Walking control method and device of aerial work platform, platform and medium

Abstract

The invention discloses a walking control method and device for an aerial work platform, the platform and a medium, and the method comprises the steps: determining a first walking speed of the aerial work platform according to the maximum linear speed of the working platform and a steering walking speed coefficient used for representing the relation between the linear speed of the working platform and the walking speed of the aerial work platform; the second walking speed of the aerial work platform is determined according to the actual height of the work platform and the preset arm frame unfolding walking speed; when it is detected that the steering angle of any tire in the chassis is larger than or equal to a set steering judgment angle, the minimum value of the preset arm support unfolding walking speed, the preset arm support storage walking speed, the first walking speed and the second walking speed is determined as a platform walking speed limiting value; and the current limit value output to the walking driving device is determined according to the platform walking speed limit value, so that the walking speed of the aerial work platform does not exceed the platform walking speed limit value, and the safety and comfort of the aerial work platform for working are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial work platforms, and particularly to a walking control method, device, platform and medium for an aerial work platform. Background Art

[0002] An aerial work platform, as a mechanical device for lifting personnel, tools or materials to high altitudes for work, can be divided into self-propelled and non-self-propelled types according to the moving mode. For a self-propelled aerial work platform, how to reasonably control its walking speed has become an important factor affecting the safety and comfort of the work.

[0003] In the prior art, the walking speed of an aerial work platform is usually controlled by a driver manually controlling the opening degree of a handle according to his own experience.

[0004] However, the method of completely relying on the driver's experience to control the walking speed of the aerial work platform is likely to cause the walking speed of the aerial work platform to be too fast when the operator has insufficient experience or is fatigued, thus affecting the safety and comfort of the aerial work. Summary of the Invention

[0005] The present invention provides a walking control method, device, equipment and medium for an aerial work platform, which solves the problem that the prior art completely relies on the operator's experience to control the walking speed of the aerial work platform, easily leading to too fast walking speed of the aerial work platform, ensures the stability of the aerial work platform during turning and walking, and improves the safety and comfort of working with the aerial work platform.

[0006] In a first aspect, an embodiment of the present invention provides a walking control method for an aerial work platform, which is executed by a controller configured on the aerial work platform. The aerial work platform further includes a walking and slewing mechanism, a boom, a work platform and a walking drive device, and the walking and slewing mechanism includes a chassis. The method includes: determining a turning walking speed coefficient for representing the relationship between the linear speed of the work platform and the walking speed of the aerial work platform according to the pose data of the aerial work platform; determining a first walking speed of the aerial work platform according to a preset maximum linear speed of the work platform and the turning walking speed coefficient; determining a second walking speed of the aerial work platform according to the actual height of the work platform and a preset boom deployment walking speed; when it is detected that the turning angle of any tire in the chassis is greater than or equal to a set turning determination angle, determining the minimum value among the preset boom deployment walking speed, the preset boom retraction walking speed, the first walking speed and the second walking speed as the platform walking speed limit value; determining a current limit value output to the walking drive device according to the platform walking speed limit value, so that the walking speed of the aerial work platform does not exceed the platform walking speed limit value.

[0007] Optionally, the method further includes: when it is detected that the steering angle of each tire in the chassis is less than a set steering determination angle, obtaining the boom retraction state; if the boom retraction state is boom retracted, determining the platform traveling speed limit as a preset boom retracted traveling speed; if the boom retraction state is boom extended, determining the platform traveling speed limit as a second traveling speed.

[0008] Optionally, determining a steering traveling speed coefficient for representing the relationship between the linear speed of the work platform and the traveling speed of the aerial work platform according to the pose data of the aerial work platform includes: comparing the steering angles of the tires in the chassis to obtain a target steering angle, and determining the turning radius of the aerial work platform according to the target steering angle; obtaining the boom pose data, the relative rotation angle between the boom and the chassis, and the steering angle between the turning radius of the aerial work platform and the preset initial boom position, and determining the working range of the aerial work platform according to the boom pose data; determining a steering traveling speed coefficient for representing the relationship between the linear speed of the work platform and the traveling speed of the aerial work platform according to the relative rotation angle between the boom and the chassis, the steering angle between the turning radius of the aerial work platform and the preset initial boom position, the turning radius of the aerial work platform, and the working range.

[0009] Optionally, determining a steering traveling speed coefficient for representing the relationship between the linear speed of the work platform and the traveling speed of the aerial work platform according to the relative rotation angle between the boom and the chassis, the steering angle between the turning radius of the aerial work platform and the preset initial boom position, the turning radius of the aerial work platform, and the working range includes: squaring the turning radius of the aerial work platform to obtain a first squared calculation result, and squaring the working range of the aerial work platform to obtain a second squared calculation result; calculating the subtraction result between the steering angle and the relative rotation angle to obtain a subtraction angle, and calculating the cosine value of the subtraction angle; calculating the multiplication result among a first preset value, the turning radius, the relative rotation angle, and the cosine value to obtain a first multiplication result; calculating the addition result of the first squared calculation result and the second squared calculation result to obtain a first addition result, and calculating the subtraction result between the first addition result and the first multiplication result to obtain a first subtraction result; calculating the square root of the first subtraction result, and dividing the turning radius by the square root of the first subtraction result to obtain a steering traveling speed coefficient for representing the relationship between the linear speed of the work platform and the traveling speed of the aerial work platform.

[0010] Optionally, determining the second traveling speed of the aerial work platform according to the actual height of the work platform and the preset boom extended traveling speed includes: determining a height traveling speed coefficient according to the actual height of the work platform, a preset height related coefficient, and a preset exponential coefficient; determining the second traveling speed of the aerial work platform according to the height traveling speed coefficient and the preset boom extended traveling speed.

[0011] Optionally, according to the actual height of the workbench, the preset height correlation coefficient, and the preset exponential coefficient, determine the height walking speed coefficient, including: constructing an exponential function with the natural common sense as the base and the multiplication result of the preset exponential coefficient and the actual height of the workbench as the exponent; calculating the division result of the exponential function and the preset height correlation coefficient, and using the second preset value to subtract the division result of the exponential function and the preset height correlation coefficient to obtain the height walking speed coefficient.

[0012] Optionally, the aerial work platform further includes a handle for outputting current to the travel drive device; determining the current limit value output to the travel drive device according to the platform travel speed limit value, including: obtaining the maximum current value output to the travel drive device when the handle is at the maximum opening degree, and the maximum travel speed reached by the aerial work platform at the maximum current value; multiplying the maximum current value by the platform travel speed limit value to obtain the multiplication result of the current and speed; dividing the multiplication result of the current and speed by the maximum travel speed to obtain the current limit value output to the travel drive device.

[0013] In a second aspect, an embodiment of the present invention further provides a travel control device for an aerial work platform, which is executed by a controller configured on the aerial work platform. The aerial work platform further includes a travel and slewing mechanism, a chassis, a workbench, and a travel drive device, and the travel and slewing mechanism includes the chassis; the device includes: a speed coefficient determination module for determining a steering travel speed coefficient representing the relationship between the linear speed of the workbench and the travel speed of the aerial work platform according to the pose data of the aerial work platform; a first speed determination module for determining the first travel speed of the aerial work platform according to the preset maximum linear speed of the workbench and the steering travel speed coefficient; a second speed determination module for determining the second travel speed of the aerial work platform according to the actual height of the workbench and the preset boom extension travel speed; a speed limit determination module for, when detecting that the steering angle of any tire in the chassis is greater than or equal to the set steering determination angle, determining the minimum value among the preset boom extension travel speed, the preset boom stowed travel speed, the first travel speed, and the second travel speed as the platform travel speed limit value; a travel speed limit module for determining the current limit value output to the travel drive device according to the platform travel speed limit value, so that the travel speed of the aerial work platform does not exceed the platform travel speed limit value.

[0014] In a third aspect, an embodiment of the present invention further provides an aerial work platform, which includes the controller provided in any embodiment of the present invention; the controller includes at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the travel control method of the aerial work platform provided in any embodiment of the present invention.

[0015] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing computer instructions for causing a processor to implement the walking control method of an aerial work platform provided in any embodiment of the present invention when executed.

[0016] The technical solution provided by the embodiment of the present invention, when it is detected that the steering angle of any tire in the chassis is greater than or equal to the set steering determination angle, determines the minimum value among the preset boom extended walking speed, the preset boom retracted walking speed, the first walking speed, and the second walking speed as the platform walking speed limit value, and determines the current limit value output to the walking drive device according to the platform walking speed limit value, so that the walking speed of the aerial work platform does not exceed the platform walking speed limit value. In this way, while accurately determining the platform walking speed limit value, it can effectively control the walking speed of the aerial work platform not to exceed the platform walking speed limit value, ensuring the smoothness of the aerial work platform during turning and walking, and improving the safety and comfort of using the aerial work platform for operations.

[0017] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 is a flowchart of a walking control method of an aerial work platform provided in Embodiment 1 of the present invention.

[0020] Figure 2 is a schematic diagram of an aerial work platform provided in an embodiment of the present invention.

[0021] Figure 3 is a flowchart of another walking control method of an aerial work platform provided in Embodiment 2 of the present invention.

[0022] Figure 4 is a schematic diagram of a mathematical model of an aerial work platform during turning and walking provided in an embodiment of the present invention.

[0023] Figure 5It is a schematic diagram for reflecting the change trend of the height walking speed coefficient according to an embodiment of the present invention.

[0024] Figure 6 It is a schematic structural diagram of a walking control device for an aerial work platform according to Embodiment 3 of the present invention.

[0025] Figure 7 It is a schematic structural diagram of an electronic device provided in Embodiment 4 of the present invention.

[0026] Reference numerals: Electronic device 10; Processor 11; Read-only memory 12; Random access memory 13; Bus 14; Input / output interface 15; Input unit 16; Output unit 17; Storage unit 18; Communication unit 19. Detailed implementation manners

[0027] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment 1

[0030] Figure 1 It is a flowchart of a walking control method for an aerial work platform according to Embodiment 1 of the present invention. This embodiment is applicable to the situation of controlling the walking speed of the aerial work platform. This method can be executed by the walking control device of the aerial work platform. The walking control device of the aerial work platform can be implemented in the form of hardware and / or software, and the walking control device of the aerial work platform can be configured in the controller of the aerial work platform.

[0031] A walking control method for an aerial work platform disclosed in this embodiment is executed by a controller configured on the aerial work platform. The above-mentioned aerial work platform includes a walking and slewing mechanism, a boom, a workbench, a controller, and a walking drive device. The above-mentioned walking and slewing mechanism includes a chassis.

[0032] As Figure 1 shown, a walking control method for an aerial work platform disclosed in this embodiment includes S110 - S150.

[0033] S110. Determine a steering walking speed coefficient for representing the relationship between the linear speed of the workbench and the walking speed of the aerial work platform according to the pose data of the aerial work platform.

[0034] In this embodiment, the aerial work platform can be understood as a mechanical device for lifting personnel, tools, or materials to high altitudes for operations. The pose data can be understood as data for reflecting the position and pose of the aerial work platform, such as the turning radius and working range of the aerial work platform.

[0035] In this step, specifically, the steering walking speed coefficient can be determined according to at least three of the turning radius of the aerial work platform, the working range, the steering angle between the turning radius and the preset initial position of the boom, and the relative slewing angle between the boom and the chassis.

[0036] In a specific example, on the basis that the walking and slewing mechanism of the aerial work platform includes a chassis, it can be judged whether a turntable is further included in the walking and slewing mechanism. If so, the steering walking speed coefficient can be determined according to the turning radius of the aerial work platform, the working range, the steering angle between the turning radius and the preset initial position of the boom, and the relative slewing angle between the boom and the chassis. If not, it can be considered that the boom and the chassis rotate synchronously without relative movement. At this time, the steering walking speed coefficient can be determined only according to the turning radius of the aerial work platform, the working range, and the steering angle between the turning radius and the preset initial position of the boom.

[0037] S120. Determine the first walking speed of the aerial work platform according to the preset maximum linear speed of the workbench and the steering walking speed coefficient.

[0038] In this embodiment, the maximum linear speed of the workbench can be understood as the maximum linear speed that the workbench is allowed to reach. The maximum linear speed of the workbench can be determined according to user requirements and historical experience. For example, the maximum linear speed of the workbench can be set to any value less than or equal to 0.7 meters per second.

[0039] In this step, specifically, the first walking speed of the aerial work platform can be determined according to the product of the maximum linear speed of the workbench and the steering walking speed coefficient.

[0040] S130. Determine the second traveling speed of the aerial work platform according to the actual height of the workbench and the preset traveling speed when the boom is extended.

[0041] In this step, specifically, since when the boom of the aerial work platform is extended, the higher the actual height of the workbench, the worse the safety of performing operations based on the workbench. Therefore, the height-traveling speed coefficient representing the relationship between the preset traveling speed when the boom is extended and the traveling speed of the aerial work platform can be determined according to the actual height of the workbench. Then, the second traveling speed of the aerial work platform can be determined according to the product of the actual height of the workbench and the preset traveling speed when the boom is extended.

[0042] S140. When it is detected that the steering angle of any tire in the chassis is greater than or equal to the set steering determination angle, determine the minimum value among the preset traveling speed when the boom is extended, the preset traveling speed when the boom is retracted, the first traveling speed, and the second traveling speed as the platform traveling speed limit.

[0043] In this embodiment, the steering determination angle can be understood as the steering angle determined according to user requirements and historical experience, such as 5°. The preset traveling speed when the boom is extended can be understood as the pre-defined traveling speed of the aerial work platform when the boom is extended. The preset traveling speed when the boom is retracted can be understood as the pre-defined traveling speed of the aerial work platform when the boom is retracted.

[0044] In this step, specifically, the preset traveling speed when the boom is extended, the preset traveling speed when the boom is retracted, the first traveling speed, and the second traveling speed can be compared, and the minimum value among the preset traveling speed when the boom is extended, the preset traveling speed when the boom is retracted, the first traveling speed, and the second traveling speed can be determined as the platform traveling speed limit according to the comparison result.

[0045] S150. Determine the current limit output to the traveling drive device according to the platform traveling speed limit, so that the traveling speed of the aerial work platform does not exceed the platform traveling speed limit.

[0046] In this embodiment, the traveling drive device can be understood as a device for adjusting the traveling speed of the aerial work platform according to the received current limit, such as a traveling pump and a traveling motor, etc. The configuration position of the traveling drive device on the aerial work platform can be determined according to user requirements. For example, the traveling drive device can be configured in the chassis of the aerial work platform.

[0047] In this step, specifically, after determining the current limit output to the traveling drive device according to the platform traveling speed limit, the current limit can be compared with the minimum current value required for the aerial work platform to travel, and when the current limit is less than the minimum current value, the current limit can be updated to the minimum current value.

[0048] In the technical solution of this embodiment, based on the pose data of the aerial work platform, a steering and traveling speed coefficient representing the relationship between the linear speed of the workbench and the traveling speed of the aerial work platform is determined; according to the preset maximum linear speed of the workbench and the steering and traveling speed coefficient, the first traveling speed of the aerial work platform is determined; according to the actual height of the workbench and the preset traveling speed when the boom is extended, the second traveling speed of the aerial work platform is determined; when it is detected that the steering angle of any tire in the chassis is greater than or equal to the set steering determination angle, the minimum value among the preset traveling speed when the boom is extended, the preset traveling speed when the boom is retracted, the first traveling speed, and the second traveling speed is determined as the platform traveling speed limit value; according to the platform traveling speed limit value, the current limit value output to the traveling drive device is determined, so that the traveling speed of the aerial work platform does not exceed the platform traveling speed limit value. This technical means solves the problem in the prior art that the traveling speed of the aerial work platform is completely controlled depending on the operator's experience, which easily leads to too fast traveling speed of the aerial work platform, ensures the stability of the aerial work platform during steering and traveling, and improves the safety and comfort of working with the aerial work platform.

[0049] Embodiment 2

[0050] Figure 2 is a schematic diagram of an aerial work platform provided according to an embodiment of the present invention. This embodiment is a further optimization and expansion based on the above embodiments and can be combined with each optional technical solution in the above embodiments. As Figure 2 shown, an aerial work platform disclosed in this embodiment includes a chassis, a turntable, a boom, a workbench, a tire steering encoder, a boom length angle sensor, a turntable slewing encoder, a controller (not shown in the figure), and a traveling drive device (not shown in the figure). Among them, a tire steering encoder is provided on each tire of the chassis.

[0051] Figure 3 is a flowchart of another traveling control method of an aerial work platform provided according to Embodiment 2 of the present invention. As Figure 3 shown, a traveling control method of an aerial work platform disclosed in this embodiment includes S210 - S290.

[0052] S210. Compare the steering angles of the tires in the chassis to obtain a target steering angle, and determine the turning radius of the aerial work platform according to the target steering angle.

[0053] In this step, specifically, when it is detected that the aerial work platform starts, the steering angles of each tire in the chassis can be obtained in real time according to the tire steering encoder. Among them, when the steering directions of the tires are different, the positive and negative values of their steering angles are also different. For example, the steering angle can be recorded as a positive value when the tire turns to the left, and the steering angle can be recorded as a negative value when the tire turns to the right. Then, the steering angles of each tire in the chassis can be compared, and according to the comparison result and the tire steering direction, the tire with the largest or smallest steering angle is used as the target tire, and the steering angle of the target tire is used as the target steering angle. Finally, the target steering angle, as well as the wheelbase and track width of the aerial work platform, can be substituted into the Ackermann steering calculation formula to calculate the turning radius of the target tire, and the turning radius of the target tire is determined as the turning radius of the aerial work platform.

[0054] S220. Obtain the boom pose data, the relative rotation angle between the boom and the chassis, and the steering angle between the turning radius of the aerial work platform and the preset initial boom position, and determine the working range of the aerial work platform according to the boom pose data.

[0055] In this embodiment, the boom pose data can be understood as the data used to reflect the position and pose of the boom, such as the boom extension length and angle, etc. The preset initial boom position can be understood as the position where the boom is parallel to the ground. In practical applications, it can be determined whether the steering angle between the turning radius and the preset initial boom position is positive or negative according to the steering direction of the chassis and the steering direction of the boom. For example, if the steering directions of the chassis and the boom are the same, it is determined that the steering angle between the turning radius and the preset initial boom position is positive, and if the steering directions of the chassis and the boom are different, it is determined that the steering angle between the turning radius and the preset initial boom position is negative.

[0056] In this step, specifically, the boom extension length and angle can be obtained through the boom length-angle sensor, the relative rotation angle between the boom and the chassis can be obtained through the turntable rotation encoder, and the working range of the aerial work platform can be determined according to the boom extension length and angle.

[0057] S230. Determine the steering walking speed coefficient used to represent the relationship between the linear speed of the work platform and the walking speed of the aerial work platform according to the relative rotation angle between the boom and the chassis, the steering angle between the turning radius of the aerial work platform and the preset initial boom position, and the turning radius and working range of the aerial work platform.

[0058] In this step, specifically, it can be based on, for example Figure 4The mathematical model shown is used to calculate the subtraction angle obtained by subtracting the relative slewing angle from the steering angle, and determine the steering walking speed coefficient based on the turning radius, working range, subtraction angle, and the relationships among the turning radius, working range, and subtraction angle. Among them, is the steering angle of the left front tire corresponding to the forward direction of the aerial work platform, is the steering angle of the left rear tire corresponding to the forward direction of the aerial work platform, is the steering angle of the right front tire corresponding to the forward direction of the aerial work platform, is the steering angle of the right rear tire corresponding to the forward direction of the aerial work platform.

[0059] Optionally, based on the relative slewing angle between the boom and the chassis, the steering angle between the turning radius of the aerial work platform and the preset initial position of the boom, and the turning radius and working range of the aerial work platform, determine the steering walking speed coefficient representing the relationship between the linear speed of the work platform and the walking speed of the aerial work platform, including: calculating the square of the turning radius of the aerial work platform to obtain the first squared calculation result, and calculating the square of the working range of the aerial work platform to obtain the second squared calculation result; calculating the subtraction result between the steering angle and the relative slewing angle to obtain the subtraction angle, and calculating the cosine value of the subtraction angle; calculating the multiplication result among the first preset value, turning radius, relative slewing angle, and cosine value to obtain the first multiplication result; calculating the addition result of the first squared calculation result and the second squared calculation result to obtain the first addition result, and calculating the subtraction result between the first addition result and the first multiplication result to obtain the first subtraction result; calculating the square root of the first subtraction result, and dividing the turning radius by the square root of the first subtraction result to obtain the steering walking speed coefficient representing the relationship between the linear speed of the work platform and the walking speed of the aerial work platform.

[0060] Specifically, the steering walking speed coefficient can be determined through the following specific calculation formula:

[0061] .

[0062] Among them, is the steering walking speed coefficient, is the turning radius of the aerial work platform, is the working range of the aerial work platform, is the steering angle between the turning radius of the aerial work platform and the preset initial position of the boom, is the relative slewing angle between the boom and the chassis.

[0063] S240. Determine the first walking speed of the aerial work platform according to the preset maximum linear speed of the work platform and the steering walking speed coefficient.

[0064] In this step, specifically, when the aerial work platform turns, as the steering angle of the tire increases, the turning radius becomes smaller. Therefore, to avoid excessive linear speed at the work platform and too slow traveling speed, the product of the maximum linear speed of the work platform and the steering traveling speed coefficient can be determined as the first traveling speed of the aerial work platform.

[0065] In a specific example, the first traveling speed of the aerial work platform can be determined by the following specific calculation formula:

[0066] 。

[0067] Wherein, is the first traveling speed of the aerial work platform, is the preset maximum linear speed of the work platform, is the steering traveling speed coefficient.

[0068] Through the above settings, when the aerial work platform turns, the speed limit of the aerial work platform can be determined in real time according to the tire steering angle, the relative rotation angle between the boom and the chassis, and the boom pose, avoiding the situation that due to the long boom of the aerial work platform, large tire steering angle and too fast traveling speed, the linear speed of the work platform is too large, resulting in the people or objects on the work platform being impacted or even thrown out, improving the safety and comfort of operating the aerial work platform.

[0069] S250. Determine the height traveling speed coefficient according to the actual height of the work platform, the preset height correlation coefficient and the preset exponential coefficient.

[0070] In this embodiment, the preset height correlation coefficient and the preset exponential coefficient can be understood as coefficients related to the maximum height that the work platform can reach. The height traveling speed coefficient can be understood as a coefficient that decreases as the actual height of the work platform increases as shown in Figure 5 。

[0071] In this step, specifically, the actual height of the work platform can be determined according to the boom extension length and angle, and an exponential function can be constructed based on the actual height of the work platform, the preset height correlation coefficient and the preset exponential coefficient. Then, the height traveling speed coefficient can be determined according to the subtraction result of the second preset value and the exponential function. In practical applications, to ensure the safety of the operator working on the work platform, the height traveling speed coefficient can be set to be less than the preset coefficient value, and the above preset coefficient value can be set according to historical experience.

[0072] Optionally, according to the actual height of the workbench, the preset height correlation coefficient, and the preset exponential coefficient, determine the height walking speed coefficient, including: constructing an exponential function with the base of natural common sense and the product of the preset exponential coefficient and the actual height of the workbench as the exponent; calculating the division result of the exponential function by the preset height correlation coefficient, and using the second preset value to subtract the division result of the exponential function by the preset height correlation coefficient to obtain the height walking speed coefficient. Among them, the second preset value can be understood as a value determined according to user needs and historical experience, such as 1.

[0073] Specifically, the height walking speed coefficient can be determined by the following specific calculation formula:

[0074] 。

[0075] Among them, is the height walking speed coefficient, is the preset height correlation coefficient, is the preset exponential coefficient, is the actual height of the workbench. In actual applications, the preset exponential coefficient can be a value that can ensure the walking speed of the aerial work platform changes from fast to slow first according to the maximum height that the workbench can reach.

[0076] Through the above settings, the walking speed of the aerial work platform can decrease from slow to fast as the actual height of the workbench gradually increases, which can avoid the situation that the walking speed of the aerial work platform drops too fast when the actual height of the workbench is relatively low, and the walking speed of the aerial work platform drops too slowly when the actual height of the workbench is relatively high. While ensuring the normal use of the aerial work platform, the safety of using the aerial work platform for operations is improved.

[0077] S260. Determine the second walking speed of the aerial work platform according to the height walking speed coefficient and the preset boom extension walking speed.

[0078] In this step, specifically, the second walking speed of the aerial work platform can be determined according to the product of the height walking speed coefficient and the preset boom extension walking speed.

[0079] In a specific example, the second walking speed of the aerial work platform can be determined by the following specific calculation formula:

[0080] 。

[0081] Among them, is the second walking speed of the aerial work platform, is the height walking speed coefficient, is the preset boom extension walking speed.

[0082] With the above settings, when the boom is deployed, the speed limit of the aerial work platform can be determined according to the actual height of the workbench, so that the speed limit of the aerial work platform gradually decreases as the actual height of the workbench increases, thereby ensuring the safety and comfort of the operators at the workbench.

[0083] S270. When it is detected that the steering angle of any tire in the chassis is greater than or equal to the set steering determination angle, determine the minimum value among the preset boom deployment traveling speed, the preset boom retraction traveling speed, the first traveling speed, and the second traveling speed as the platform traveling speed limit.

[0084] In this step, specifically, the boom deployment traveling speed and the boom retraction traveling speed can be predefined by the following formula:

[0085] .

[0086] Wherein, is the preset boom retraction traveling speed, is the preset boom deployment traveling speed, is the extension length of the boom in the horizontal direction, is the horizontal direction determination value, is the extension length of the boom in the height direction, is the height direction determination value. In practical applications, if the extension length of the boom in the horizontal direction is less than the horizontal direction determination value and the extension length of the boom in the height direction is less than the height direction determination value, then represents ; if the extension length of the boom in the horizontal direction is greater than or equal to the horizontal direction determination value, or the extension length of the boom in the height direction is greater than or equal to the height direction determination value, then represents .

[0087] S280. When it is detected that the steering angle of each tire in the chassis is less than the set steering determination angle, obtain the boom retraction and deployment state. If the boom retraction and deployment state is boom retraction, determine the platform traveling speed limit as the preset boom retraction traveling speed; if the boom retraction and deployment state is boom deployment, determine the platform traveling speed limit as the second traveling speed.

[0088] In this step, specifically, it is possible to determine whether the extension length of the boom in the horizontal direction is less than the horizontal direction determination value, and whether the extension length of the boom in the height direction is less than the height direction determination value. If the extension length of the boom in the horizontal direction is less than the horizontal direction determination value and the extension length of the boom in the height direction is less than the height direction determination value, then it is determined that the boom retraction / extension state is boom stowed, and at this time, the platform travel speed limit can be determined as the preset boom stowed travel speed. If the extension length of the boom in the horizontal direction is greater than or equal to the horizontal direction determination value, or the extension length of the boom in the height direction is greater than or equal to the height direction determination value, then it is determined that the boom retraction / extension state is boom extended, and at this time, the platform travel speed limit can be determined as the second travel speed. Among them, the horizontal direction determination value can be used to determine the retraction / extension state of the boom in the horizontal direction, and the height direction determination value can be used to determine the retraction / extension state of the boom in the height direction.

[0089] Furthermore, the above S270 and S280 can be specifically illustrated by the following calculation formulas:

[0090] 。

[0091] Among them, is the platform travel speed limit, is the preset boom stowed travel speed, is the extension length of the boom in the horizontal direction, is the horizontal direction determination value, is the extension length of the boom in the height direction, is the height direction determination value, is the steering angle of the target tire, is the second travel speed of the aerial work platform, is the preset boom stowed travel speed or the preset boom extended travel speed.

[0092] S290. Determine the current limit output to the travel drive device according to the platform travel speed limit, so that the travel speed of the aerial work platform does not exceed the platform travel speed limit.

[0093] In this step, specifically, it is possible to obtain the maximum current value output to the travel drive device when the handle is at the maximum opening, and the maximum travel speed reached by the aerial work platform at the maximum current value, and determine the current limit output to the travel drive device according to the maximum current value, the maximum travel speed and the platform travel speed limit.

[0094] Further, according to the maximum current, the maximum traveling speed, and the platform traveling speed limit, determining the current limit output to the traveling drive device may include: multiplying the maximum current by the platform traveling speed limit to obtain a current-speed multiplication result, and dividing the current-speed multiplication result by the maximum traveling speed to obtain the current limit output to the traveling drive device.

[0095] In a specific example, the current limit output to the traveling drive device may be determined through the following specific calculation formula:

[0096] 。

[0097] Wherein, is the current limit, is the maximum current, is the platform traveling speed limit, is the maximum traveling speed.

[0098] The technical solution of this embodiment, when it is detected that the steering angle of any tire in the chassis is greater than or equal to the set steering determination angle, determines the minimum value among the preset boom deployment traveling speed, the preset boom retraction traveling speed, the first traveling speed, and the second traveling speed as the platform traveling speed limit; when it is detected that the steering angle of each tire in the chassis is less than the set steering determination angle and the boom retraction / extension state is obtained, determines the platform traveling speed limit as the preset boom retraction traveling speed or the second traveling speed according to the boom retraction / extension state, can achieve more comprehensive speed limit control for the aerial work platform, and further improves the safety and comfort of operating the aerial work platform.

[0099] Embodiment III

[0100] Figure 6 FIG. is a schematic structural diagram of a traveling control device for an aerial work platform according to Embodiment III of the present invention. This embodiment is applicable to the situation of controlling the traveling speed of the aerial work platform. The traveling control device of the aerial work platform may be implemented in the form of hardware and / or software and may be configured in the controller of the aerial work platform. Among them, the aerial work platform further includes a boom, a chassis, a workbench, and a traveling drive device.

[0101] As Figure 6 shown, the traveling control device for the aerial work platform disclosed in this embodiment includes a speed coefficient determination module 61, a first speed determination module 62, a second speed determination module 63, a speed limit determination module 64, and a traveling speed limit module 65.

[0102] Specifically, a speed coefficient determination module 61 is configured to determine a steering and traveling speed coefficient for representing the relationship between the linear speed of the workbench and the traveling speed of the aerial work platform according to the pose data of the aerial work platform.

[0103] A first speed determination module 62 is configured to determine a first traveling speed of the aerial work platform according to a preset maximum linear speed of the workbench and the steering and traveling speed coefficient.

[0104] A second speed determination module 63 is configured to determine a second traveling speed of the aerial work platform according to the actual height of the workbench and a preset traveling speed for boom deployment.

[0105] A speed limit determination module 64 is configured to, when detecting that the steering angle of any tire in the chassis is greater than or equal to a set steering determination angle, determine the minimum value among the preset traveling speed for boom deployment, the preset traveling speed for boom retraction, the first traveling speed, and the second traveling speed as the platform traveling speed limit.

[0106] A traveling speed limitation module 65 is configured to determine a current limit output to the traveling drive device according to the platform traveling speed limit, so that the traveling speed of the aerial work platform does not exceed the platform traveling speed limit.

[0107] In the technical solution of this embodiment, through the mutual cooperation of the speed coefficient determination module 61, the first speed determination module 62, the second speed determination module 63, the speed limit determination module 64, and the traveling speed limitation module 65, the problem in the prior art that the traveling speed of the aerial work platform is completely controlled depending on the experience of the operator, which easily leads to too fast traveling speed of the aerial work platform, is solved. The smoothness of the aerial work platform during steering and traveling is ensured, and the safety and comfort of using the aerial work platform for operations are improved.

[0108] Optionally, the device further includes a limited speed determination module, which is configured to: when detecting that the steering angle of each tire in the chassis is less than the set steering determination angle, obtain the boom retraction / extension state; if the boom retraction / extension state is boom retraction, determine the platform traveling speed limit as the preset traveling speed for boom retraction; if the boom retraction / extension state is boom deployment, determine the platform traveling speed limit as the second traveling speed.

[0109] Optionally, the speed coefficient determination module 61 includes: a turning radius determination unit configured to compare the steering angles of the tires in the chassis to obtain a target steering angle, and determine the turning radius of the aerial work platform according to the target steering angle; an operating range determination unit configured to obtain the boom pose data, the relative slewing angle between the boom and the chassis, and the steering angle between the turning radius of the aerial work platform and the preset initial boom position, and determine the operating range of the aerial work platform according to the boom pose data; and a steering speed coefficient determination unit configured to determine a steering walking speed coefficient representing the relationship between the linear speed of the work platform and the traveling speed of the aerial work platform according to the relative slewing angle between the boom and the chassis, the steering angle between the turning radius of the aerial work platform and the preset initial boom position, and the turning radius and the operating range of the aerial work platform.

[0110] Optionally, the steering speed coefficient determination unit is specifically configured to: square the turning radius of the aerial work platform to obtain a first squared calculation result, and square the operating range of the aerial work platform to obtain a second squared calculation result; calculate the subtraction result between the steering angle and the relative slewing angle to obtain a subtraction angle, and calculate the cosine value of the subtraction angle; calculate the multiplication result among a first preset value, the turning radius, the relative slewing angle, and the cosine value to obtain a first multiplication result; calculate the addition result of the first squared calculation result and the second squared calculation result to obtain a first addition result, and calculate the subtraction result between the first addition result and the first multiplication result to obtain a first subtraction result; calculate the square root of the first subtraction result, and divide the turning radius by the square root of the first subtraction result to obtain a steering walking speed coefficient representing the relationship between the linear speed of the work platform and the traveling speed of the aerial work platform.

[0111] Optionally, the second speed determination module 63 includes: a height speed coefficient determination unit configured to determine a height walking speed coefficient according to the actual height of the work platform, a preset height correlation coefficient, and a preset exponential coefficient; and a second speed determination unit configured to determine a second traveling speed of the aerial work platform according to the height walking speed coefficient and a preset boom deployment traveling speed.

[0112] Optionally, the second speed determination unit is specifically configured to: construct an exponential function with the base of natural common sense and the exponent of the multiplication result of the preset exponential coefficient and the actual height of the work platform; calculate the division result of the exponential function and the preset height correlation coefficient, and subtract the division result of the exponential function and the preset height correlation coefficient from a second preset value to obtain the height walking speed coefficient.

[0113] Optionally, the walking speed limit module 65 is specifically configured to: when the aerial work platform further includes a current handle for outputting current to the walking drive device, obtain the maximum current value output to the walking drive device when the handle is at the maximum opening degree, and the maximum walking speed achieved by the aerial work platform at the maximum current value; multiply the maximum current value by the platform walking speed limit value to obtain a current speed multiplication result; divide the current speed multiplication result by the maximum walking speed to obtain the current limit value output to the walking drive device.

[0114] The walking control device of the aerial work platform provided by the embodiments of the present invention can execute the walking control method of the aerial work platform provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. The content not described in detail in this embodiment can be referred to the description in any method embodiment of this application.

[0115] Embodiment 4

[0116] Figure 7 The structural schematic diagram of the electronic device 10 that can be used to implement the embodiments of the present invention is shown.

[0117] As Figure 7 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory 12, a random access memory 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory 12 or the computer program loaded from the storage unit 18 into the random access memory 13. In the random access memory 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the read-only memory 12, and the random access memory 13 are connected to each other through a bus 14. The input / output interface 15 is also connected to the bus 14. Specifically, the processor 11 can be a controller on the aerial work platform.

[0118] Multiple components in the electronic device 10 are connected to the input / output interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0119] The processor 11 may be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the walking control method of the aerial work platform.

[0120] In some embodiments, the walking control method of the aerial work platform may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the read-only memory 12 and / or the communication unit 19. When the computer program is loaded into the random access memory 13 and executed by the processor 11, one or more steps of the walking control method of the aerial work platform described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute the walking control method of the aerial work platform in any other suitable manner (e.g., by means of firmware).

[0121] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs, which can be executed and / or interpreted on a programmable system including at least one programmable processor, and the programmable processor may be a special or general-purpose programmable processor, which can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0122] The computer program for implementing the method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing devices, such that when the computer programs are executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer programs may be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0123] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0124] To provide for interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0125] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0126] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0127] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0128] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A walking control method for an aerial work platform, characterized in that: The method is executed by a controller configured on an aerial work platform, wherein the aerial work platform further comprises a walking and rotating mechanism, a boom, a work platform and a walking drive device, wherein the walking and rotating mechanism comprises a chassis; the method comprises: According to the posture data of the aerial work platform, a steering travel speed coefficient used to represent the relationship between the linear speed of the work platform and the travel speed of the aerial work platform is determined; Determining a first travel speed of the aerial work platform according to a preset maximum linear speed of the work platform and the steering travel speed coefficient; Determine the second travel speed of the aerial work platform according to the actual height of the work platform and the preset boom deployment travel speed; When it is detected that the steering angle of any tire in the chassis is greater than or equal to the set steering determination angle, the minimum value among the preset boom deployment walking speed, the preset boom storage walking speed, the first walking speed and the second walking speed is determined as the platform walking speed limit; The current limit output to the travel drive device is determined according to the platform travel speed limit so that the travel speed of the aerial work platform does not exceed the platform travel speed limit.

2. The method according to claim 1, characterized in that: The method further comprises: When it is detected that the steering angle of each tire in the chassis is less than the set steering determination angle, the arm retraction state is obtained; If the boom retractable state is the boom stowed state, the platform travel speed limit is determined as the preset boom stowed travel speed; If the boom retractable state is the boom extended, the platform travel speed limit is determined as the second travel speed.

3. The method according to claim 1, characterized in that The method of determining the steering travel speed coefficient used to represent the relationship between the work platform linear speed and the aerial work platform travel speed according to the posture data of the aerial work platform includes: Comparing the steering angles of the tires in the chassis to obtain a target steering angle, and determining the turning radius of the aerial work platform according to the target steering angle; Obtain boom posture data, the relative rotation angle between the boom and chassis, and the steering angle between the turning radius of the aerial work platform and the preset boom initial position, and determine the operating range of the aerial work platform based on the boom posture data; According to the relative rotation angle between the boom and the chassis, the turning angle between the turning radius of the aerial work platform and the preset boom initial position, as well as the turning radius and operating range of the aerial work platform, the steering travel speed coefficient used to express the relationship between the work platform linear speed and the aerial work platform travel speed is determined.

4. The method according to claim 3, characterized in that The turning speed coefficient used to represent the relationship between the line speed of the work platform and the walking speed of the aerial work platform is determined according to the relative rotation angle between the boom and the chassis, the turning radius of the aerial work platform and the steering angle between the preset initial position of the boom, and the turning radius and the working range of the aerial work platform, including: The turning radius of the aerial work platform is squared to obtain a first square calculation result, and the operating range of the aerial work platform is squared to obtain a second square calculation result; Calculating a subtraction result between the steering angle and the relative rotation angle to obtain a subtraction angle, and calculating a cosine value of the subtraction angle; Calculating a multiplication result between a first preset value, the turning radius, the relative turning angle, and the cosine value to obtain a first multiplication result; Calculate the addition result of the first square calculation result and the second square calculation result to obtain a first addition result, and calculate the subtraction result of the first addition result and the first multiplication result to obtain a first subtraction result; The square root of the first subtraction result is calculated, and the turning radius is divided by the square root of the first subtraction result to obtain a turning travel speed coefficient for representing the relationship between the work platform linear speed and the aerial work platform travel speed.

5. The method according to claim 1, characterized in that According to the actual height of the work platform and the preset boom extension travel speed, determine the second travel speed of the aerial work platform, including: Determine the height walking speed coefficient according to the actual height of the workbench, the preset height correlation coefficient and the preset exponential coefficient; The second walking speed of the aerial work platform is determined according to the height walking speed coefficient and the preset boom deployment walking speed.

6. The method according to claim 5, characterized in that According to the actual height of the workbench, the preset height correlation coefficient and the preset exponential coefficient, the height walking speed coefficient is determined, including: Construct an exponential function with natural common sense as the base and the multiplication result of the preset exponential coefficient and the actual height of the workbench as the exponent; The division result of the exponential function and the preset height correlation coefficient is calculated, and the division result of the exponential function and the preset height correlation coefficient is subtracted from the second preset value to obtain the height walking speed coefficient.

7. The method according to any one of claims 1 to 6, characterized in that: The aerial work platform further includes a handle, and the handle is used to output current to the travel drive device; The step of determining the current limit value output to the travel drive device according to the platform travel speed limit value comprises: Obtain the maximum current output to the travel drive device when the handle is at the maximum opening, and the maximum travel speed reached by the aerial work platform at the maximum current; Multiplying the maximum current value by the platform travel speed limit to obtain a current-speed multiplication result; The current limit value output to the travel drive device is obtained by dividing the current speed multiplication result by the maximum travel speed.

8. A walking control device for an aerial work platform, characterized in that: The method is executed by a controller configured on an aerial work platform, wherein the aerial work platform further comprises a walking and rotating mechanism, a chassis, a work platform and a walking drive device, wherein the walking and rotating mechanism comprises a chassis; and the device comprises: A speed coefficient determination module, used to determine a steering travel speed coefficient used to represent the relationship between the work platform linear speed and the aerial work platform travel speed according to the posture data of the aerial work platform; A first speed determination module, used to determine a first travel speed of the aerial work platform according to a preset maximum linear speed of the work platform and the steering travel speed coefficient; A second speed determination module, used to determine a second travel speed of the aerial work platform according to the actual height of the work platform and a preset boom deployment travel speed; A speed limit determination module is used to determine the minimum value among a preset boom deployment walking speed, a preset boom storage walking speed, a first walking speed and a second walking speed as the platform walking speed limit when it is detected that the steering angle of any tire in the chassis is greater than or equal to a set steering determination angle; The travel speed limiting module is used to determine the current limit output to the travel drive device according to the platform travel speed limit, so that the travel speed of the aerial work platform does not exceed the platform travel speed limit.

9. An aerial work platform, characterized in that: The aerial work platform includes the controller described in any one of claims 1-7; the controller includes at least one processor, and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the walking control method of the aerial work platform described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the walking control method for an aerial work platform according to any one of claims 1 to 7 when executed.

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