheel and a steering knuckle fixedly connected to the travel wheel through a travel motor reducer. An inclination sensor is installed at the steering knuckle, and the inclination sensor is used to collect the steering angle of the travel wheel.

[0026] In an embodiment of the present application, the driving device includes an engine, a driver, a power unit and a travel motor reducer.

[0027] The above technical solution obtains the driving speed of the aerial work equipment; determines the maximum steering angle corresponding to the running wheel according to the driving speed; obtains the steering angle of the running wheel; determines whether the steering angle exceeds the maximum steering angle; when the steering angle exceeds the maximum steering angle, determines the target driving current of the driving device according to the steering angle; adjusts the driving current of the driving device to the target driving current, so that the driving speed of the aerial work equipment is reduced to not more than the target driving speed, and the maximum steering angle corresponding to the target driving speed is the steering angle. When the steering angle is too large, overflow is prevented by reducing the speed to effectively avoid energy loss, thereby achieving smooth steering of the aerial work equipment with low power configuration when the steering angle is too large.

[0028] 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

[0029] 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:

[0030] Figure 1 A schematic diagram of a flow chart of a control method for aerial work equipment according to an embodiment of the present application is schematically shown;

[0031] Figure 2 A schematic diagram of the structure of a steering mechanism according to an embodiment of the present application is shown;

[0032] Figure 3 A schematic diagram of the structure of a traveling wheel according to an embodiment of the present application is shown;

[0033] Figure 4 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution 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.

[0035] 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.

[0036] 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 such 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.

[0037] Figure 1 The following schematically shows a flow chart of a control method for aerial work equipment according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a control method for aerial work equipment, the aerial work equipment includes a chassis assembly, the chassis assembly includes a steering mechanism, a drive device and walking wheels, the steering mechanism is used to perform steering operations on the walking wheels, and the drive device is used to drive the walking wheels to rotate. The control method may include the following steps.

[0038] Step 101, obtaining the travel speed of the aerial work equipment.

[0039] In the embodiments of the present application, it should be noted that the chassis assembly may refer to an important component of the aerial work equipment, which is usually composed of four parts: a transmission system, a running system, a steering system, and a braking system. The main function of the chassis assembly is to support and install the engine and its components to form the overall shape of the aerial work equipment, and to receive the power of the engine to make the aerial work equipment move and ensure normal driving. In the present technical solution, the chassis assembly of the aerial work equipment may include a steering mechanism, a drive device, and a running wheel. The steering mechanism is used to perform a steering operation on the running wheel, and the drive device is used to drive the running wheel to rotate. Among them, the drive device may refer to a hydraulic drive device or an electric drive device, and the running wheel may refer to a tire. During the driving process of the aerial work equipment, the driving speed of the aerial work equipment is obtained.

[0040] Step 102: determine the maximum steering angle corresponding to the travel wheel according to the travel speed.

[0041] In the embodiments of the present application, it should be noted that the present technical solution is applied to aerial work equipment with low power such as an engine power of 15-19KW. Under normal circumstances, since the weight of the aerial work equipment exceeds 7 tons, the low-power engine configuration has the problem of low torque. When the steering resistance during driving is large, the steering pressure will be large, resulting in the problem of being unable to turn. Therefore, the present technical solution obtains the rated driving speed range of the aerial work equipment, and then tests each driving speed, and can analyze the steering angle range corresponding to each driving speed of the aerial work equipment, so as to obtain the corresponding relationship between the driving speed and the steering angle. Therefore, after obtaining the driving speed of the aerial work equipment, the maximum steering angle corresponding to the driving wheel at the current driving speed can be obtained through the corresponding relationship between the driving speed and the steering angle.

[0042] Step 103, obtaining the steering angle of the running wheels.

[0043] In the embodiment of the present application, it should be noted that after determining the maximum steering angle corresponding to the running wheel according to the current driving speed, it is necessary to further obtain the steering angle of the running wheel at the current driving speed. Specifically, an angle sensor can be installed at the running wheel to monitor the steering angle of the running wheel.

[0044] Step 104, determining whether the steering angle exceeds the maximum steering angle.

[0045] In the embodiment of the present application, it should be noted that after determining the maximum steering angle corresponding to the running wheel according to the current driving speed and obtaining the steering angle of the running wheel at the current driving speed, the obtained steering angle is compared with the obtained maximum steering angle to determine whether the steering angle exceeds the maximum steering angle. If the steering angle does not exceed the maximum steering angle, it can be considered that the steering angle is within the steering angle interval corresponding to the current driving speed, and the running wheel can complete the steering action corresponding to the steering angle at the current driving speed. If the steering angle exceeds the maximum steering angle, it can be considered that the steering angle is outside the steering angle interval corresponding to the current driving speed, and the running wheel cannot complete the steering action corresponding to the steering angle at the current driving speed.

[0046] Step 105 : when the steering angle exceeds the maximum steering angle, determine the target running current of the driving device according to the steering angle.

[0047] In the embodiment of the present application, it should be noted that when the steering angle exceeds the maximum steering angle, the steering angle is outside the steering angle interval corresponding to the current driving speed, and the running wheel cannot complete the steering action corresponding to the steering angle at the current driving speed. Therefore, it is necessary to further adjust the driving speed so that the running wheel can successfully complete the steering action corresponding to the steering angle. In the present technical solution, before adjusting the driving speed, it is necessary to first determine the target driving current of the drive device according to the steering angle, so as to adjust the driving speed based on the target driving current. Specifically, the steering angle is linearly related to the driving current, including:

[0048] y=ax+b,

[0049] Among them, y is the driving current, x is the steering angle, a and b are constants, and a is a negative number.

[0050] According to the above formula, when the steering angle is the minimum angle, the running current is the maximum current, and when the steering angle is the maximum angle, the running current is the minimum current. Therefore, according to the above formula, the target running current of the driving device can be calculated.

[0051] Step 106, adjusting the driving current of the driving device to the target driving current, so that the driving speed of the aerial work equipment is reduced to not more than the target driving speed, and the maximum steering angle corresponding to the target driving speed is the steering angle.

[0052] In the embodiment of the present application, it should be noted that, since each driving speed has a corresponding steering angle interval, it is only necessary to adjust the current driving speed so that the steering angle interval corresponding to the adjusted driving speed is greater than or equal to the current steering angle of the running wheel. Specifically, after obtaining the target driving current of the driving device, the driving current of the driving device is adjusted to the target driving current, so that the driving speed of the aerial work equipment can be reduced to not more than the target driving speed, wherein the maximum steering angle corresponding to the target driving speed is the steering angle.

[0053] In an embodiment of the present application, the driving device includes an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve and a travel motor reducer. Adjusting the driving current of the driving device to a target driving current so that the driving speed of the aerial work equipment is reduced to not more than the target driving speed includes: after determining the target driving current of the driving device, adjusting the driving current of the engine to the target driving current; adjusting the valve opening of the hydraulic main valve based on the target driving current to adjust the driving flow delivered to the travel motor reducer so that the driving speed of the aerial work equipment is reduced to not more than the target driving speed.

[0054] In the present embodiment, it should be noted that the driving device may refer to a hydraulic driving device or an electric driving device. When the driving device is hydraulically driven, the driving device may include an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve and a travel motor reducer. Among them, the hydraulic main valve and the travel motor reducer may be connected through a hydraulic pipeline. When the main valve starts to work, the travel flow delivered to the travel motor reducer may be adjusted by controlling the valve opening. Therefore, after determining the target travel current of the driving device, the travel current of the engine may be adjusted to the target travel current, so that the controller may adjust the valve opening of the hydraulic main valve based on the target travel current, thereby adjusting the travel flow delivered to the travel motor reducer, so that the travel speed of the aerial work equipment is reduced to not more than the target travel speed.

[0055] It should be noted that a travel flow monitoring device may be installed at the hydraulic pipeline to obtain the travel flow delivered by the hydraulic main valve to the travel motor reducer, so that the controller can monitor the travel flow.

[0056] In an embodiment of the present application, the steering mechanism includes a steering cylinder connected to the traveling wheel and a steering knuckle fixedly connected to the traveling wheel through a traveling motor reducer. An inclination sensor is installed at the steering knuckle. Obtaining the steering angle of the traveling wheel includes: obtaining the steering angle of the traveling wheel by obtaining data collected by the inclination sensor.

[0057] In this embodiment, it should be noted that Figure 2 As shown, a schematic diagram of the steering mechanism structure of an aerial work equipment in which the driving device is a hydraulic system is provided, such as Figure 3 As shown in FIG. 1 , a schematic diagram of the structure of a running wheel is provided. Figure 2 and Figure 3 As shown, the steering mechanism includes a steering cylinder connected to the travel wheel and a steering knuckle fixedly connected to the travel wheel through a travel motor reducer, and a tilt sensor is installed at the steering knuckle. In this way, the steering angle of the travel wheel of the aerial work equipment during driving can be obtained by monitoring through the tilt sensor.

[0058] It should be noted that the traveling wheels of the aerial work equipment can be divided into two front and two rear wheels. When the aerial work equipment is two-wheel drive and two-turn, the number of inclination sensors can be one. When the aerial work equipment is four-wheel drive and four-turn, the number of inclination sensors can be two, both of which are installed on the steering knuckle fixed to the traveling wheels.

[0059] In an embodiment of the present application, the driving device includes an engine, a driver, a power unit and a travel motor reducer. Adjusting the driving current of the driving device to a target driving current so that the travel speed of the aerial work equipment is reduced to not more than the target travel speed includes: after determining the target driving current of the driving device, adjusting the driving current of the engine to the target driving current; controlling the driver to adjust the driving current of the travel motor reducer based on the target driving current so that the travel speed of the aerial work equipment is reduced to not more than the target driving speed.

[0060] In this embodiment, it should be noted that the driving device may refer to a hydraulic driving device or an electric driving device. When the driving device is electrically driven, the driving device includes an engine, a driver, a power unit and a travel motor reducer. Among them, the driver can be electrically connected to the travel motor reducer, and when the driver starts working, the controller can adjust the travel current of the travel motor reducer by controlling the driver. Therefore, after determining the target travel current of the driving device, the travel current of the engine is adjusted to the target travel current, and the controller can control the driver to adjust the travel current of the travel motor reducer based on the target travel current, so that the travel speed of the aerial work equipment is reduced to not more than the target travel speed.

[0061] In an embodiment of the present application, a current detection device is installed at the power unit, and obtaining the steering angle of the running wheel includes: obtaining the power data of the power unit by obtaining the data collected by the current detection device; and determining the steering angle of the running wheel based on the power data.

[0062] In this embodiment, it should be noted that the driving device may refer to a hydraulic driving device or an electric driving device. When the driving device is electrically driven, the driving device includes an engine, a driver, a power unit and a travel motor reducer. A current detection device is installed at the power unit, so that the power data of the power unit can be obtained by acquiring the data collected by the current detection device. The controller can calculate the real-time steering angle of the travel wheel based on the power data combined with the parameter relationship with the actuator.

[0063] The above technical solution obtains the driving speed of the aerial work equipment; determines the maximum steering angle corresponding to the running wheel according to the driving speed; obtains the steering angle of the running wheel; determines whether the steering angle exceeds the maximum steering angle; when the steering angle exceeds the maximum steering angle, determines the target driving current of the driving device according to the steering angle; adjusts the driving current of the driving device to the target driving current, so that the driving speed of the aerial work equipment is reduced to not more than the target driving speed, and the maximum steering angle corresponding to the target driving speed is the steering angle. When the steering angle is too large, overflow is prevented by reducing the speed to effectively avoid energy loss, thereby achieving smooth steering of the aerial work equipment with low power configuration when the steering angle is too large.

[0064] According to the technical solution, when the steering angle is large, the steering resistance becomes larger, and steering cannot be performed due to too low power (low-power engine). Therefore, the speed is reduced by reducing the power in time, that is, the low-power engine can also meet the operating conditions and ensure the normal operation of the equipment.

[0065] This technical solution sets a steering angle range for each speed. In this way, during the operation of the aerial work equipment, if the steering angle at the current speed exceeds the maximum value of the set steering angle range, the speed reduction operation is performed to prevent overflow, so as to effectively avoid energy loss, thereby achieving smooth steering of low-power aerial work equipment when the steering angle is too large. At the same time, it can effectively avoid damage to hydraulic components caused by pressure holding, and effectively improve the service life of the aerial work equipment.

[0066] The present application provides a control device for aerial work equipment, including:

[0067] a memory configured to store instructions;

[0068] The processor is configured to call the instructions from the memory and implement the above-mentioned control method for aerial work equipment when executing the instructions.

[0069] The present application provides an aerial work equipment, including:

[0070] Travel wheels;

[0071] A steering mechanism, used for performing a steering operation on the travel wheels;

[0072] A driving device, used for driving the traveling wheels to rotate;

[0073] The above-mentioned control device for aerial work equipment.

[0074] In an embodiment of the present application, the driving device includes an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve and a travel motor reducer.

[0075] In an embodiment of the present application, the steering mechanism includes a steering cylinder connected to the travel wheel and a steering knuckle fixedly connected to the travel wheel through a travel motor reducer. An inclination sensor is installed at the steering knuckle, and the inclination sensor is used to collect the steering angle of the travel wheel.

[0076] In an embodiment of the present application, the driving device includes an engine, a driver, a power unit and a travel motor reducer.

[0077] An embodiment of the present application provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned control method for aerial work equipment.

[0078] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store control method data for aerial work equipment. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a control method for aerial work equipment is implemented.

[0079] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0080] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, steps of a control method for aerial work equipment are implemented.

[0081] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing the steps of a control method for aerial work equipment.

[0082] 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.

[0083] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to 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 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.

[0084] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0085] 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. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0086] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0087] 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.

[0088] 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, magnetic tape 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.

[0089] 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.

[0090] 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 in the scope of the claims of the present application.

Claims

1. A control method for aerial work equipment, characterized in that: The aerial work equipment includes a chassis assembly, the chassis assembly includes a steering mechanism, a driving device and a running wheel, the steering mechanism is used to perform a steering operation on the running wheel, the driving device is used to drive the running wheel to rotate, and the control method includes: Obtaining the travel speed of the aerial work equipment; Determining the maximum steering angle corresponding to the travel wheel according to the travel speed; Obtaining the steering angle of the traveling wheel; determining whether the steering angle exceeds the maximum steering angle; When the steering angle exceeds the maximum steering angle, determining a target running current of the driving device according to the steering angle; The driving current of the driving device is adjusted to the target driving current so that the driving speed of the aerial work equipment is reduced to not more than the target driving speed, and the maximum steering angle corresponding to the target driving speed is the steering angle.

2. The control method for aerial work equipment according to claim 1, characterized in that: The driving device includes an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve and a travel motor reducer. Adjusting the driving current of the driving device to the target driving current so that the driving speed of the aerial work equipment is reduced to not more than the target driving speed includes: After determining the target running current of the driving device, adjusting the running current of the engine to the target running current; The valve opening of the hydraulic main valve is adjusted based on the target driving current to regulate the driving flow delivered to the travel motor reducer so that the driving speed of the aerial work equipment is reduced to not exceed the target driving speed.

3. The control method for aerial work equipment according to claim 2, characterized in that: The steering mechanism includes a steering cylinder connected to the travel wheel and a steering knuckle fixedly connected to the travel wheel through the travel motor reducer, and a tilt sensor is installed at the steering knuckle. The step of obtaining the steering angle of the travel wheel includes: The steering angle of the walking wheel is obtained by acquiring data collected by the inclination sensor.

4. The control method for aerial work equipment according to claim 1, characterized in that: The driving device includes an engine, a driver, a power unit and a travel motor reducer. Adjusting the travel current of the driving device to the target travel current so that the travel speed of the aerial work equipment is reduced to not more than the target travel speed includes: After determining the target running current of the driving device, adjusting the running current of the engine to the target running current; The driver is controlled to adjust the driving current of the travel motor reducer based on the target driving current so that the driving speed of the aerial work equipment is reduced to not more than the target driving speed.

5. The control method for aerial work equipment according to claim 4, characterized in that: The power unit is provided with a current detection device, and the step of obtaining the steering angle of the running wheel includes: Acquiring the power data of the power unit by acquiring the data collected by the current detection device; The steering angle of the traveling wheel is determined based on the power data.

6. A control device for aerial work equipment, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the control method for aerial work equipment according to any one of claims 1 to 5 when executing the instructions.

7. A high-altitude working equipment, characterized in that: include: Travel wheels; A steering mechanism, used for performing a steering operation on the travel wheel; A driving device, used for driving the running wheels to rotate; A control device for aerial work equipment according to claim 6.

8. The aerial work equipment according to claim 7, characterized in that: The driving device comprises an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve and a travel motor reducer.

9. The aerial work equipment according to claim 8, characterized in that: The steering mechanism includes a steering cylinder connected to the travel wheel and a steering knuckle fixedly connected to the travel wheel through the travel motor reducer. An inclination sensor is installed at the steering knuckle, and the inclination sensor is used to collect the steering angle of the travel wheel.

10. The aerial work equipment according to claim 7, characterized in that: The driving device comprises an engine, a driver, a power unit and a travel motor reducer.

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