Control method and device for aerial work equipment and aerial work equipment

Abstract

This application provides a control method, device, and aerial work platform for use in aerial work platforms. The aerial work platform includes a chassis assembly, which includes a steering mechanism, a drive unit, and wheels. The steering mechanism performs steering operations on the wheels, and the drive unit drives the wheels to rotate. The control method includes: acquiring the travel speed of the aerial work platform; determining the maximum steering angle corresponding to the wheels based on the travel speed; acquiring the steering angle of the wheels; determining whether the steering angle exceeds the maximum steering angle; if the steering angle exceeds the maximum steering angle, determining the target operating current of the drive unit based on the steering angle; and adjusting the operating current of the drive unit to the target operating current so that the travel speed of the aerial work platform is reduced to not exceed the target travel speed. The maximum steering angle corresponding to the target travel speed is the steering angle.

Description

Technical Field

[0001] This application relates to the field of aerial work machinery technology, specifically to a control method, device, and aerial work equipment for aerial work equipment. Background Technology

[0002] Aerial work platforms are primarily used on construction sites, in workshops, and along roadsides. During operation, they lift workers, tools, and materials to designated aerial positions via a platform for various installation and maintenance tasks, making them a specialized type of lifting equipment. Due to the rapid development of aerial machinery in recent years, the per capita ownership of aerial work platforms globally has increased dramatically, leading to a significant decrease in the operating and rental costs of aerial work platforms. This, in turn, presents a serious challenge to manufacturers and rental companies of aerial work platforms. Reducing the cost of individual components in aerial work platforms can effectively lower manufacturing costs and enhance product price competitiveness, but it may also reduce performance parameters and operability.

[0003] Existing technology has developed a low-power engine configuration; however, due to the weight of the aerial work platform exceeding 7 tons, the low-power engine configuration suffers from low torque. When the steering angle of the aerial work platform is too large, its steering resistance is high, causing the hydraulic system to accumulate pressure and generate overflow pressure, thus preventing the aerial work platform from completing the steering. Summary of the Invention

[0004] The purpose of this application is to provide a control method, device, and aerial work platform for use in order to solve the technical defect in the prior art where low-power aerial work platforms cannot complete steering when the steering angle is too large.

[0005] To achieve the above objectives, the first aspect of this application provides a control method for aerial work platforms. The aerial work platforms include a chassis assembly, which includes a steering mechanism, a drive unit, and wheels. The steering mechanism is used to perform steering operations on the wheels, and the drive unit is used to drive the wheels to rotate. The control method includes:

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

[0007] Determine the maximum steering angle corresponding to the traveling wheels based on the travel speed;

[0008] Obtain the steering angle of the traveling wheels;

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

[0010] When the steering angle exceeds the maximum steering angle, the target driving current of the drive unit is determined based on the steering angle;

[0011] Adjust the driving current of the drive unit to the target driving current so that the travel speed of the aerial work equipment is reduced to no more than the target travel speed. The maximum steering angle corresponding to the target travel speed is the steering angle.

[0012] In embodiments of this application, the drive device includes an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve, and a travel motor reducer. Adjusting the travel current of the drive device to a target travel current so that the travel speed of the aerial work platform is reduced to not exceed the target travel speed includes: after determining the target travel current of the drive device, adjusting the engine's travel current to the target travel current; and adjusting the valve opening of the hydraulic main valve based on the target travel current to adjust the travel flow delivered to the travel motor reducer so that the travel speed of the aerial work platform is reduced to not exceed the target travel speed.

[0013] In an embodiment of this application, the steering mechanism includes a steering cylinder connected to the traveling wheel and a steering knuckle fixed to the traveling wheel via 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 acquiring data collected by the inclination sensor.

[0014] In embodiments of this application, the drive device includes an engine, a driver, a power unit, and a travel motor reducer. Adjusting the travel current of the drive device to a target travel current so that the travel speed of the aerial work platform is reduced to not exceed the target travel speed includes: after determining the target travel current of the drive device, adjusting the engine's travel current to the target travel current; and controlling 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 platform is reduced to not exceed the target travel speed.

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

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

[0017] The memory is configured to store instructions;

[0018] The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the aforementioned control method for aerial work equipment.

[0019] A third aspect of this application provides a high-altitude work equipment, comprising:

[0020] Wheels;

[0021] Steering mechanism, used to perform steering operations on the traveling wheels;

[0022] A drive unit is used to drive the wheels to rotate.

[0023] The aforementioned control device for high-altitude work equipment.

[0024] In the embodiments of this application, the drive device includes an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve, and a travel motor reducer.

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

[0026] In the embodiments of this application, the drive device includes an engine, a driver, a power unit, and a travel motor reducer.

[0027] The above technical solution involves: acquiring the travel speed of the aerial work platform; determining the maximum steering angle corresponding to the traveling wheels based on the travel speed; acquiring the steering angle of the traveling wheels; determining whether the steering angle exceeds the maximum steering angle; if the steering angle exceeds the maximum steering angle, determining the target operating current of the drive unit based on the steering angle; and adjusting the operating current of the drive unit to the target operating current so that the travel speed of the aerial work platform is reduced to not exceed the target travel speed. The maximum steering angle corresponding to the target travel speed is the steering angle. When the steering angle is too large, speed reduction is used to prevent overflow, effectively avoiding energy loss, thereby enabling low-power aerial work platforms to smoothly turn when the steering angle is too large.

[0028] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0029] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0030] Figure 1 The illustration shows a schematic flowchart of a control method for aerial work equipment according to an embodiment of this application;

[0031] Figure 2 The schematic diagram illustrates a structural schematic of a steering mechanism according to an embodiment of this application;

[0032] Figure 3 The schematic diagram illustrates a structural schematic of a walking wheel according to an embodiment of this application;

[0033] Figure 4 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0035] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0036] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

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

[0038] Step 101: Obtain the travel speed of the aerial work platform.

[0039] In this embodiment, it should be noted that the chassis assembly refers to an important component of the aerial work platform, typically consisting 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 mount the engine and its components, forming the overall shape of the aerial work platform, and to receive power from the engine to enable the platform to move and ensure normal operation. In this technical solution, the chassis assembly of the aerial work platform may include a steering mechanism, a drive unit, and wheels. The steering mechanism is used to perform steering operations on the wheels, and the drive unit is used to drive the wheels to rotate. The drive unit can be a hydraulic drive unit or an electric drive unit, and the wheels can be tires. During the operation of the aerial work platform, the travel speed is obtained.

[0040] Step 102: Determine the maximum steering angle corresponding to the traveling wheel based on the travel speed.

[0041] In this embodiment, it should be noted that the technical solution is applied to low-power aerial work platforms with engine power of 15-19KW. Typically, because the total weight of aerial work platforms exceeds 7 tons, low-power engines suffer from low torque, leading to high steering pressure and difficulty in steering when the driving and steering resistance is high. Therefore, this technical solution obtains the rated driving speed range of the aerial work platform and then tests each speed to analyze the steering angle range corresponding to each driving speed, thus obtaining the correspondence between driving speed and steering angle. Therefore, after obtaining the driving speed of the aerial work platform, the maximum steering angle of the driving wheels at the current driving speed can be obtained through the correspondence between driving speed and steering angle.

[0042] Step 103: Obtain the steering angle of the walking wheels.

[0043] In this embodiment, it should be noted that after determining the maximum steering angle of the traveling wheel based on the current travel speed, it is necessary to further obtain the steering angle of the traveling wheel at the current travel speed. Specifically, this can be achieved by installing an angle sensor at the traveling wheel to monitor its steering angle.

[0044] Step 104: Determine whether the steering angle exceeds the maximum steering angle.

[0045] In this embodiment, it should be noted that after determining the maximum steering angle corresponding to the traveling wheel based on the current driving speed, and obtaining the steering angle of the traveling 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 range corresponding to the current driving speed, and the traveling 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 range corresponding to the current driving speed, and the traveling 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 driving current of the drive unit based on the steering angle.

[0047] In this embodiment, it should be noted that when the steering angle exceeds the maximum steering angle, the wheels cannot complete the steering action corresponding to the steering angle at the current travel speed because the steering angle is outside the range corresponding to the current travel speed. Therefore, the travel speed needs to be further adjusted to enable the wheels to smoothly complete the steering action corresponding to the steering angle. In this technical solution, before adjusting the travel speed, the target travel current of the drive device needs to be determined based on the steering angle, thereby adjusting the travel speed based on the target travel circuit. Specifically, the steering angle and the travel current have a linear relationship, including:

[0048] y = ax + b

[0049] Where 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 formula above, the driving current is at its maximum when the steering angle is at its minimum, and at its minimum when the steering angle is at its maximum. Therefore, the target driving current of the drive unit can be calculated using the formula above.

[0051] Step 106: Adjust the driving current of the drive device to the target driving current so that the driving speed of the aerial work equipment is reduced to no more than the target driving speed. The maximum steering angle corresponding to the target driving speed is the steering angle.

[0052] In this embodiment, it should be noted that since each travel speed corresponds to a steering angle range, it is only necessary to adjust the current travel speed so that the steering angle range corresponding to the adjusted travel speed is greater than or equal to the current steering angle of the traveling wheels. Specifically, after obtaining the target travel current of the drive device, adjusting the travel current of the drive device to the target travel current will reduce the travel speed of the aerial work platform to not exceed the target travel speed, wherein the maximum steering angle corresponding to the target travel speed is the steering angle.

[0053] In this embodiment, the drive device includes an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve, and a travel motor reducer. Adjusting the travel current of the drive device to a target travel current so that the travel speed of the aerial work platform is reduced to not exceed the target travel speed includes: after determining the target travel current of the drive device, adjusting the engine's travel current to the target travel current; and adjusting the valve opening of the hydraulic main valve based on the target travel current to adjust the travel flow delivered to the travel motor reducer so that the travel speed of the aerial work platform is reduced to not exceed the target travel speed.

[0054] In this embodiment, it should be noted that the drive device can be a hydraulic drive device or an electric drive device. When the drive device is hydraulically driven, it may include an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve, and a travel motor reducer. The hydraulic main valve and the travel motor reducer can be connected via hydraulic pipelines. When the main valve starts working, the flow rate delivered to the travel motor reducer can be adjusted by controlling the valve opening. Therefore, after determining the target travel current of the drive device, the engine's travel current can be adjusted to the target travel current. The controller can then adjust the valve opening of the hydraulic main valve based on the target travel current, thereby regulating the flow rate delivered to the travel motor reducer, so that the travel speed of the aerial work platform is reduced to not exceed the target travel speed.

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

[0056] In this embodiment of the application, the steering mechanism includes a steering cylinder connected to the traveling wheel and a steering knuckle fixed to the traveling wheel via 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 acquiring data collected by the inclination sensor.

[0057] In this embodiment, it should be noted that, as Figure 2 As shown, a schematic diagram of the steering mechanism structure of an aerial work platform with a hydraulic drive system is provided. Figure 3 As shown, a structural schematic diagram of a walking wheel is provided. Figure 2 and Figure 3 As shown, the steering mechanism includes a steering cylinder connected to the traveling wheels and a steering knuckle fixed to the traveling wheels via a traveling motor reducer. An inclination sensor is installed at the steering knuckle. Thus, by monitoring the inclination sensor, the steering angle of the traveling wheels during the operation of the aerial work platform can be obtained.

[0058] It should be noted that the traveling wheels of aerial work platforms can be divided into two front wheels and two rear wheels. When the aerial work platform is two-wheel drive and two-wheel steering, the number of tilt sensors can be one. When the aerial work platform is four-wheel drive and four-wheel steering, the number of tilt sensors can be two, both of which are mounted on the steering knuckles that are fixed to the traveling wheels.

[0059] In this embodiment, the drive device includes an engine, a driver, a power unit, and a travel motor reducer. Adjusting the travel current of the drive device to a target travel current so that the travel speed of the aerial work platform is reduced to not exceed the target travel speed includes: after determining the target travel current of the drive device, adjusting the engine's travel current to the target travel current; and controlling 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 platform is reduced to not exceed the target travel speed.

[0060] In this embodiment, it should be noted that the drive device can be a hydraulic drive device or an electric drive device. When the drive device is electric, it includes an engine, a driver, a power unit, and a travel motor reducer. The driver can be electrically connected to the travel motor reducer. 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 drive device, the engine's travel current is adjusted to the target travel current, and the controller can then 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 platform is reduced to not exceed the target travel speed.

[0061] In this embodiment of the application, a current detection device is installed at the power unit, and the process of obtaining the steering angle of the walking wheel includes: obtaining the power unit's electrical data by acquiring data collected by the current detection device; and determining the steering angle of the walking wheel based on the electrical data.

[0062] In this embodiment, it should be noted that the drive device can be a hydraulic drive device or an electric drive device. When the drive device is electric, it 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 unit's electrical data can be obtained by acquiring the data collected by the current detection device. Based on the electrical data and its relationship with the parameters of the actuator, the controller can calculate the real-time steering angle of the travel wheel.

[0063] The above technical solution involves: acquiring the travel speed of the aerial work platform; determining the maximum steering angle corresponding to the traveling wheels based on the travel speed; acquiring the steering angle of the traveling wheels; determining whether the steering angle exceeds the maximum steering angle; if the steering angle exceeds the maximum steering angle, determining the target operating current of the drive unit based on the steering angle; and adjusting the operating current of the drive unit to the target operating current so that the travel speed of the aerial work platform is reduced to not exceed the target travel speed. The maximum steering angle corresponding to the target travel speed is the steering angle. When the steering angle is too large, speed reduction is used to prevent overflow, effectively avoiding energy loss, thereby enabling low-power aerial work platforms to smoothly turn when the steering angle is too large.

[0064] In this technical solution, when the steering angle is large, the steering resistance increases, and the inability to steer is caused by insufficient power (low-power engine). Therefore, the speed is reduced by appropriately decreasing the power, so that even a low-power engine can meet the operating conditions and ensure the normal operation of the equipment.

[0065] This technical solution sets a range of steering angles for each speed. Thus, during operation of the aerial work platform, if the steering angle at the current speed exceeds the maximum value of the set range, a speed reduction operation is performed to prevent overflow and effectively avoid energy loss. This allows low-power aerial work platforms to smoothly turn even at excessively large steering angles. Simultaneously, it effectively prevents damage to hydraulic components caused by pressure buildup, significantly extending the service life of the aerial work platform.

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

[0067] The memory is configured to store instructions;

[0068] The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the aforementioned control method for aerial work equipment.

[0069] This application provides an aerial work platform, including:

[0070] Wheels;

[0071] Steering mechanism, used to perform steering operations on the traveling wheels;

[0072] A drive unit is used to drive the wheels to rotate.

[0073] The aforementioned control device for high-altitude work equipment.

[0074] In the embodiments of this application, the drive device includes an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve, and a travel motor reducer.

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

[0076] In the embodiments of this application, the drive device includes an engine, a driver, a power unit, and a travel motor reducer.

[0077] This application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned control method for aerial work equipment.

[0078] In one embodiment, a computer device is provided, which 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, memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes 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). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores control method data for aerial work platforms. The network interface A02 communicates with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for aerial work platforms.

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

[0080] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements control method steps for aerial work equipment.

[0081] This application also provides a computer program product that, when executed on a data processing device, is adapted to perform a program that initializes control method steps for aerial work equipment.

[0082] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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.

[0083] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0084] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0085] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0088] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0089] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0090] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for an aerial work equipment, characterized by, The aerial work platform includes a chassis assembly, which includes a steering mechanism, a drive unit, and traveling wheels. The steering mechanism is used to perform steering operations on the traveling wheels. The drive unit includes an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve, and a traveling motor reducer. The drive unit is used to drive the traveling wheels to rotate. The control method includes: Obtain the travel speed of the aerial work platform; The maximum steering angle corresponding to the traveling wheel is determined based on the travel speed; Obtain the steering angle of the walking wheel; Determine whether the steering angle exceeds the maximum steering angle; If the steering angle exceeds the maximum steering angle, the target driving current of the drive device is determined based on the steering angle; The driving current of the drive device is adjusted to the target driving current so that the driving speed of the aerial work equipment is reduced to no more than the target driving speed, and the maximum steering angle corresponding to the target driving speed is the steering angle; Adjusting the driving current of the drive device to the target driving current so that the travel speed of the aerial work platform is reduced to not exceed the target travel speed includes: After determining the target operating current of the drive unit, the operating current of the engine is adjusted to the target operating current; The opening of the hydraulic main valve is adjusted based on the target travel current to regulate the travel flow delivered to the travel motor reducer, so that the travel speed of the aerial work platform is reduced to no more than the target travel speed.

2. The control method for aerial work equipment according to claim 1, characterized in that, The steering mechanism includes a steering cylinder connected to the traveling wheel and a steering knuckle fixed to the traveling wheel via the traveling motor reducer. An inclination sensor is installed at the steering knuckle. Obtaining the steering angle of the traveling wheel includes: The steering angle of the walking wheel is obtained by acquiring data collected by the tilt sensor.

3. The control method for aerial work equipment according to claim 1, characterized in that, The drive unit includes an engine, a driver, a power unit, and a travel motor reducer. Adjusting the travel current of the drive unit to the target travel current so that the travel speed of the aerial work platform is reduced to not exceed the target travel speed includes: After determining the target operating current of the drive unit, the operating current of the engine is adjusted to the target operating current; The driver is controlled 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 exceed the target travel speed.

4. The control method for an aerial work equipment according to claim 3, characterized in that, A current detection device is installed at the power unit, and obtaining the steering angle of the walking wheel includes: The power unit's electrical data is obtained by acquiring data collected by the current detection device; The steering angle of the walking wheel is determined based on the power data.

5. A control device for an aerial work platform, characterized in that include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the control method for aerial work equipment according to any one of claims 1 to 4.

6. An aerial work platform, characterized in that, include: Wheels; Steering mechanism, used to perform steering operations on the walking wheels; A drive unit is used to drive the walking wheels to rotate; The control device for high-altitude work equipment according to claim 5.

7. Aerial work platform according to claim 6, characterized in that The drive unit includes an engine, a hydraulic pump, a hydraulic motor, a hydraulic main valve, and a travel motor reducer.

8. Aerial work platform according to claim 7, characterized in that The steering mechanism includes a steering cylinder connected to the traveling wheel and a steering knuckle fixed to the traveling wheel via the traveling motor reducer. An inclination sensor is installed at the steering knuckle, and the inclination sensor is used to collect the steering angle of the traveling wheel.

9. The aerial work platform of claim 6, wherein, The drive unit includes an engine, a driver, a power unit, and a travel motor reducer.

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