Scissor-type aerial work platform and its lifting height acquisition control system and method

Abstract

The application discloses a scissors-type aerial work platform and an acquisition control system and method for lifting height thereof. The scissors-type aerial work platform comprises a chassis and scissors arms arranged on the chassis. The acquisition method comprises the following steps: acquiring current angle data of the scissors arms in real time during lifting of the scissors arms; calculating current lifting height of the scissors arms according to the current angle data; acquiring maximum safe lifting height of the scissors arms; controlling the scissors arms to stop lifting in the case that the current lifting height is greater than the maximum safe lifting height; and outputting and displaying the current lifting height value in real time in the case that the current lifting height is less than or equal to the maximum safe lifting height. According to the current real-time angle of the scissors arms, the current lifting height of the scissors arms is acquired automatically, and further actions of the scissors arms are controlled according to comparison between the current lifting height and the maximum safe lifting height, so that the scissors arms work within a safe range, and potential safety hazards are avoided.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of aerial work platforms, and particularly relates to a scissor-type aerial work platform and a lifting height acquisition control system and method thereof. BACKGROUND

[0002] As a common industrial equipment, the scissor lift truck is widely used in the fields of warehousing, logistics and construction. In the lifting process of the existing scissor lift truck, due to the lack of accurate height measurement method, it often leads to inconvenient operation and safety hazards. In the lifting process of the scissor lift truck, it is unable to determine whether the continued lifting operation at different heights will bring safety risks, resulting in the scissor lift truck falling. The traditional height measurement method depends on manual estimation or mechanical limiting device, and the precision is low, which cannot meet the demand of high-precision operation. Moreover, due to the lack of accurate height measurement and real-time feedback, the operator is difficult to respond in time when the lifting height is too high or too low, and there is a great safety hazard. SUMMARY

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

[0004] In order to achieve the above-mentioned purpose, the application provides a lifting height acquisition method of a scissor-type aerial work platform in one aspect, the scissor-type aerial work platform comprising a chassis and a scissor arm arranged on the chassis, and the acquisition method comprising the steps of:

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

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

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

[0008] stopping the lifting of the scissor arm in the case that the current lifting height is greater than the maximum safe lifting height;

[0009] real-time output and display of the current lifting height value in the case that the current lifting height is less than or equal to the maximum safe lifting height.

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

[0011] acquisition of 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] acquiring a first angle value of the scissors arm relative to the chassis according to the second angle value and the third angle value;

[0013] calculating the current lifting height 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 calculated by the following formula:

[0015] y = a x 4 - b x 3 + c x 2 + dx +e, wherein x = m + n + t

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

[0017] In some embodiments, the step of acquiring the maximum safe lifting height of the scissors arm comprises:

[0018] acquiring a current wind speed in real time during lifting;

[0019] acquiring an influence coefficient of the current wind speed on the scissors arm lifting height;

[0020] calculating the maximum safe lifting height 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] wherein h max is the maximum safe lifting height, V is the current wind speed value, g is the influence coefficient of the wind speed on the lifting height, and Hmax is the maximum lifting height of the scissors arm aerial work platform under the condition of no wind and the chassis inclination angle meeting the lifting condition.

[0024] In some embodiments, the step of calculating the current lifting height of the scissors arm according to the current angle data further comprises:

[0025] verifying the current angle data;

[0026] if the verification is passed, continuing to lift the scissors arm and acquiring the current lifting height;

[0027] When the check fails, the control of the scissors arm stops lifting.

[0028] In some embodiments, the step of checking the current angle data comprises:

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

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

[0031] According to the comparison result, it is judged whether the current angle data passes the check.

[0032] In some embodiments, the step of judging whether the current angle data passes the check according to the comparison result comprises:

[0033] When the current lifting height is equal to the first height, and the current angle data is equal to the first angle, it is judged that the current angle data passes the check;

[0034] When the current lifting height is between the first height and the second height, and the current angle data is within the first angle range, it is judged that the current angle data passes the check;

[0035] When the current lifting height is equal to the second height, and the current angle data is equal to the second angle, it is judged that the current angle data passes the check;

[0036] When the current lifting height is between the second height and the third height, and the current angle data is within the second angle range, it is judged that the current angle data passes the check;

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

[0038] Wherein, the first height < the second height < the third height.

[0039] The second aspect of the present application provides a lifting height acquisition control system of a scissors-type aerial work platform, which uses the acquisition method as described above, and comprises:

[0040] An angle detection assembly is configured to acquire a first angle value of the scissors arm relative to the chassis, a second angle value of the scissors arm relative to a horizontal plane, and a third angle value of the chassis relative to the horizontal plane.

[0041] A control module is electrically connected with the angle detection assembly, and is configured to calculate a current lifting height of the scissor arm according to the angle value information obtained by the angle detection assembly, and control the scissor arm to continue lifting or stop lifting according to the maximum safe lifting height.

[0042] A display module is communicatively connected with the control module and configured to display the current lifting height information transmitted by the control module.

[0043] In some embodiments, the acquisition control system further comprises a limit component electrically connected with the control module, the limit component is installed at the front of the scissor arm, and is configured to check the current angle data of the scissor arm when the scissor arm is lifted to a limit height; wherein the limit component comprises:

[0044] A first limit switch is located at the position where the scissor arm is in the collapsed position.

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

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

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

[0048] The third aspect of the present application provides a scissor aerial work platform comprising the lifting height acquisition control system as described above.

[0049] The scissor aerial work platform and the lifting height acquisition control system and method thereof provided by the embodiments of the present application have the following beneficial effects:

[0050] During lifting of the scissor arm, the current angle data of the scissor arm is acquired in real time; the current lifting height of the scissor arm is calculated according to the current angle data; the maximum safe lifting height of the scissor arm is acquired; in the case that the current lifting height is greater than the maximum safe lifting height, the scissor arm is controlled to stop lifting; in the case that 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. The current lifting height of the scissor arm is automatically acquired according to the current real-time angle of the scissor arm, and the further action of the scissor arm is controlled according to the comparison between the current lifting height and the maximum safe lifting height, so as to ensure that the scissor arm works within a safe range and avoid potential safety hazards.

[0051] Other features and advantages of the present embodiments will be set forth in the detailed description which follows, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0052] The accompanying drawings are included to provide a further understanding of the present embodiments and are incorporated in and constitute a part of this specification, illustrate embodiments of the present embodiments and together with the description serve to explain the present embodiments. Other embodiments of the present embodiments can be obtained from a review of the drawings, either from the description of the figures by one of ordinary skill in the art, without applying inventive faculty. In the drawings:

[0053] Figure 1 A flowchart of a method for obtaining the lifting height of a scissors aerial work platform according to the present application;

[0054] Figure 2 A module connection diagram of a control system for obtaining the lifting height of a scissors aerial work platform according to the present application.

[0055] REFERENCE NUMERALS

[0056] DETAILED DESCRIPTION

[0057] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0058] A scissors aerial work platform and a control system and method for obtaining the lifting height thereof according to the present application will be described below with reference to the accompanying drawings.

[0059] As shown in Figure 1 The present application provides a method for obtaining the lifting height of a scissors aerial work platform, wherein the scissors aerial work platform comprises a chassis and a scissors arm arranged on the chassis, and the method comprises the steps of:

[0060] S10: obtaining the current angle data of the scissors arm in real time during the lifting of the scissors arm;

[0061] S20: calculating the current lifting height of the scissors arm according to the current angle data;

[0062] S30: obtaining the maximum safe lifting height of the scissors arm;

[0063] S40: controlling the scissors arm to stop lifting in the case that the current lifting height is greater than the maximum safe lifting height;

[0064] S50: outputting and displaying the current lifting height value in real time in the case that the current lifting height is less than or equal to the maximum safe lifting height.

[0065] In the scissors arm lifting, the current angle data of the scissors arm is automatically acquired, the current lifting height of the scissors arm is calculated through the current angle data, so that the real-time monitoring and feedback of the lifting height of the scissors arm can be realized, and the operator can know the current height information of the scissors arm at any time; and in the lifting process, the maximum lifting height of the scissors arm needs to be controlled, and in the case that the current lifting height is greater than the maximum safe lifting height, the control instruction of prohibiting lifting is sent to the scissors arm; the current lifting height of the scissors arm is automatically acquired according to the current real-time angle of the scissors arm, and the further action of the scissors arm is controlled according to the comparison between the current lifting height and the maximum safe lifting height, so as to ensure that the scissors arm works within the safe range and avoid potential safety hazards.

[0066] In some embodiments, the step of calculating the current lifting height of the scissors arm according to the current angle data comprises:

[0067] acquiring a second angle value of the scissors arm relative to the horizontal plane and a third angle value of the chassis relative to the horizontal plane;

[0068] acquiring a first angle value of the scissors arm relative to the chassis according to the second angle value and the third angle value;

[0069] calculating the current lifting height according to the first angle value, the second angle value and the third angle value.

[0070] In this embodiment, when the scissors arm is lifted, the angle of the scissors arm relative to the chassis and the angle of the scissors arm relative to the horizontal plane will change, so when calculating the current lifting height, the second angle value of the scissors arm relative to the horizontal plane and the third angle value of the chassis relative to the horizontal plane are first acquired, since the first angle value of the scissors arm relative to the chassis is related to the second angle value and the third angle value, the first angle value can be calculated according to 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 manual intervention, and the participation of various angle values greatly helps the accuracy of the calculation of the current lifting height, thereby improving the calculation accuracy of the current lifting height.

[0071] Further, according to the structural relationship of the scissors-type aerial work platform, the current lifting height can be obtained through the following calculation formula:

[0072] y = a x 4 - b x 3 + c x 2 + d x + e

[0073] Wherein, the formula of the extension angle of the scissor arm relative to the chassis when the scissor arm is lifted to different heights can be obtained by the relative relationship of the angles of the scissor aerial work platform: x = m + n + t.

[0074] 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 aerial work platform is guaranteed to be in the collapsed position, the second angle value of the scissor arm relative to the horizontal plane is kept as a fixed value, which may be different for different scissor aerial work platforms. The calibration value t can be adjusted in the control system according to the actual situation.

[0075] 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 brought into the above formula, so that the optimal calculation formula of the lifting height can be obtained:

[0076] y = 0.000631 x 4 - 0.120661 x 3 + 6.258493 x 2 + 214.800329 x + 565.041567.

[0077] Therefore, the overall height of the scissor aerial work platform can be obtained by the above formula:

[0078] H = (y + h) / 1000

[0079] Wherein, h is the height between the chassis of the scissor aerial work platform and the scissor platform of the scissor aerial work platform.

[0080] In some embodiments, the step of obtaining the maximum safe lifting height of the scissor arm includes:

[0081] Real-time acquisition of the current wind speed during lifting;

[0082] Obtaining the influence coefficient of the current wind speed on the lifting height of the scissor arm;

[0083] Calculating the maximum safe lifting height according to the current wind speed and the influence coefficient.

[0084] Since the wind speed has a certain influence on the lifting height, the actual current lifting height of the scissor arm can be obtained by the above multiple angle values. However, for safety control strategy considerations, the lifting of the scissor arm needs to be within the allowable maximum safe lifting height. When calculating the maximum safe lifting height, the current wind speed during lifting needs to be obtained,

[0085] In some embodiments, the maximum safe lifting height can be calculated by the following formula:

[0086] h max = Hmax -gV

[0087] wherein h max is the maximum safe lifting height, V is the current wind speed value, g is the influence coefficient of wind speed on lifting height, and Hmax is the maximum lifting height of the scissor aerial work platform under windless conditions and when the chassis inclination angle meets the lifting condition.

[0088] The safe lifting control strategy is based on the safety guarantee that the scissor aerial work platform does not tip over when in the lifting state. The maximum lifting height of the scissor aerial work platform is limited in real time by the real-time wind speed on the scissor platform of the scissor aerial work platform and the size of the chassis inclination angle of the scissor aerial work platform when lifting. The scissor aerial work platform applied in the present application can be lifted to a maximum of 20 meters, and different safe lifting control strategies can be formulated according to the actual lifting height for other vehicle models.

[0089] Specifically, the relationship between the maximum height that the scissor aerial work platform can be safely lifted and the chassis inclination angle sensor of the scissor aerial work platform is as follows:

[0090] When P>2° or Q>3°, the vehicle is prohibited from lifting, and when P≤2° and Q≤3°, the maximum height that the vehicle can be safely lifted is determined by the wind speed value detected by the wind speed sensor 500 in real time.

[0091] wherein P is the inclination angle in the x-axis direction of the chassis inclination angle sensor, i.e., the inclination angle in the left and right side direction of the scissor aerial work platform, and Q is the inclination angle in the y-axis direction of the chassis inclination angle sensor, i.e., the inclination angle in the forward and backward direction of the scissor aerial work platform.

[0092] The derivation process of the above maximum safe lifting height is as follows:

[0093] First, by statistically analyzing the collected data, it is determined that there is a linear relationship between the wind speed value detected by the wind speed sensor 500 in real time and the maximum height that the scissor aerial work platform can be safely lifted, and the linear model of the relationship between the wind speed and the maximum height that can be safely lifted is as follows:

[0094] hmax=Hmax-gV

[0095] Wherein, hmax is the maximum safe lifting height of the scissor aerial work platform; Hmax is the maximum lifting height of the scissor aerial work platform under the condition of no wind and the chassis inclination angle of the scissor aerial work platform meets the lifting condition; g is a coefficient indicating the influence of wind speed on the lifting height, that is, for every 1 m / s increase in wind speed, the lifting height decreases by a certain amount; V is the wind speed value on the scissor platform detected by the wind speed sensor 500 in real time, with the unit of meter per second.

[0096] Through fitting and regression analysis of the experimental data on the above linear model, the influence coefficient a of wind speed on the lifting height is 1.449, and when Hmax is 20 meters, the linear relationship between the wind speed and the maximum safe lifting height is as follows:

[0097] hmax = 20 - 1.449V

[0098] Through the above calculation, the maximum safe lifting height of the scissor aerial work platform under different wind speed conditions can be determined to ensure the safety of operation.

[0099] In some embodiments, the step of calculating the current lifting height of the scissor arm according to the current angle data further comprises:

[0100] verifying the current angle data;

[0101] if the verification is passed, continuing to lift the scissor arm and obtaining the current lifting height according to the scissor arm;

[0102] if the verification is not passed, controlling the scissor arm to stop lifting.

[0103] The current angle data needs to be verified before the current lifting height is calculated. The purpose of verification is to determine whether the sensor that obtains the angle data is abnormal. If the verification is passed, it means that the angle sensor is in normal working condition, and the current angle data value obtained is accurate. Therefore, the calculation of the current lifting height according to the angle data is also accurate. On the premise that the verification is passed, the action of continuing to lift the scissor arm and obtaining the current lifting height is controlled. If the verification is not passed, it means that the angle sensor is abnormal, and the angle data obtained may have some errors. From the safety point of view, the lifting action of the scissor arm needs to be stopped 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 is ensured, and the lifting operation when the angle sensor fails is limited, thereby improving the overall lifting safety.

[0104] In some embodiments, the step of verifying the current angle data comprises:

[0105] obtaining the theoretical angle value at the current lifting height;

[0106] Compare the theoretical angle value with the current angle data;

[0107] Determine whether the current angle data passes the verification according to the comparison result.

[0108] By setting the limiting assembly 400 at different height positions, when the scissor arm is performing the lifting action, the corresponding limiting 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 actual obtained current angle data is compared with the theoretical angle value, and whether the current angle data passes the verification is determined according to the deviation between the current angle data and the theoretical angle value.

[0109] In this embodiment, the entire verification process uses the mutual cooperation between the limiting assembly 400 and the control module 100 to realize the automatic verification of the angle data, thereby improving the operation convenience and safety of the entire system.

[0110] In some embodiments, the step of determining whether the current angle data passes the verification according to the comparison result includes:

[0111] In the case where the current lifting height is equal to the first height, when the current angle data is equal to the first angle, it is determined that the current angle data passes the verification at this time;

[0112] In the case where the current lifting height is between the first height and the second height, when the current angle data is within the first angle range, it is determined that the current angle data passes the verification;

[0113] In the case where the current lifting height is equal to the second height, when the current angle data is equal to the second angle, it is determined that the current angle data passes the verification;

[0114] In the case where the current lifting height is between the second height and the third height, when the current angle data is within the second angle range, it is determined that the current angle data passes the verification;

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

[0116] Wherein, the first height < the second height < the third height.

[0117] In this embodiment, the first angle is a theoretical angle value corresponding to the sensor at the first height of the scissors arm, the second angle is a theoretical angle value corresponding to the sensor at the second height of the scissors arm, and the third angle is a theoretical angle value corresponding to the sensor at the third height of the scissors arm; when the lifting height is between the first height and the second height or between the second height and the third height, as long as the actual current angle data is within the corresponding theoretical angle range, it is determined that the current angle data passes the verification, that is, the angle sensor is in normal operation.

[0118] By dividing the lifting height of the scissors arm into multiple region ranges, comparing the current angle data in different height regions with the corresponding theoretical angle values, more accurate judgment of whether the angle sensor is abnormal can be achieved, and potential safety hazards can be found in time before the scissors arm is lifted.

[0119] The second aspect of the present application provides a lifting height acquisition control system of a scissors-type aerial work platform, which uses the above acquisition method, as shown in Figure 2 The acquisition control system includes an angle detection assembly 300, a control module 100, and a display module 200; the angle detection assembly 300 is used to acquire a first angle value of the scissors arm relative to the chassis, a second angle value of the scissors 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 with the angle detection assembly 300, and is used to calculate the current lifting height of the scissors arm according to the angle value information acquired by the angle detection assembly 300, and control the scissors arm to continue lifting or stop lifting according to the maximum safe lifting height; the display module 200 is in communication connection with the control module 100 and is used to display the current lifting height information transmitted by the control module 100.

[0120] The angle detection assembly 300 includes an angle sensor and an inclination sensor, wherein the angle sensor is installed on the scissors arm and is used to measure the real-time angle change of the scissors-type aerial work platform relative to the horizontal plane when the scissors-type aerial work platform is lifted to different heights. An optical encoder or a magnetic encoder can be used to meet the needs of different models and use scenarios of the scissors-type aerial work platform and to ensure the measurement accuracy and reliability, so that the lifting height of the scissors-type aerial work platform can be measured in real time and accurately. Compared with the traditional mechanical limiting device and the manual estimation method, the sensor of the present application 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 scissors-type aerial work platform relative to the horizontal plane, and in combination with the angle sensor, the real-time angle change of the scissors arm relative to the chassis can be calculated, and the maximum lifting height is limited in different inclination ranges.

[0121] Further, the display module 200 is installed in the operating handle of the scissors-type aerial work platform, and is used to display the current lifting height of the scissors-type aerial work platform in real time, so that the operator can monitor the height information at any time, and the convenience and safety of operation are improved.

[0122] In addition, the lifting height acquisition control system further comprises an alarm module 600. When the current lifting height is inconsistent with the mechanical limiting height, or the lifting height exceeds the maximum safe lifting height limited by the safe lifting strategy, the alarm module 600 sends out an audible and visual alarm to remind the operator to timely descend to avoid risks, and further lifting operation is limited. In summary, the lifting height acquisition control system integrates data processing, display, early warning and protection and other functions, forms a complete height measurement and management system, and improves the overall performance and reliability of the system.

[0123] In some embodiments, the acquisition control system further comprises a limiting component 400 electrically connected with the control module 100. The limiting component 400 is installed at the front of the scissors arm, and is used to check the current angle data of the scissors arm when the scissors arm is lifted to the limiting height. The limiting component 400 is triggered when the scissors arm is lifted to a certain height, and is used to check the real-time angle value of the scissors arm when the scissors-type aerial work platform is lifted to the limiting height, and to check the saved calibration value, and to realize redundant checking above or below the limiting height to ensure safety.

[0124] The limiting component 400 comprises:

[0125] A first limiting switch located at the folding position of the scissors arm;

[0126] A second limiting switch located at the lower limiting position of the scissors arm during lifting;

[0127] A third limiting switch located at the upper limiting position of the scissors arm during lifting.

[0128] In terms of safety performance, the above three limiting switches are installed on the structure, the height calculated by the angle sensor and the inclination sensor is redundantly checked, the three limiting switches are triggered at the folding position, the lower limiting position and the upper limiting position of the scissors arm, respectively, the angle value of the angle sensor feedback at the three limiting switch positions of the scissors arm is recorded in the control module 100 as a check value, and the three check values have the following relationship: X1>X2>X3.

[0129] In the formula, X1 is a check value of the angle sensor when the third limit switch is triggered, X2 is a check value of the angle sensor when the second limit switch is triggered, and X3 is a check value of the angle sensor when the first limit switch is triggered. In actual application, the triggering logic of the three limit switches and the value fed back by the angle sensor are compared with the check values. In actual application, according to the different lifting positions of the scissors-type aerial work platform, there are the following five cases:

[0130] (1): When the scissors-type aerial work platform is not lifted in the folding position, the value m fed back by the angle sensor should satisfy the relationship: m = X3

[0131] (2): When the scissors arm is lifted to the limit height between the first limit switch and the second limit switch, the value m fed back by the angle sensor should satisfy the relationship: X2 > m > X3

[0132] (3): When the scissors 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

[0133] (4): When the scissors arm is lifted 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

[0134] (5): When the scissors 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

[0135] When the value m fed back by the angle sensor does not satisfy the above relationship, it is considered that the angle sensor has a fault, and the control module 100 controls the alarm module 600 to issue an alarm and controls the scissors arm to stop lifting.

[0136] In some embodiments, the scissors-type aerial work platform further comprises a scissors platform at the top end of the scissors arm, and the acquisition control system further comprises a wind speed sensor 500 electrically connected with the control module 100. The wind speed sensor 500 is installed on the scissors platform and is used to detect the current wind speed of the scissors arm at different heights in real time. 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 be lifted, when calculating the maximum safe lifting height, the current wind speed of the scissors arm at the current height needs to be considered, and the maximum height that the scissors arm can be allowed to be lifted in theory is calculated through the wind speed and the angle data of the inclination sensor, so as to ensure the safety during the lifting process.

[0137] In addition, the control system of the present application is simple in design, easy to install and maintain, and compared with the complex mechanical structure and the combination of multiple sensors, the present application reduces the complexity and maintenance cost of the equipment, and improves the availability and economy of the system.

[0138] The third aspect of the present application provides a scissors-type aerial work platform comprising the acquisition control system of the lifting height as described above. Since the scissors-type aerial work platform adopts all the embodiments of the acquisition control system described above, it has all the beneficial effects brought by the acquisition control system described above, which will not be listed one by one here.

[0139] In the description of the present application, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can be explicitly or implicitly included at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0140] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and other terms should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0141] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0142] 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 limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A method of acquiring a lifting height of a scissor-type aerial work platform, the scissor-type aerial work platform including a chassis and a scissor arm provided on the chassis, characterized by, The scissors-type aerial work platform further comprises a limiting assembly, the limiting assembly comprises a first limiting switch located at a position where the scissors arms are in the folded position, a second limiting switch located at a lower limiting position of the scissors arms during lifting, and a third limiting switch located at an upper limiting position of the scissors arms during lifting, and the acquisition method comprises the steps of: real-time acquisition of current angle data of the scissors arms during lifting of the scissors arms; calculation of a current lifting height of the scissors arms according to the current angle data; acquisition of a maximum safe lifting height of the scissors arms; stopping of the lifting of the scissors arms when the current lifting height is greater than the maximum safe lifting height; real-time output and display of the current lifting height value when the current lifting height is less than or equal to the maximum safe lifting height; before the step of calculating the current lifting height of the scissors arms according to the current angle data, the method further comprises the steps of: verification of the current angle data: when the scissors-type aerial work platform is not lifted at the folded position, if the current angle data is equal to a first angle, it is determined that the current angle data passes the verification; when the scissors arms are lifted to a position between a limiting height of the first limiting switch and a limiting height of the second limiting switch, if the current angle data is within a first angle range, it is determined that the current angle data passes the verification; when the scissors arms are lifted to the limiting height of the second limiting switch, if the current angle data is equal to a second angle, it is determined that the current angle data passes the verification; when the scissors arms are lifted to a position between the limiting height of the second limiting switch and a limiting height of the third limiting switch, if the current angle data is within a second angle range, it is determined that the current angle data passes the verification; when the scissors arms are lifted to the limiting height of the third limiting switch, if the current angle data is equal to a third angle, it is determined that the current angle data passes the verification.

2. The method of claim 1, wherein, The step of calculating the current lifting height of the scissors arms according to the current angle data comprises the steps of: acquisition of a second angle value of the scissors arms relative to a horizontal plane and a third angle value of the chassis relative to the horizontal plane; acquisition of a first angle value of the scissors arms relative to the chassis according to the second angle value and the third angle value; calculation of the current lifting height according to the first angle value, the second angle value, and the third angle value.

3. The method of claim 2, wherein the lift height of the scissors aerial work platform is obtained by: The current lifting height can be obtained by the following calculation formula: y = ax 4 - b x 3 + cx 2 + d x +e, where x = m + n + t In the above formula, y is the current lifting height of the scissors arms, x is the first angle value, m is the second angle value, n is the third angle value, t is a calibration value, and a, b, c, d, and e are all calculation coefficients.

4. The method of claim 1, wherein The step of acquiring the maximum safe lifting height of the scissors arms comprises the steps of: real-time acquisition of a current wind speed during lifting; acquisition of an influence coefficient of the current wind speed on the lifting height of the scissors arms; calculation of the maximum safe lifting height according to the current wind speed and the influence coefficient.

5. The method of claim 4, wherein the lift height of the scissors aerial work platform is obtained by: The maximum safe lifting height can be obtained by the following formula: h max =Hmax -gV wherein h max is the maximum safe lifting height, V is the current wind speed value, g is the influence of wind speed on lifting height, Hmax is the maximum lifting height of the scissor aerial work platform under windless conditions and the chassis inclination angle meets the lifting condition.

6. An acquisition control system of a lifting height of a scissors aerial work platform, characterized by, The acquisition control system adopts the acquisition method according to any one of claims 1 to 5, and the acquisition control system comprises: an angle detection assembly (300) for acquiring 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 the horizontal plane; a control module (100) electrically connected with the angle detection assembly (300), the control module (100) being configured to calculate a current lifting height of the scissor arm according to the angle value information acquired by the angle detection assembly (300), and control the scissor arm to continue lifting or stop lifting according to a maximum safe lifting height; a display module (200) in communication connection with the control module (100) and configured to display the current lifting height information transmitted by the control module (100).

7. The control system for acquiring the elevated height of a scissors aerial work platform according to claim 6, characterized in that, The acquisition control system further comprises the limiting assembly (400) electrically connected with the control module (100), the limiting assembly (400) being installed at a front portion of the scissor arm and configured to check the current angle data of the scissor arm when the scissor arm is lifted to a limiting height.

8. The control system for acquiring the elevated height of a scissors aerial work platform according to claim 6, characterized in that, The scissor-type aerial work platform further comprises a scissor platform at a top end of the scissor arm, and the acquisition control system further comprises a wind speed sensor (500) electrically connected with the control module (100), the wind speed sensor (500) being installed on the scissor platform and configured to detect a current wind speed of the scissor arm at different heights in real time.

9. A scissors-type aerial work platform, characterized in that, The acquisition control system of the lifting height comprises the acquisition control system according to any one of claims 6 to 8.

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