Scissor fork type aerial work platform and lifting height acquisition control system and method thereof

Abstract

The invention discloses a shear fork type aerial work platform and a lifting height obtaining control system and method thereof, the shear fork type aerial work platform comprises a chassis and a shear fork arm arranged on the chassis, and the obtaining method comprises the steps that current angle data of the shear fork arm is obtained in real time in the lifting process of the shear fork arm; calculating the current lifting height of the shear fork arm according to the current angle data; the maximum safety lifting height of the shear fork arm is obtained; under the condition that the current lifting height is larger than the maximum safe lifting height, the shear fork arm is controlled to stop lifting; and under the condition that the current lifting height is smaller than or equal to the maximum safe lifting height, the current lifting height value is output and displayed in real time. The current lifting height of the shear fork arm is automatically obtained according to the current real-time angle of the shear fork arm, further action of the shear fork arm is controlled according to comparison between the current lifting height and the maximum safe lifting height, and therefore it is guaranteed that the shear fork arm works within the safe range, and potential safety hazards are avoided.

Description

Technical Field

[0001] The present application belongs to the technical field of aerial machinery, and specifically relates to a scissor-type aerial work platform and a lifting height acquisition control system and method thereof. Background Art

[0002] As a common industrial equipment, scissor lifts are widely used in warehousing, logistics, construction and other fields. During the lifting process, existing scissor lifts often cause inconvenience in operation and safety hazards due to the lack of accurate height measurement methods. In addition, during the lifting process of the scissor lift, it is impossible to judge whether continuing the lifting operation at different heights will bring safety risks, causing the scissor lift to tip over. Traditional height measurement methods mostly rely on manual estimation or mechanical limit devices, which have low accuracy and cannot meet the needs of high-precision operations. In addition, due to the lack of accurate height measurement and real-time feedback, it is difficult for operators to respond in time when the lifting height is too high or too low, posing a major safety hazard. Summary of the invention

[0003] The purpose of the present application is to provide a scissor-type aerial work platform and a lifting height acquisition control system and method thereof, so as to achieve accurate automatic calculation of the lifting height of the scissor arm and improve the lifting safety.

[0004] In order to achieve the above-mentioned purpose, the present application provides, on one hand, a method for obtaining the lifting height of a scissor-type aerial work platform, wherein the scissor-type aerial work platform comprises a chassis and a scissor arm disposed on the chassis, and the method for obtaining the lifting height comprises the steps of:

[0005] acquiring the current angle data of the scissor arm in real time during the lifting process of the scissor arm;

[0006] Calculating the current lifting height of the scissor arm according to the current angle data;

[0007] Obtaining the maximum safe lifting height of the scissor arm;

[0008] When the current lifting height is greater than the maximum safe lifting height, controlling the scissor arm to stop lifting;

[0009] When the current lifting height is less than or equal to the maximum safe lifting height, the current lifting height value is output and displayed in real time.

[0010] In some embodiments, the step of calculating the current lifting height of the scissor arm according to the current angle data comprises:

[0011] Obtaining a second angle value of the scissor arm relative to the horizontal plane and a third angle value of the chassis relative to the horizontal plane;

[0012] Acquire a first angle value of the scissor arm relative to the chassis according to the second angle value and the third angle value;

[0013] The current lifting height is calculated according to the first angle value, the second angle value and the third angle value.

[0014] In some embodiments, the current lifting height can be obtained by the following calculation formula:

[0015] y=ax 4 -bx 3 +cx 2 +dx+e, where x=m+n+t

[0016] In the above formula, y is the current lifting height of the scissor arm, x is the first angle value, m is the second angle value, n is the third angle value, t is the calibration value, and a, b, c, d and e are all calculation coefficients.

[0017] In some embodiments, the step of obtaining the maximum safe lifting height of the scissor arm includes:

[0018] Get the current wind speed in real time during the lifting process;

[0019] Obtaining the influence coefficient of the current wind speed on the lifting height of the scissor arm;

[0020] The maximum safe lifting height is calculated according to the current wind speed and the influence coefficient.

[0021] In some embodiments, the maximum safe lifting height can be calculated by the following formula:

[0022] h max =Hmax-gV

[0023] Among them, h max is the maximum safe lifting height, V is the current wind speed value, g is the influence coefficient of wind speed on the lifting height, and Hmax is the maximum lifting height of the scissor-type aerial work platform under no wind conditions and when the chassis inclination angle meets the lifting conditions.

[0024] In some embodiments, before the step of calculating the current lifting height of the scissor arm according to the current angle data, the method further includes:

[0025] Verifying the current angle data;

[0026] If the verification is passed, continue lifting according to the scissor arm and obtain the current lifting height;

[0027] When the verification fails, the scissor arm is controlled to stop lifting.

[0028] In some implementations, the step of verifying the current angle data includes:

[0029] Obtaining a theoretical angle value at the current lifting height;

[0030] Comparing the theoretical angle value with the current angle value;

[0031] It is determined whether the current angle data passes the verification based on the comparison result.

[0032] In some implementations, the step of determining whether the current angle data passes verification based on the comparison result includes:

[0033] In the case where the current lifting height is equal to the first height, when the current angle value is equal to the first angle, it is determined that the current angle data passes the verification;

[0034] In the case where the current lifting height is between the first height and the second height, when the current angle value is within the first angle range, it is determined that the current angle data passes the verification;

[0035] In the case where the current lifting height is equal to the second height, when the current angle value is equal to the second angle, it is determined that the current angle data passes the verification;

[0036] In the case where the current lifting height is between the second height and the third height, when the current angle value is within the second angle range, it is determined that the current angle data passes the verification;

[0037] When the current lifting height is equal to the third height, and the current angle value is equal to the third angle, it is determined that the current angle data passes the verification;

[0038] Wherein, the first height is less than the second height and less than the third height.

[0039] The second aspect of the present application provides a control system for acquiring the lifting height of a scissor-type aerial work platform, wherein the acquisition control system adopts the acquisition method as described above, and the acquisition control system comprises:

[0040] An angle detection component, used to obtain a first angle value of the scissor arm relative to the chassis, a second angle value of the scissor arm relative to a horizontal plane, and a third angle value of the chassis relative to a horizontal plane;

[0041] a control module, electrically connected to the angle detection component, the control module being used to calculate the current lifting height of the scissor arm according to the angle value information obtained by the angle detection component, and to control the scissor arm to continue lifting or stop lifting according to the maximum safe lifting height;

[0042] The display module is connected to the control module for communication and is used to display the current lifting height information transmitted by the control module.

[0043] In some embodiments, the acquisition control system further includes a limit assembly electrically connected to the control module, the limit assembly being mounted on the front of the scissor arm and used to verify the current angle value of the scissor arm when the scissor arm is lifted to a limit height; wherein the limit assembly includes:

[0044] A first limit switch, located when the scissor arms are in a retracted position;

[0045] A second limit switch is located at the lower limit position of the scissor arm during the lifting process;

[0046] The third limit switch is located at the upper limit position of the scissor arm during the lifting process.

[0047] In some embodiments, the scissor-type aerial work platform also includes a scissor platform located at the top of the scissor arm, and the acquisition control system also includes a wind speed sensor electrically connected to the control module, and the wind speed sensor is installed on the scissor platform and is used to detect the current wind speed of the scissor arm at different heights in real time.

[0048] A third aspect of the present application provides a scissor-type aerial work platform, including the lifting height acquisition control system as described above.

[0049] Through the above technical solution, the scissor-type aerial work platform and the lifting height acquisition control system and method provided in the embodiment of the present application have the following beneficial effects:

[0050] During the lifting process of the scissor arm, the current angle data of the scissor arm is obtained in real time; the current lifting height of the scissor arm is calculated based on the current angle data; the maximum safe lifting height of the scissor arm is obtained; when the current lifting height is greater than the maximum safe lifting height, the scissor arm is controlled to stop lifting; when the current lifting height is less than or equal to the maximum safe lifting height, the current lifting height value is output and displayed in real time. This application automatically obtains the current lifting height of the scissor arm according to the current real-time angle of the scissor arm, and controls the further movement of the scissor arm based on the comparison between the current lifting height and the maximum safe lifting height, thereby ensuring that the scissor arm works within a safe range and avoiding potential safety hazards.

[0051] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] 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 embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative work. In the accompanying drawings:

[0053] Figure 1 A schematic diagram of a flow chart of a method for obtaining the lifting height of a scissor-type aerial work platform of the present application;

[0054] Figure 2 This is a schematic diagram of the module connections of the lifting height acquisition control system of the scissor-type aerial work platform of the present application.

[0055] Description of Reference Numerals

[0056] 100 control module 400 limit assembly

[0057] 200 display module 500 wind speed sensor

[0058] 300° angle detection component 600° alarm module DETAILED DESCRIPTION

[0059] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0060] The following describes the scissor-type aerial work platform and its lifting height acquisition control system and method according to the present application with reference to the accompanying drawings.

[0061] like Figure 1 As shown, the present application provides a method for obtaining the lifting height of a scissor-type aerial work platform, wherein the scissor-type aerial work platform includes a chassis and a scissor arm provided on the chassis, and the obtaining method includes the steps of:

[0062] S10: acquiring the current angle data of the scissor arm in real time during the lifting process of the scissor arm;

[0063] S20: Calculate the current lifting height of the scissor arm according to the current angle data;

[0064] S30: Get the maximum safe lifting height of the scissor arm;

[0065] S40: When the current lifting height is greater than the maximum safe lifting height, the scissor arm is controlled to stop lifting;

[0066] S50: When the current lifting height is less than or equal to the maximum safe lifting height, the current lifting height value is output and displayed in real time.

[0067] When the scissors arm is lifted, the current angle data of the scissors arm is automatically obtained, and the current lifting height of the scissors arm is calculated according to the current angle data, so that real-time monitoring and feedback of the lifting height of the scissors arm can be achieved, so that the operator can understand the current height information of the scissors arm at any time; and, during the lifting process, it is necessary to control the maximum lifting height of the scissors arm, and when the current lifting height is greater than the maximum safe lifting height, a control instruction to prohibit lifting is sent to the scissors arm; the present application automatically obtains the current lifting height of the scissors arm according to the current real-time angle of the scissors arm, and controls the further movement of the scissors arm according to the comparison between the current lifting height and the maximum safe lifting height, thereby ensuring that the scissors arm works within a safe range and avoiding potential safety hazards.

[0068] In some embodiments, the step of calculating the current lifting height of the scissor arm according to the current angle data includes:

[0069] Obtain a second angle value of the scissor arm relative to the horizontal plane and a third angle value of the chassis relative to the horizontal plane;

[0070] Obtaining a first angle value of the scissor arm relative to the chassis according to the second angle value and the third angle value;

[0071] The current lifting height is calculated according to the first angle value, the second angle value and the third angle value.

[0072] In this embodiment, when the scissor arm is lifted, the angle of the scissor arm relative to the chassis and the angle of the scissor arm relative to the horizontal plane will both change to a certain extent. Therefore, when calculating the current lifting height, the second angle value of the scissor arm relative to the horizontal plane and the third angle value of the chassis relative to the horizontal plane are first obtained. Since the first angle value of the scissor arm relative to the chassis is related to the second angle value and the third angle value, the first angle value can be calculated based on the second angle value and the third angle value, and then input into the corresponding calculation formula in the control system, so that the current lifting height value can be output. The calculation process does not require human participation, and the participation of each angle value is of great help to the accuracy of the calculation of the current lifting height, thereby improving the accuracy of the calculation of the current lifting height.

[0073] Furthermore, according to the structural relationship of the scissor-type aerial work platform, the current lifting height can be obtained by the following calculation formula:

[0074] y=ax4 -bx 3 +cx 2 +d x+e

[0075] Among them, through the relative angle relationship of the scissor-type aerial work platform, the formula for calculating the extension angle of the scissor arm relative to the chassis when it is lifted to different heights can be obtained: x=m+n+t.

[0076] In the above formula, y is the current lifting height of the scissor arm, x is the first angle value, m is the second angle value, n is the third angle value, t is the calibration value, and a, b, c, d and e are all calculation coefficients. When the scissor-type aerial work platform is in the folded position, the second angle value of the scissor arm relative to the horizontal plane is kept at a fixed value, which may be different for different scissor-type aerial work platforms. The calibration value t can be adjusted in the control system according to the actual situation.

[0077] In a preferred embodiment, the optimal values ​​of a, b, c, d and e can be obtained through multiple experimental results. The results of a, b, c, d and e are respectively substituted into the above formula, so the optimal calculation formula for the lifting height can be obtained:

[0078] y=0.000631x 4 -0.120661x 3 +6.258493x 2 +214.800329x+565.041567.

[0079] Therefore, the overall lifting height of the scissor-type aerial work platform can be obtained through the above formula:

[0080] H=(y+h) / 1000

[0081] Wherein, h is the height between the chassis of the scissor-type aerial work platform and the scissor platform of the scissor-type aerial work platform.

[0082] In some embodiments, the step of obtaining the maximum safe lifting height of the scissor arm includes:

[0083] Get the current wind speed in real time during the lifting process;

[0084] Get the influence coefficient of current wind speed on the lifting height of scissor arms;

[0085] Calculate the maximum safe lifting height based on the current wind speed and influence coefficient.

[0086] Since wind speed has a certain influence on the lifting height, the actual current lifting height of the scissor arm can be obtained through the above multiple angle values. For safety control strategy considerations, the lifting of the scissor arm needs to be carried out within the maximum allowable safe lifting height. When calculating the maximum safe lifting height, it is necessary to obtain the current wind speed during the lifting process.

[0087] In some embodiments, the maximum safe lifting height can be calculated by the following formula:

[0088] h max =Hmax-gV

[0089] Among them, h max is the maximum safe lifting height, V is the current wind speed value, g is the influence coefficient of wind speed on the lifting height, and Hmax is the maximum lifting height of the scissor-type aerial work platform under no wind conditions and when the chassis inclination angle meets the lifting conditions.

[0090] The safe lifting control strategy is based on the safety guarantee of ensuring that the scissor-type aerial work platform does not tip over when it is in the lifting state. The maximum lifting height of the scissor-type aerial work platform is limited in real time by the real-time wind speed on the scissor platform of the scissor-type aerial work platform and the inclination angle of the chassis of the scissor-type aerial work platform during lifting. The scissor-type aerial work platform applied by the present invention can be lifted to a maximum of 20 meters. Other models can formulate different safe lifting control strategies according to the actual lifting height.

[0091] Specifically, the relationship between the maximum height that a scissor-type aerial work platform can safely lift and the inclination sensor of the chassis of the scissor-type aerial work platform is as follows:

[0092] When P>2° or Q>3°, lifting of the vehicle is prohibited. When P≤2° and Q≤3°, the maximum height to which the vehicle can be safely lifted is determined by the wind speed value detected in real time by the wind speed sensor 500.

[0093] Among them, P is the inclination angle of the chassis inclination sensor in the x-axis direction, that is, the inclination angle in the left and right side directions of the scissor-type aerial work platform, and Q is the inclination angle of the chassis inclination sensor in the y-axis direction, that is, the inclination angle in the forward and backward directions of the scissor-type aerial work platform.

[0094] The derivation process of the above maximum safe lifting height is as follows:

[0095] First, by statistically analyzing the collected data, it is determined that there is a linear relationship between the wind speed value detected in real time by the wind speed sensor 500 and the maximum height that can be safely lifted by the scissor-type aerial work platform, and the linear model of the relationship between the wind speed and the maximum height that can be safely lifted can be obtained as follows:

[0096] hmax=Hmax-gV

[0097] Among them, hmax is the maximum height that the scissors-type aerial work platform can safely lift; Hmax is the maximum lifting height of the scissors-type aerial work platform under windless conditions and when the chassis inclination angle of the scissors-type aerial work platform meets the lifting conditions; g is the coefficient representing the influence of wind speed on the lifting height, that is, the amount by which the lifting height decreases for every increase of 1 m / s in wind speed; V is the wind speed value on the scissors-type aerial work platform detected in real time by the wind speed sensor 500, in meters per second.

[0098] By fitting and regressing the above linear model with experimental data, we can get the influence coefficient a of wind speed on lifting height as 1.449. When Hmax is 20 meters, the linear relationship between wind speed and maximum safe lifting height is as follows:

[0099] hmax=20-1.449V

[0100] Through the above calculations, the maximum safe lifting height of the scissor-type aerial work platform under different wind speed conditions can be determined to ensure the safety of the operation.

[0101] In some embodiments, before the step of calculating the current lifting height of the scissor arm according to the current angle data, the method further includes:

[0102] Verify the current angle data;

[0103] If the verification is passed, continue lifting according to the scissor arm and obtain the current lifting height;

[0104] When the verification fails, the scissor arm is controlled to stop lifting.

[0105] Before calculating the current lifting height, the current angle data needs to be verified. The purpose of the verification is to determine whether the sensor that obtains the angle data is abnormal. If the verification passes, it means that the angle sensor is in normal operation, so the current angle data value obtained is accurate, and the current lifting height calculated by the angle data is also accurate. Under the premise of passing the verification, the scissor arm is controlled to continue lifting and obtain the current lifting height; if the verification fails, it means that the angle sensor is abnormal, and the angle data obtained may have a certain error. From a safety perspective, it is necessary to stop the lifting action of the scissor arm to wait for further maintenance. In this embodiment, by verifying the data obtained by the angle sensor before calculating the lifting height, the accuracy of the obtained lifting height data can be guaranteed, limiting the lifting operation when the angle sensor fails, and improving the overall lifting safety.

[0106] In some implementations, the step of verifying the current angle data includes:

[0107] Get the theoretical angle value at the current lifting height;

[0108] Compare the theoretical angle value with the current angle value;

[0109] Determine whether the current angle data has passed the verification based on the comparison results.

[0110] By setting the mechanical limit assembly 400 at different heights, when the scissor arm is performing a lifting action, the corresponding limit assembly 400 is triggered to obtain the theoretical angle value corresponding to the current lifting height of the scissor arm, and this theoretical angle value can be set in advance in the control system; when verifying, the current angle value actually obtained is compared with the theoretical angle value, and it is determined whether the current angle data passes the verification based on the deviation result between the current angle value and the theoretical angle value.

[0111] In this embodiment, the entire verification process uses the mutual cooperation between the mechanical limit assembly 400 and the control module 100 to achieve automatic verification of the angle data, thereby improving the operational convenience and safety of the entire system.

[0112] In some implementations, the step of determining whether the current angle data passes verification according to the comparison result includes:

[0113] When the current lifting height is equal to the first height, when the current angle value is equal to the first angle, it is determined that the current angle data passes the verification;

[0114] When the current lifting height is between the first height and the second height, and when the current angle value is within the first angle range, it is determined that the current angle data passes the verification;

[0115] When the current lifting height is equal to the second height, when the current angle value is equal to the second angle, it is determined that the current angle data passes the verification;

[0116] When the current lifting height is between the second height and the third height, and when the current angle value is within the second angle range, it is determined that the current angle data passes the verification;

[0117] When the current lifting height is equal to the third height, and the current angle value is equal to the third angle, it is determined that the current angle data passes the verification;

[0118] Among them, the first height < the second height < the third height.

[0119] In this embodiment, the first angle is the theoretical angle value corresponding to the sensor when the scissors arm is at the first height, the second angle is the theoretical angle value corresponding to the sensor when the scissors arm is at the second height, and the third angle is the theoretical angle value corresponding to the sensor when the scissors arm is at the third height; when the lifting height is between the first height and the second height range or between the second height and the third height range, as long as the actual current angle value is within the corresponding theoretical angle range, it can be judged that the current angle data has passed the verification, that is, the angle sensor is in normal operation.

[0120] By dividing the lifting height of the scissor arm into multiple area ranges and comparing the current angle values ​​in different height areas with the corresponding theoretical angle values, it is possible to more accurately judge whether the angle sensor is abnormal, and timely discover existing safety hazards before the scissor arm is lifted.

[0121] The second aspect of the present application provides a control system for obtaining the lifting height of a scissor-type aerial work platform, and the control system adopts the above acquisition method, such as Figure 2 As shown, the acquisition control system includes an angle detection component 300, a control module 100 and a display module 200; the angle detection component 300 is used to obtain a first angle value of the scissor arm relative to the chassis, a second angle value of the scissor arm relative to the horizontal plane, and a third angle value of the chassis relative to the horizontal plane; the control module 100 is electrically connected to the angle detection component 300, and the control module 100 is used to calculate the current lifting height of the scissor arm according to the angle value information obtained by the angle detection component 300, and control the scissor arm to continue lifting or stop lifting according to the maximum safe lifting height; the display module 200 is communicatively connected to the control module 100 and is used to display the current lifting height information transmitted by the control module 100.

[0122] Among them, the angle detection component 300 includes an angle sensor and an inclination sensor, wherein the angle sensor is installed on the scissor arm, and is used to measure the real-time angle change of the scissor arm relative to the horizontal plane when the scissor-type aerial work platform is lifted to different heights. A photoelectric encoder or a magnetic encoder can be selected to meet the needs of different scissor-type aerial work platform models and usage scenarios, and to ensure the accuracy and reliability of the measurement, and to measure the lifting height of the scissor-type aerial work platform in real time and accurately. Compared with traditional mechanical limit devices and manual estimation methods, the sensor of the present invention has higher measurement accuracy and reliability. The inclination sensor is installed on the chassis, and is used to measure the real-time angle change of the scissor-type aerial work platform relative to the horizontal plane in real time. Combined with the angle sensor, the real-time angle change of the scissor arm relative to the chassis can be calculated, and the maximum lifting height can be limited within different inclination ranges.

[0123] Furthermore, the display module 200 is installed in the operating handle of the scissor-type aerial work platform to display the current lifting height of the scissor-type aerial work platform in real time, so that the operator can monitor the height information at any time, thereby improving the convenience and safety of operation.

[0124] In addition, the lifting height acquisition control system also includes an alarm module 600. When the current lifting height is inconsistent with the mechanical limit height test, or when the lifting height exceeds the maximum safe lifting height limited by the safe lifting strategy, an audible and visual alarm is issued to remind the operator to descend in time to avoid risks and limit further lifting operations. In summary, the lifting height acquisition control system integrates multiple functions such as data processing, display, early warning and protection to form a complete height measurement and management system, which improves the overall performance and reliability of the system.

[0125] In some embodiments, the acquisition control system also includes a limit assembly 400 electrically connected to the control module 100, the limit assembly 400 is installed at the front of the scissors arm, and is used to verify the current angle value of the scissors arm when the scissors arm is lifted to the limit height; the limit assembly 400 will be triggered when the scissors arm is lifted to a certain height, and is used to verify the real-time angle value of the scissors arm when the scissors-type aerial work platform is lifted to the limit height and the saved calibration value, as well as to implement redundant inspection above or below the limit height to ensure safety.

[0126] The limiting assembly 400 includes:

[0127] A first limit switch is located when the scissor arms are in a retracted position;

[0128] The second limit switch is located at the lower limit position of the scissor arm during the lifting process;

[0129] The third limit switch is located at the upper limit position of the scissor arm during the lifting process.

[0130] In terms of safety performance, this embodiment performs redundant verification on the height calculated by the angle sensor and the inclination sensor by installing the above-mentioned three limit switches on the structure. The three limit switches are triggered respectively when the scissors arm completes the folded position, the lower limit position and the upper limit position. The angle values ​​fed back by the angle sensors of the scissors arm at the three limit switch positions can be recorded in the control module 100 as verification values. The three verification values ​​have the following relationship: X1>X2>X3.

[0131] In the formula, X1 is the calibration value of the angle sensor when the third limit switch is triggered, X2 is the calibration value of the angle sensor when the second limit switch is triggered, and X3 is the calibration value of the angle sensor when the first limit switch is triggered. In practical applications, the trigger logic of the three limit switches and the values ​​fed back by the angle sensor are usually compared with the calibration values. In practical applications, depending on the lifting position of the scissor-type aerial work platform, there are the following five situations:

[0132] (1): When the scissor-type aerial work platform is not lifted in the folded position, the value m fed back by the angle sensor should satisfy the relationship: m = X3

[0133] (2): When the scissor arm is lifted to a position between the limit height of the first limit switch and the limit height of the second limit switch, the value m fed back by the angle sensor should satisfy the relationship: X2>m>X3

[0134] (3): When the scissor arm is lifted to the limit height of the second limit switch, the value m fed back by the angle sensor should satisfy the relationship: m = X2

[0135] (4): When the scissor arm is raised to the limit height between the second limit switch and the third limit switch, the value m fed back by the angle sensor should satisfy the following relationship: X1>m>X2

[0136] (5): When the scissor arm is lifted to the limit height of the third limit switch, the value m fed back by the angle sensor should satisfy the relationship: m = X1

[0137] When the value m fed back by the angle sensor does not satisfy the above relationship, it is considered that the angle sensor fails, and the control module 100 controls the alarm module 600 to sound an alarm and control the scissor arm to stop lifting.

[0138] In some embodiments, the scissor-type aerial work platform also includes a scissor platform located at the top of the scissor arm, and the acquisition control system also includes a wind speed sensor 500 electrically connected to the control module 100, and the wind speed sensor 500 is installed on the scissor platform and is used to detect the current wind speed of the scissor arm at different heights in real time. Among them, the wind speed sensor 500 can be a cup-type wind speed sensor or a blade-type wind speed sensor. Since the wind speed affects the maximum safe height that the lifting arm can lift, when calculating the maximum safe lifting height, it is necessary to consider the current wind speed of the scissor arm at the current height, and calculate the maximum height that the scissor arm can theoretically be allowed to lift through the wind speed and the angle data of the inclination sensor to ensure safety during the lifting process.

[0139] In addition, the control system of the present application is simple in design and easy to install and maintain. Compared with complex mechanical structures and multi-sensor combinations, the present invention reduces the complexity and maintenance cost of the equipment and improves the availability and economy of the system.

[0140] The third aspect of the present application provides a scissor-type aerial work platform, including the lifting height acquisition control system as described above. Since the scissor-type aerial work platform adopts all embodiments of the acquisition control system as described above, it has all the beneficial effects brought by the acquisition control system as described above, which will not be listed one by one here.

[0141] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0142] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0143] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0144] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for obtaining the lifting height of a scissor-type aerial work platform, wherein the scissor-type aerial work platform comprises a chassis and a scissor arm disposed on the chassis, characterized in that: The acquisition method comprises the steps of: acquiring the current angle data of the scissor arm in real time during the lifting process of the scissor arm; Calculating the current lifting height of the scissor arm according to the current angle data; Obtaining the maximum safe lifting height of the scissor arm; When the current lifting height is greater than the maximum safe lifting height, controlling the scissor arm to stop lifting; When the current lifting height is less than or equal to the maximum safe lifting height, the current lifting height value is output and displayed in real time.

2. The method for obtaining the lifting height of a scissor-type aerial work platform according to claim 1, characterized in that: The step of calculating the current lifting height of the scissor arm according to the current angle data comprises: Obtaining a second angle value of the scissor arm relative to the horizontal plane and a third angle value of the chassis relative to the horizontal plane; Acquire a first angle value of the scissor arm relative to the chassis according to the second angle value and the third angle value; The current lifting height is calculated according to the first angle value, the second angle value and the third angle value.

3. The method for obtaining the lifting height of a scissor-type aerial work platform according to claim 2, characterized in that: The current lifting height can be obtained by the following calculation formula: y = ax 4 -bx 3 +cx 2 +dx + e, where x = m + n + t In the above formula, y is the current lifting height of the scissor arm, x is the first angle value, m is the second angle value, n is the third angle value, t is the calibration value, and a, b, c, d and e are all calculation coefficients.

4. The method for obtaining the lifting height of a scissor-type aerial work platform according to claim 1, characterized in that: The step of obtaining the maximum safe lifting height of the scissor arm comprises: Get the current wind speed in real time during the lifting process; Obtaining the influence coefficient of the current wind speed on the lifting height of the scissor arm; The maximum safe lifting height is calculated according to the current wind speed and the influence coefficient.

5. The method for obtaining the lifting height of a scissor-type aerial work platform according to claim 4, characterized in that: The maximum safe lifting height can be calculated by the following formula: h max =Hmax-gV Among them, h max is the maximum safe lifting height, V is the current wind speed value, g is the influence of wind speed on the lifting height, and Hmax is the maximum lifting height of the scissor-type aerial work platform under no wind conditions and when the chassis inclination angle meets the lifting conditions.

6. The method for obtaining the lifting height of a scissor-type aerial work platform according to claim 1, characterized in that: Before the step of calculating the current lifting height of the scissor arm according to the current angle data, the method further includes: Verifying the current angle data; If the verification is passed, continue lifting according to the scissor arm and obtain the current lifting height; When the verification fails, the scissor arm is controlled to stop lifting.

7. The method for obtaining the lifting height of a scissor-type aerial work platform according to claim 6, characterized in that: The step of verifying the current angle data comprises: Obtaining a theoretical angle value at the current lifting height; Comparing the theoretical angle value with the current angle value; It is determined whether the current angle data passes the verification based on the comparison result.

8. The method for obtaining the lifting height of a scissor-type aerial work platform according to claim 7, characterized in that: The step of judging whether the current angle data passes the verification according to the comparison result comprises: In the case where the current lifting height is equal to the first height, when the current angle value is equal to the first angle, it is determined that the current angle data passes the verification; In the case where the current lifting height is between the first height and the second height, when the current angle value is within the first angle range, it is determined that the current angle data passes the verification; In the case where the current lifting height is equal to the second height, when the current angle value is equal to the second angle, it is determined that the current angle data passes the verification; In the case where the current lifting height is between the second height and the third height, when the current angle value is within the second angle range, it is determined that the current angle data passes the verification; When the current lifting height is equal to the third height, and the current angle value is equal to the third angle, it is determined that the current angle data passes the verification; Wherein, the first height is less than the second height and less than the third height.

9. A control system for obtaining the lifting height of a scissor-type aerial work platform, characterized in that: The acquisition control system is implemented by using the acquisition method according to any one of claims 1 to 8, and the acquisition control system comprises: An angle detection component (300) is used to obtain a first angle value of the scissor arm relative to the chassis, a second angle value of the scissor arm relative to a horizontal plane, and a third angle value of the chassis relative to a horizontal plane; A control module (100) is electrically connected to the angle detection component (300), and the control module (100) is used to calculate the current lifting height of the scissor arm according to the angle value information obtained by the angle detection component (300), and control the scissor arm to continue lifting or stop lifting according to the maximum safe lifting height; A display module (200) is communicatively connected to the control module (100) and is used to display current lifting height information transmitted by the control module (100).

10. The lifting height acquisition control system of the scissor-type aerial work platform according to claim 9, characterized in that: The acquisition control system further comprises a limit assembly (400) electrically connected to the control module (100), wherein the limit assembly (400) is installed at the front of the scissor arm and is used to verify the current angle value of the scissor arm when the scissor arm is lifted to a limit height; wherein the limit assembly (400) comprises: A first limit switch, located when the scissor arms are in a retracted position; A second limit switch is located at the lower limit position of the scissor arm during the lifting process; The third limit switch is located at the upper limit position of the scissor arm during the lifting process.

11. The lifting height acquisition control system of the scissor-type aerial work platform according to claim 9, characterized in that: The scissor-type aerial work platform also includes a scissor platform located at the top end of the scissor arm, and the acquisition control system also includes a wind speed sensor (500) electrically connected to the control module (100), and the wind speed sensor (500) is installed on the scissor platform and is used to detect the current wind speed of the scissor arm at different heights in real time.

12. A scissor-type aerial work platform, characterized in that: A control system for acquiring lifting height comprising the control system according to any one of claims 9 to 11.

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