Aerial work platform, overload prevention control method, system and product

Abstract

The invention relates to an aerial work platform and an anti-overload control method. The aerial work platform comprises a mechanical arm, an operation accessory, a three-dimensional force weighing mechanism and a controller. The three-dimensional force weighing mechanism is arranged between the mechanical arm and the operation accessory and comprises a three-direction angle sensor and a three-dimensional force sensor which are fixed relative to the operation accessory. And the controller calculates and outputs the weight of the material carried by the operation accessory according to information input by the three-dimensional force sensor and the three-way angle sensor. The operation accessory has six degrees of freedom, multi-angle movement can be achieved, the three-dimensional force weighing mechanism is matched with the operation accessory, real-time weighing in the operation process can be achieved, overload alarming and mechanical arm movement limiting can be conducted, and the risk that the whole machine is overturned due to overload is avoided.

Description

Technical Field

[0001] The present invention belongs to the field of aerial work equipment, and particularly relates to an aerial work platform, an anti-overload control method, a system, and a product. Background Art

[0002] With the development of the economic society, the demand for aerial work construction is increasing, and some specific fields urgently need working tools to assist manual labor. The glass suction cup aerial work platform is an aerial device in a specific field, which is developed for the installation construction of large glass curtain walls. It can liberate human labor, improve work efficiency, and better protect the glass. However, when the aerial work equipment is in operation, there is a risk of component damage and the whole machine tipping over when overloaded. Therefore, it is necessary to design a suction cup attachment with a weighing function and a suction cup type aerial work platform.

[0003] Currently, the weighing method on the aerial work platform is to arrange a weighing sensor at the work platform. The position of the weighing sensor is generally at the bottom or the end of the work platform. The load of the work platform presses on the sensor, and the sensor detects the signal and then converts it into the load. The condition for this method to be realized is that the work platform should always be in a horizontal state and cannot have a large angle of inclination, which is not applicable to the work platform with multiple degrees of freedom. Summary of the Invention

[0004] In view of the above problems existing in the prior art, the present invention provides an aerial work platform, an anti-overload control method, a system, and a product, which can accurately weigh and prevent overload during the working process.

[0005] To achieve the above object, the technical solutions provided by the present invention are as follows:

[0006] In a first aspect, the present application provides an aerial work platform, including: a robotic arm, a working attachment, a three-dimensional force weighing mechanism, and a controller;

[0007] The three-dimensional force weighing mechanism includes a three-axis angle sensor and a three-dimensional force sensor that are relatively fixed to the working attachment;

[0008] The three-dimensional force sensor is configured to detect the loads exerted on the robotic arm by the working attachment after grasping the material in the front-back axial direction, the vertical axial direction, and the left-right axial direction;

[0009] The three-axis angle sensor is configured to detect the inclination angles of the three-dimensional force sensor in the front-back axial direction, the vertical axial direction, and the left-right axial direction relative to the y direction of the space absolute coordinate system;

[0010] The controller is configured to control the movement of the robotic arm after the working attachment grasps the material, and calculate and output the weight of the material carried by the working attachment according to the load detected by the three-dimensional force sensor and the inclination angle detected by the three-axis angle sensor.

[0011] Optionally, the three-dimensional force weighing mechanism further includes a connection structure. The two sides of the three-dimensional force sensor are respectively connected to the working attachment and the robotic arm through the connection structure, and the three-axis angle sensor is arranged on the connection structure between the robotic arm and the three-dimensional force sensor.

[0012] Optionally, the three-dimensional force sensor is provided with bosses on the two side surfaces facing the connection structure, and the connection structure is provided with clamping grooves adapted to the bosses on the side facing the three-dimensional force sensor, and the bosses are clamped with the clamping grooves.

[0013] Optionally, the two connection structures are connected by a safety protection pin shaft and a nut, and the safety protection pin shaft has a clearance fit with the connection structure.

[0014] Optionally, the robotic arm includes a turntable, a luffing mechanism, a luffing telescopic cylinder and a telescopic arm. The turntable is connected to the vehicle frame chassis through a slewing mechanism. The luffing mechanism is arranged on the turntable. One end of the telescopic arm is rotatably connected to the luffing mechanism, and the other end is connected to the working attachment through a swinging mechanism; one end of the luffing telescopic cylinder is hinged to the luffing mechanism, and the other end is hinged to the telescopic arm, and a triangle is formed among the luffing mechanism, the luffing telescopic cylinder and the telescopic arm.

[0015] Optionally, the aerial work platform further includes an alarm, and the signal output end of the controller is connected to the alarm and the robotic arm.

[0016] In a second aspect, the present application further provides an overload prevention control method for the aerial work platform described in the first aspect, which is executed by a controller and includes:

[0017] Controlling the movement of the robotic arm after the working attachment grabs the material;

[0018] Real-time collecting the loads applied to the robotic arm by the working attachment in the front-back axial direction, the vertical axial direction and the left-right axial direction after grabbing the material through the three-dimensional force sensor;

[0019] Real-time collecting the tilt angles of the three-dimensional force sensor in the front-back axial direction, the vertical axial direction and the left-right axial direction relative to the y direction of the space absolute coordinate system through the three-axis angle sensor;

[0020] Calculating and outputting the weight of the material carried by the working attachment according to the load detected by the three-dimensional force sensor and the tilt angle detected by the three-axis angle sensor;

[0021] In response to the weight of the material carried by the working attachment being greater than the preset material load capacity, limiting the movement of the robotic arm.

[0022] Optionally, the calculating and outputting the weight of the material carried by the working attachment according to the load detected by the three-dimensional force sensor and the tilt angle detected by the three-axis angle sensor includes calculating the weight of the material carried by the working attachment through the following calculation formula:

[0023] F y = F x’ * cosα + F y’ * cosβ + F z’ * cosγ;

[0024] Wherein, F y represents the weight of the material carried by the work attachment; F x’ , F y’ , F z’ respectively represent the loads applied by the work attachment after grasping the material on the front - rear axial direction, vertical axial direction and left - right axial direction of the robotic arm; α, β, and γ respectively represent the inclination angles of the front - rear axial direction, vertical axial direction and left - right axial direction of the three - dimensional force sensor relative to the y - direction of the spatial absolute coordinate system.

[0025] Optionally, it further includes: in response to the weight of the material carried by the work attachment being greater than the preset material load capacity, controlling an alarm to emit an alarm signal.

[0026] In a third aspect, the present application further provides an anti - overload control system for an aerial work platform, including:

[0027] An information acquisition module, configured to: collect in real time the loads applied by the work attachment after grasping the material on the front - rear axial direction, vertical axial direction and left - right axial direction of the robotic arm through a three - dimensional force sensor;

[0028] collect in real time the inclination angles of the front - rear axial direction, vertical axial direction and left - right axial direction of the three - dimensional force sensor relative to the y - direction of the spatial absolute coordinate system through a three - way angle sensor;

[0029] A data processing module, configured to: calculate and output the weight of the material carried by the work attachment according to the load detected by the three - dimensional force sensor and the inclination angle detected by the three - way angle sensor;

[0030] A control module, configured to: control the movement of the robotic arm after the work attachment grasps the material; and limit the movement of the robotic arm in response to the weight of the material carried by the work attachment being greater than the preset material load capacity.

[0031] In a fourth aspect, the present application further provides a computer program product, including a computer program / instructions, and when the computer program / instructions are executed by a processor, the steps of the anti - overload control method for the aerial work platform described in the second aspect are implemented.

[0032] Compared with the prior art, the present application has at least the following beneficial effects:

[0033] When the robotic arm drives the working attachment to move in the present invention, the three-dimensional force weighing mechanism is used in cooperation with the working attachment. No matter what attitude the working attachment is in, accurate and convenient weighing can be achieved. It can not only realize real-time weighing during the operation process, but also perform overload alarm and limit the movement of the robotic arm, avoiding the risk of the whole machine tipping over due to overload. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 Structural schematic diagram of an aerial work platform in an embodiment of the present application;

[0036] Figure 2 Structural schematic diagram of the three-dimensional force weighing mechanism in an embodiment of the present application;

[0037] Figure 3 Structural schematic diagram of the three-dimensional force sensor in an embodiment of the present application;

[0038] Figure 4 Structural schematic diagram of the connection structure in an embodiment of the present application;

[0039] Figure 5 Schematic diagram of the working attachment in an embodiment of the present application;

[0040] Description of the reference numerals:

[0041] 11. Chassis of the vehicle frame; 12. Turntable; 13. Slewing mechanism; 14. Luffing mechanism; 15. Luffing telescopic cylinder; 16. Telescopic boom; 17. Swing mechanism; 18. Counterweight; 2. Working attachment; 3. Three-dimensional force weighing mechanism; 32. Three-dimensional force sensor; 321. Boss; 322. Groove; 323. Threaded hole; 33. Connection structure; 331. Clamping groove; 34. Safety protection pin shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. The description of at least one exemplary embodiment below is actually only illustrative and in no way limits the present application and its application or use.

[0043] Embodiment 1

[0044] As Figure 1As shown in the figure, an aerial work platform includes: a robotic arm, a working attachment 2, a three-dimensional force weighing mechanism 3, and a controller; the three-dimensional force weighing mechanism 3 is arranged between the robotic arm and the working attachment 2, and the three-dimensional force weighing mechanism 3 includes a three-axis angle sensor fixedly relative to the working attachment 2 and a three-dimensional force sensor 32;

[0045] The three-dimensional force sensor is configured to detect the loads applied by the working attachment after grasping the material on the front-back axial direction x', vertical axial direction y', and left-right axial direction z' of the robotic arm, which are respectively denoted as F x’ 、F y’ 、F z’ ; the front-back axial direction x', vertical axial direction y', and left-right axial direction z' of the robotic arm are as Figure 5 shown in the figure.

[0046] The three-axis angle sensor is configured to detect the tilt angles of the front-back axial direction, vertical axial direction, and left-right axial direction of the three-dimensional force sensor 32 relative to the y direction (the direction of gravitational acceleration) of the space absolute coordinate system;

[0047] The controller is configured to control the movement of the robotic arm after the working attachment grasps the material, and calculate and output the weight of the material carried by the working attachment 2 according to the load detected by the three-dimensional force sensor 32 and the tilt angles detected by the three-axis angle sensor.

[0048] The robotic arm can drive the working attachment 2 to move at multiple angles. The three-dimensional force sensor 32 continuously detects the loads applied by the working attachment after grasping the material on the front-back axial direction, vertical axial direction, and left-right axial direction of the robotic arm, which are respectively denoted as F x’ 、F y’ 、F z’ , and the three-axis angle sensor continuously detects the tilt angles α, β, γ of the front-back axial direction, vertical axial direction, and left-right axial direction of the three-dimensional force sensor 32 relative to the y direction (i.e., the space vertical direction, also the gravity direction) of the space absolute coordinate system, and transmits the information to the controller; the controller calculates and outputs the weight F y of the material carried by the working attachment 2 through the information input by the three-dimensional force sensor 32 and the three-axis angle sensor. The weight F y of the carried material is calculated by the following formula: F y =F x’ *cosα + F y’ * cosβ + F z’ * cosγ. By using the cooperation of the three-dimensional force weighing mechanism 3 and the working attachment 2, accurate and convenient weighing can be achieved regardless of the attitude of the working attachment 2.

[0049] Embodiment 2

[0050] The difference between this embodiment and Embodiment 1 lies in that: the three-dimensional force weighing mechanism 3 further includes a connection structure 33. The two sides of the three-dimensional force sensor 32 are respectively connected to the working attachment 2 and the robotic arm through the connection structure 33, and the three-way angle sensor is arranged on the connection structure 33 between the robotic arm and the three-dimensional force sensor 32.

[0051] As Figures 2 - 4 shown, the three-dimensional force sensor 32 is clamped on the connection structures 33 on both sides and fixed by the first bolts. Specifically, in this embodiment, the two side surfaces of the three-dimensional force sensor 32 facing the connection structure 33 are provided with bosses 321, and grooves 322 are opened at the four vertex angles of the bosses 321. A clamping groove 331 adapted to the boss 321 with the groove 322 is opened on one side of the connection structure 33 facing the three-dimensional force sensor 32, and the boss 321 is clamped with the clamping groove 331; threaded holes 323 are opened at the center and the circumferential side of the center of the boss 321. A plurality of first bolts are passed through the connection structure 33, and the connection structure 33 is threadedly connected to the threaded holes 323 through the first bolts passed through it, so as to realize the fixation of the connection structure 33 and the three-dimensional force sensor 32. The clamping cooperation between the boss 321 and the connection structure 33 can prevent the first bolts from being subjected to torsional force, improving the connection reliability and safety. The working attachment 2 and the robotic arm are both fixed to the corresponding side connection structure 33 through the second bolts.

[0052] The working attachment 2 includes a suction cup frame and suction cups arranged on the suction cup frame. The three-dimensional force weighing mechanism 3 is connected to the suction cup frame, and the suction cups can be used to suck relatively smooth-surfaced objects such as glass and transport them to a certain position for installation.

[0053] To prevent safety risks caused by the damage of the three-dimensional force sensor 32 module, the two connection structures 33 on both sides of the three-dimensional force sensor 32 are connected by a safety protection pin shaft 34 and a nut. The connection structure 33 is a frame structure formed by four plates connected. The safety protection pin shaft 34 is arranged on two plates of the two connection structures 33 close to each other, and is evenly distributed at the four vertex angles of the connection structure 33. The safety protection pin shaft 34 is in clearance fit with the connection structure 33. To prevent loosening, the safety protection pin shaft 34 and the nut use an opening pin and a hexagon slotted nut respectively. In the normal working state, the safety protection pin shaft 34 is not stressed due to the clearance design and does not affect the three-dimensional force sensor 32 module to obtain data.

[0054] The robotic arm can be a six-degree-of-freedom robotic arm, so as to drive the forward and backward movement, left and right movement, up and down movement, pitching movement, left and right swing and head rotation movement of the working attachment 2.

[0055] In this embodiment, the robotic arm includes a vehicle frame chassis 11, a turntable 12, a luffing mechanism 14, a luffing telescopic cylinder 15, and a telescopic arm 16. The bottom of the turntable 12 is connected to the vehicle frame chassis 11 through a slewing mechanism 13. The luffing mechanism 14 is arranged on the turntable 12. One end of the telescopic arm 16 is rotatably connected to the luffing mechanism 14, and the other end is connected to the working attachment 2 through a swing mechanism 17. By telescoping the telescopic arm 16, the working attachment 2 can be sent to different heights. In this embodiment, the swing mechanism 17 uses a swing oil cylinder, and the swing oil cylinder can realize the left - right swing of the working attachment 2; One end of the luffing telescopic cylinder 15 is hinged to the luffing mechanism 14, and the other end is hinged to the telescopic arm 16. A triangle is formed among the fixed sections of the luffing mechanism 14, the luffing telescopic cylinder 15, and the telescopic arm 16. Through the movement and mutual cooperation of the various parts of the robotic arm, the working attachment 2 can be driven to move in all directions. To improve the operation safety, a counterweight 18 is arranged at one end of the turntable 12 where the luffing mechanism 14 is installed.

[0056] The aerial work platform further includes an alarm. The signal output end of the controller is connected to the alarm and the robotic arm. Thus, when the material carried during the operation is overweight, an overload alarm prompt is issued.

[0057] By controlling the robotic arm, the working attachment 2 has six degrees of freedom, so that it can move in multiple angles. By the mutual cooperation between the three - dimensional force sensor 32 fixed to the working attachment 2 and the three - way angle sensor, no matter what posture the working attachment 2 is in, it can be accurately and conveniently weighed; While real - time feedback of the weight of the carried material is carried out, overload alarm and robotic arm limit movement can also be carried out to avoid the risk of the whole machine tipping over due to overload.

[0058] When the aerial work platform has multiple load - carrying modes, first input the material load limit information under different load - carrying modes into the controller, and then after selecting the load - carrying mode, transfer the load - carrying mode information to the controller, then the material load limit under the corresponding load - carrying mode can be determined. Compare the weight Fy of the carried material output by the controller with the material load limit under the corresponding load - carrying mode. If it is overweight, an overload alarm and robotic arm limit movement are carried out. If it is not overweight, the operation under the corresponding mode is carried out normally.

[0059] Embodiment 3

[0060] This embodiment provides an anti - overload control method for the aerial work platform described in Embodiment 2, which is executed by the controller and includes:

[0061] Control the movement of the robotic arm after the working attachment 2 grabs the material;

[0062] Real - time collect the loads applied to the robotic arm by the working attachment 2 in the front - rear axial direction, vertical axial direction, and left - right axial direction after grabbing the material through the three - dimensional force sensor 32;

[0063] The inclination angles of the front-back axial direction, vertical axial direction, and left-right axial direction of the three-dimensional force sensor 32 relative to the y direction of the spatial absolute coordinate system are collected in real time through a three-way angle sensor;

[0064] The weight of the material carried by the work attachment is calculated and output according to the load detected by the three-dimensional force sensor 32 and the inclination angles detected by the three-way angle sensor;

[0065] In response to the weight of the material carried by the work attachment being greater than the preset material load capacity, the robotic arm is limited in movement and an alarm signal is controlled to be emitted by the alarm.

[0066] Calculating and outputting the weight of the material carried by the work attachment according to the load detected by the three-dimensional force sensor and the inclination angles detected by the three-way angle sensor includes calculating the weight of the material carried by the work attachment 2 through the following calculation formula:

[0067] F y =F x’ *cosα + F y’ * cosβ + F z’ * cosγ;

[0068] Among them, F y represents the weight of the material carried by the work attachment 2; F x’ 、F y’ 、F z’ respectively represent the loads applied by the work attachment 2 after grasping the material on the front-back axial direction, vertical axial direction, and left-right axial direction of the robotic arm; α, β, γ respectively represent the inclination angles of the front-back axial direction, vertical axial direction, and left-right axial direction of the three-dimensional force sensor 32 relative to the y direction of the spatial absolute coordinate system.

[0069] Embodiment 4

[0070] Based on the anti-overload control method of the aerial work platform described in Embodiment 3, this embodiment provides an anti-overload control system for an aerial work platform, including:

[0071] An information acquisition module, configured to: collect in real time the loads applied by the work attachment after grasping the material on the front-back axial direction, vertical axial direction, and left-right axial direction of the robotic arm through a three-dimensional force sensor;

[0072] Collect in real time the inclination angles of the front-back axial direction, vertical axial direction, and left-right axial direction of the three-dimensional force sensor relative to the y direction of the spatial absolute coordinate system through a three-way angle sensor;

[0073] A data processing module, configured to: calculate and output the weight of the material carried by the work attachment according to the load detected by the three-dimensional force sensor and the inclination angles detected by the three-way angle sensor;

[0074] The control module is configured to: control the movement of the robotic arm after the work attachment grasps the material; and limit the movement of the robotic arm in response to the weight of the material carried by the work attachment being greater than a preset material load capacity.

[0075] Embodiment 5

[0076] This embodiment also provides a computer program product, including computer programs / instructions, which when executed by a processor implement the steps of the anti-overload control method of the aerial work platform described in Embodiment 3.

[0077] In the description of the present application, it should be noted that, unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" 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 or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood through specific situations.

[0078] The above are only the preferred embodiments of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present application, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. An aerial work platform, characterized in that: include: Robotic arm, operating attachments, three-dimensional force weighing mechanism and controller; The three-dimensional force weighing mechanism includes a three-dimensional angle sensor and a three-dimensional force sensor fixed relatively to the working attachment; The three-dimensional force sensor is configured to detect the loads applied by the working attachment to the front-back axis, vertical axis and left-right axis of the robot arm after grabbing the material; The three-axis angle sensor is configured to detect the tilt angles of the front-rear axis, the vertical axis and the left-right axis of the three-dimensional force sensor relative to the y direction of the spatial absolute coordinate system; The controller is configured to control the movement of the robot arm after the working attachment grabs the material, and calculate and output the weight of the material carried by the working attachment based on the load detected by the three-dimensional force sensor and the inclination angle detected by the three-dimensional angle sensor.

2. The aerial work platform according to claim 1, characterized in that: The three-dimensional force weighing mechanism also includes a connecting structure, and the two sides of the three-dimensional force sensor are respectively connected to the working attachment and the mechanical arm through the connecting structure, and the three-way angle sensor is arranged on the connecting structure between the mechanical arm and the three-dimensional force sensor.

3. The aerial work platform according to claim 2, characterized in that: The two side surfaces of the three-dimensional force sensor facing the connection structure are provided with bosses, and a clamping groove matched with the bosses is opened on one side of the connection structure facing the three-dimensional force sensor, and the bosses are clamped with the clamping grooves.

4. The aerial work platform according to claim 2, characterized in that: The two connection structures are connected via a safety protection pin shaft and a nut, and the safety protection pin shaft is clearance-matched with the connection structure.

5. The aerial work platform according to claim 1, characterized in that: The mechanical arm includes a turntable, a luffing mechanism, a luffing telescopic cylinder and a telescopic arm. The turntable is connected to a frame chassis through a slewing mechanism. The luffing mechanism is arranged on the turntable. One end of the telescopic arm is rotatably connected to the luffing mechanism, and the other end is connected to the working attachment through a swing mechanism. One end of the luffing telescopic cylinder is hinged to the luffing mechanism, and the other end is hinged to the telescopic arm. A triangle is formed between the luffing mechanism, the luffing telescopic cylinder and the telescopic arm.

6. The aerial work platform according to claim 1, characterized in that: The aerial work platform also includes an alarm, and the signal output end of the controller is connected to the alarm and the mechanical arm.

7. An anti-overload control method for an aerial work platform according to any one of claims 1 to 6, executed by a controller, characterized in that: include: Control the movement of the robot arm after the operating attachment grabs the material; The loads applied to the front and rear axes, vertical axes, and left and right axes of the robot arm by the operating attachments after grabbing the materials are collected in real time through the three-dimensional force sensor; The tilt angles of the front-to-back axis, the vertical axis, and the left-to-right axis of the three-dimensional force sensor relative to the y direction of the spatial absolute coordinate system are collected in real time through a three-dimensional angle sensor; Calculating and outputting the weight of the material carried by the working attachment according to the load detected by the three-dimensional force sensor and the inclination angle detected by the three-dimensional angle sensor; In response to the weight of the material carried by the working attachment being greater than a preset material load capacity, the robot arm is limited.

8. The anti-overload control method for an aerial work platform according to claim 7, characterized in that: The weight of the material carried by the working attachment is calculated and outputted according to the load detected by the three-dimensional force sensor and the inclination angle detected by the three-dimensional angle sensor, including calculating the weight of the material carried by the working attachment by the following calculation formula: F y =F x’ *cosα+F y’ * cosβ+F z’ * cosγ; Among them, F y Indicates the weight of the material carried by the operating attachment; F x’ 、F y’ 、F z’ They respectively represent the loads applied by the working attachment to the front-to-back axis, vertical axis and left-to-right axis of the robot arm after grabbing the material; α, β, γ respectively represent the inclination angles of the front-to-back axis, vertical axis and left-to-right axis of the three-dimensional force sensor relative to the y direction of the absolute coordinate system in space.

9. An anti-overload control system for an aerial work platform, characterized in that: include: The information collection module is configured to: collect in real time through a three-dimensional force sensor the loads applied by the working attachment to the front and rear axes, the vertical axes, and the left and right axes of the robot arm after the material is grabbed; The tilt angles of the front-to-back axis, the vertical axis, and the left-to-right axis of the three-dimensional force sensor relative to the y direction of the spatial absolute coordinate system are collected in real time through a three-dimensional angle sensor; The data processing module is configured to: calculate and output the weight of the material carried by the working attachment according to the load detected by the three-dimensional force sensor and the inclination angle detected by the three-dimensional angle sensor; The control module is configured to: control the movement of the robot arm after the working attachment grabs the material; and limit the movement of the robot arm in response to the weight of the material carried by the working attachment being greater than a preset material load capacity.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the anti-overload control method for an aerial work platform described in any one of claims 7 to 8 are implemented.

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