A walking control method, device, platform and medium for an aerial work platform

Abstract

The present invention discloses a travel control method, device, platform and medium for an aerial work platform, comprising: determining a first travel speed of the aerial work platform according to a maximum linear speed of the work platform and 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; determining a second travel speed of the aerial work platform according to an actual height of the work platform and a preset boom extension travel speed; determining the minimum value among the preset boom extension travel speed, the preset boom stowage travel speed, the first travel speed and the second travel speed as the platform travel 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; determining a current limit output to a 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, thereby improving the safety and comfort of working with the aerial work platform.

Description

Technical Field

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

[0002] Aerial work platforms, mechanical equipment used to lift personnel, tools, or materials to heights for operations, can be categorized as either self-propelled or non-self-propelled, depending on their mode of movement. For self-propelled aerial work platforms, properly controlling their travel speed is a crucial factor affecting both operational safety and comfort.

[0003] In the prior art, the travel speed of the aerial work platform is usually controlled by the driver manually controlling the opening of the handle based on his or her own experience.

[0004] However, the method of relying entirely on the driver's experience to control the walking speed of the aerial work platform can easily cause the aerial work platform to travel too fast when the operator is inexperienced or tired, thereby affecting the safety and comfort of 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 existing technology relies entirely on the operator's experience to control the walking speed of the aerial work platform, which easily causes the aerial work platform to walk too fast. It ensures the stability of the aerial work platform when turning and walking, and improves the safety and comfort of working using the aerial work platform.

[0006] In the 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, wherein the aerial work platform also includes a walking and slewing mechanism, an arm, a work platform and a walking drive device, and the walking and slewing mechanism includes a chassis; the method includes: determining a 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 posture 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 a steering 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 arm extension walking speed; when it is detected that the steering angle of any tire in the chassis is greater than or equal to the set steering judgment angle, determining the minimum value among the preset arm extension walking speed, the preset arm storage walking speed, the first walking speed and the second walking speed as the platform walking speed limit; determining a current limit output to the walking drive device according to the platform walking speed limit, so that the walking speed of the aerial work platform does not exceed the platform walking speed limit.

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

[0008] Optionally, based on the posture data of the aerial work platform, a steering travel speed coefficient is determined for representing the relationship between the linear speed of the work platform and the walking speed of the aerial work platform, including: comparing the steering angles of each tire in the chassis to obtain a target steering angle, and determining the turning radius of the aerial work platform based on the target steering angle; obtaining the arm posture data, the relative rotation angle between the arm and the chassis, and the steering angle between the turning radius of the aerial work platform and a preset arm initial position, and determining the operating range of the aerial work platform based on the arm posture data; determining the steering travel speed coefficient for representing the relationship between the linear speed of the work platform and the walking speed of the aerial work platform based on the relative rotation angle between the arm and the chassis, the steering angle between the turning radius of the aerial work platform and the preset arm initial position, and the turning radius and operating range of the aerial work platform.

[0009] Optionally, 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 boom initial position, and the turning radius and operating range of the aerial work platform, a steering walking speed coefficient used to represent the relationship between the work platform linear speed and the aerial work platform walking speed is determined, including: squaring the turning radius of the aerial work platform to obtain a first square calculation result, and squaring the operating range of the aerial work platform to obtain a second square calculation result; calculating the subtraction result between the steering angle and the relative rotation angle to obtain Subtract the angles and calculate the cosine value of the subtracted angles; calculate the multiplication result between the first preset value, the turning radius, the relative rotation 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; calculate the square root of the first subtraction result, and use the turning radius divided by the square root of the first subtraction result to obtain a steering walking speed coefficient used to represent the relationship between the work platform linear speed and the aerial work platform walking speed.

[0010] Optionally, the second walking speed of the aerial work platform is determined based on the actual height of the work platform and the preset boom extension walking speed, including: determining the height walking speed coefficient based on the actual height of the work platform, the preset height correlation coefficient and the preset exponential coefficient; determining the second walking speed of the aerial work platform based on the height walking speed coefficient and the preset boom extension walking speed.

[0011] Optionally, the height walking speed coefficient is determined based on the actual height of the work platform, the preset height correlation coefficient and the preset exponential coefficient, including: constructing 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 work platform as the exponent; calculating the division result of the exponential function and the preset height correlation coefficient, and using a second preset value minus 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 also includes a handle, which is used to output current to the travel drive device; the current limit output to the travel drive device is determined based on the platform travel speed limit, including: obtaining 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 by the platform travel speed limit to obtain the current-speed multiplication result; dividing the current-speed multiplication result by the maximum travel speed to obtain the current limit output to the travel drive device.

[0013] In a second aspect, an embodiment of the present invention further provides a walking control device for an aerial work platform, which is executed by a controller configured on the aerial work platform. The aerial work platform also includes a walking and rotating mechanism, a chassis, a work platform and a walking drive device. The walking and rotating mechanism includes a chassis; the device includes: a speed coefficient determination module for determining a steering 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 posture data of the aerial work platform; a first speed determination module for determining a first walking speed of the aerial work platform according to a preset maximum linear speed of the work platform and a steering walking 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 work platform and the preset boom extension travel speed; a speed limit determination module for determining the minimum value among the preset boom extension travel speed, the preset boom stowage travel speed, the first travel speed and the second travel speed as the platform travel speed limit when it is detected that the steering angle of any tire in the chassis is greater than or equal to the set steering judgment angle; a travel speed limiting module for determining 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.

[0014] In a third aspect, an embodiment of the present invention further provides an aerial work platform, which includes a controller provided by 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 walking control method of the aerial work platform provided by any embodiment of the present invention.

[0015] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a processor to implement the walking control method of the aerial work platform provided by any embodiment of the present invention when executed.

[0016] The technical solution provided by the embodiment of the present invention determines the minimum value of the preset boom extension walking speed, the preset boom stowed walking speed, the first walking speed and the 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 the set steering judgment angle, and determines the current limit output to the walking drive device according to the platform walking speed limit, so that the walking speed of the aerial work platform does not exceed the platform walking speed limit. This can achieve accurate determination of the platform walking speed limit while effectively controlling the walking speed of the aerial work platform not to exceed the platform walking speed limit, thereby ensuring the stability of the aerial work platform during steering and walking, and improving the safety and comfort of working using the aerial work platform.

[0017] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily 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 briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a flow chart of a walking control method for an aerial work platform provided according to a first embodiment of the present invention.

[0020] Figure 2 Schematic diagram of an aerial work platform provided according to an embodiment of the present invention.

[0021] Figure 3 This is a flow chart of another method for controlling the movement of an aerial work platform provided according to the second embodiment of the present invention.

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

[0023] Figure 53 is a schematic diagram for reflecting the changing trend of the height walking speed coefficient provided according to an embodiment of the present invention.

[0024] Figure 6 1 is a schematic structural diagram of a travel control device for an aerial work platform provided according to a third embodiment of the present invention.

[0025] Figure 7 It is a structural diagram of an electronic device provided by the fourth embodiment 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 DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solutions 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 drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, 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 inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Example 1

[0030] Figure 1 This is a flow chart of a travel control method for an aerial work platform provided according to a first embodiment of the present invention. This embodiment is applicable to situations where the travel speed of an aerial work platform is controlled. The method can be executed by a travel control device of the aerial work platform. The travel control device of the aerial work platform can be implemented in the form of hardware and / or software, and the travel control device of the aerial work platform can be configured in a controller of the aerial work platform.

[0031] This embodiment discloses a travel control method for an aerial work platform, which is executed by a controller configured on the aerial work platform. The aerial work platform includes a travel and rotation mechanism, an arm, a work platform, a controller and a travel drive device, and the travel and rotation mechanism includes a chassis.

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

[0033] S110 : Determine, based on the posture data of the aerial work platform, a steering travel speed coefficient for representing the relationship between the work platform linear speed and the aerial work platform travel speed.

[0034] In this embodiment, an aerial work platform can be understood as a mechanical device used to lift personnel, tools, or materials to high altitudes for work. Position data can be understood as data reflecting the position and posture of the aerial work platform, such as its turning radius and operating range.

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

[0036] In a specific example, it is possible to determine whether the aerial work platform's travel and slewing mechanism also includes a turntable, based on the fact that the mechanism includes a chassis. If so, the turning speed coefficient can be determined based on the aerial work platform's turning radius, operating range, the steering angle between the turning radius and the preset boom initial position, and the relative rotation angle between the boom and the chassis. If not, it can be assumed that the boom and chassis rotate synchronously without relative motion. In this case, the turning speed coefficient can be determined based solely on the aerial work platform's turning radius, operating range, and the steering angle between the turning radius and the preset boom initial position.

[0037] S120: Determine a first travel speed of the aerial work platform according to a preset maximum linear speed of the work platform and a steering travel 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 based on user needs 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 travel speed of the aerial work platform can be determined according to the product of the maximum linear speed of the work platform and the steering travel speed coefficient.

[0040] S130: Determine a second travel speed of the aerial work platform according to the actual height of the work platform and the preset boom extension travel speed.

[0041] Specifically, in this step, because when the boom of the aerial work platform is extended, the higher the actual height of the work platform, the less safe the work performed from the work platform. Therefore, a height travel speed coefficient representing the relationship between the preset boom extension travel speed and the aerial work platform travel speed can be determined based on the actual height of the work platform. Subsequently, a second travel speed of the aerial work platform can be determined based on the product of the actual height of the work platform and the preset boom extension travel speed.

[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 judgment 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.

[0043] In this embodiment, the steering determination angle can be understood as a steering angle determined based on user needs and historical experience, for example, 5. The preset boom extension travel speed can be understood as a predefined travel speed of the aerial work platform when the boom is extended. The preset boom stowage travel speed can be understood as a predefined travel speed of the aerial work platform when the boom is stowed.

[0044] In this step, specifically, the preset boom extended walking speed, the preset boom stowed walking speed, the first walking speed and the second walking speed can be compared, and based on the comparison result, the minimum value among the preset boom extended walking speed, the preset boom stowed walking speed, the first walking speed and the second walking speed can be determined as the platform walking speed limit.

[0045] S150. Determine a 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.

[0046] In this embodiment, the travel drive device can be understood as a device for adjusting the travel speed of the aerial work platform based on the received current limit value, such as a travel pump and a travel motor. The location of the travel drive device on the aerial work platform can be determined based on user needs. For example, the travel 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 travel drive device based on the platform travel 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 is updated to the minimum current value.

[0048] The technical solution of this embodiment determines, through the posture data of the aerial work platform, a steering travel speed coefficient used to represent the relationship between the work platform linear speed and the aerial work platform travel speed; determines the first travel speed of the aerial work platform based on the preset maximum linear speed of the work platform and the steering travel speed coefficient; determines the second travel speed of the aerial work platform based on the actual height of the work platform and the preset boom extension 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 judgment angle, determines the minimum value of 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; determines the current limit output to the travel drive device based on the platform travel speed limit so that the travel speed of the aerial work platform does not exceed the platform travel speed limit. This technical solution solves the problem that the existing technology relies entirely on the operator's experience to control the travel speed of the aerial work platform, which easily leads to excessive travel speed of the aerial work platform, ensures the stability of the aerial work platform during steering and travel, and improves the safety and comfort of working using the aerial work platform.

[0049] Example 2

[0050] Figure 2 This 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 various optional technical solutions in the above embodiments. Figure 2 As shown, the aerial work platform disclosed in this embodiment includes a chassis, a turntable, a boom, a work platform, a tire steering encoder, a boom length angle sensor, a turntable rotary encoder, a controller (not shown), and a travel drive device (not shown). Each tire on the chassis is equipped with a tire steering encoder.

[0051] Figure 3 FIG. 1 is a flow chart of another method for controlling the movement of an aerial work platform according to a second embodiment of the present invention. Figure 3 As shown, the walking control method of an aerial work platform disclosed in this embodiment includes S210-S290.

[0052] S210: Compare the steering angles of the tires on 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 the aerial work platform is detected to be started, the steering angle of each tire in the chassis can be obtained in real time based on the tire steering encoder. Among them, when the steering direction of the tire is different, the positive and negative of its steering angle are also different. For example, when the tire turns left, its steering angle can be recorded as a positive value, and when the tire turns right, its steering angle can be recorded as a negative value. Then, the steering angles of each tire in the chassis can be compared, and based on 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 of the aerial work platform can be substituted into the Ackerman 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, obtaining boom posture 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 boom initial position, and determining the operating range of the aerial work platform based on the boom posture data.

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

[0056] In this step, specifically, the arm extension length and angle can be obtained through the arm length angle sensor, the relative rotation angle between the arm and the chassis can be obtained through the turntable rotary encoder, and the operating range of the aerial work platform can be determined based on the arm extension length and angle.

[0057] S230. Determine a steering travel speed coefficient for representing the relationship between the work platform linear speed and the aerial work platform travel speed based on 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 boom initial position, and the turning radius and operating range of the aerial work platform.

[0058] In this step, specifically, based on Figure 4The mathematical model shown calculates the subtraction angle obtained by subtracting the relative rotation angle from the steering angle, and determines the steering speed coefficient based on the turning radius, operating range, subtraction angle, and the relationship between the turning radius, operating range, and subtraction angle. 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, It is the steering angle of the right rear tire corresponding to the forward direction of the aerial work platform.

[0059] Optionally, 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 boom initial position, and the turning radius and operating range of the aerial work platform, a steering walking speed coefficient used to represent the relationship between the work platform linear speed and the aerial work platform walking speed is determined, including: squaring the turning radius of the aerial work platform to obtain a first square calculation result, and squaring the operating range of the aerial work platform to obtain a second square calculation result; calculating the subtraction result between the steering angle and the relative rotation angle to obtain Subtract the angles and calculate the cosine value of the subtracted angles; calculate the multiplication result between the first preset value, the turning radius, the relative rotation 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; calculate the square root of the first subtraction result, and use the turning radius divided by the square root of the first subtraction result to obtain a steering walking speed coefficient used to represent the relationship between the work platform linear speed and the aerial work platform walking speed.

[0060] Specifically, the turning speed coefficient can be determined by the following specific calculation formula:

[0061] .

[0062] in, is the turning speed coefficient, is the turning radius of the aerial work platform, is the operating range of the aerial work platform, It is the steering angle between the turning radius of the aerial work platform and the preset initial position of the boom. is the relative rotation angle between the boom and the chassis.

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

[0064] In this step, specifically, since when the aerial work platform turns, the turning radius will become smaller as the tire steering angle becomes larger, in order to avoid excessive linear speed and excessive walking speed at the work platform, the product of the maximum linear speed of the work platform and the steering walking speed coefficient can be determined as the first walking 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] in, It is the first walking speed of the aerial work platform. The maximum linear speed of the workbench is preset. is the turning walking speed coefficient.

[0068] Through the above-mentioned setting, when the aerial work platform turns, the speed limit of the aerial work platform can be determined according to the tire steering angle, the relative rotation angle between the boom and the chassis, and the boom posture. This avoids the situation where the linear speed of the work platform is too high due to the long boom of the aerial work platform, the large tire steering angle and the fast walking speed, which may cause people or objects on the work platform to be impacted or even thrown out, thereby improving the safety and comfort of working on the aerial work platform.

[0069] S250: Determine a height walking speed coefficient according to the actual height of the workbench, a preset height correlation coefficient, and a 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 workbench can reach. The height walking speed coefficient can be understood as follows: Figure 5 The coefficient shown decreases as the actual height of the workbench increases.

[0071] Specifically, in this step, the actual height of the work platform can be determined based on the boom extension length and angle, and an exponential function can be constructed based on the actual height of the work platform, a preset height correlation coefficient, and a preset exponential coefficient. Then, the height travel speed coefficient can be determined based on the subtraction result of the second preset value and the exponential function. In actual applications, to ensure the safety of operators working on the work platform, the height travel speed coefficient can be set to be less than a preset coefficient value. The preset coefficient value can be set based on historical experience.

[0072] Optionally, determining a height travel speed coefficient based on the actual height of the work platform, a preset height correlation coefficient, and a preset exponential coefficient includes: constructing an exponential function with common sense as the base and the product of the preset exponential coefficient and the actual height of the work platform as the exponent; calculating the division result of the exponential function and the preset height correlation coefficient, and subtracting the division result of the exponential function and the preset height correlation coefficient from a second preset value to obtain the height travel speed coefficient. The second preset value can be understood as a value determined based on 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] in, is the height walking speed coefficient, To preset the height correlation coefficient, is the preset exponential coefficient, In practical applications, the preset exponential coefficient can be a value determined based on the maximum height that the work platform can reach, which can ensure that the walking speed of the aerial work platform changes from fast to slow.

[0076] Through the above-mentioned settings, the walking speed of the aerial work platform can be made to decrease slowly at first and then quickly as the actual height of the work platform gradually increases. This can avoid the situation where the walking speed of the aerial work platform drops too quickly when the actual height of the work platform is low, and the walking speed of the aerial work platform drops too slowly when the actual height of the work platform is high. While ensuring the normal use of the aerial work platform, the safety of operations using the aerial work platform is improved.

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

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

[0080] .

[0081] in, It is the second walking speed of the aerial work platform. is the height walking speed coefficient, Set the travel speed for the preset boom extension.

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

[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 judgment 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.

[0084] In this step, specifically, the boom extension travel speed and boom stowage travel speed can be predefined using the following formula:

[0085] .

[0086] in, To preset the arm travel speed, To preset the boom extension travel speed, is the horizontal extension length of the boom, is the horizontal direction judgment value, is the extension length of the boom in the height direction, In actual application, if the length of the boom in the horizontal direction is less than the horizontal direction judgment value, and the length of the boom in the height direction is less than the height direction judgment value, then express If the horizontal extension length of the boom is greater than or equal to the horizontal determination value, or the height extension length of the boom is greater than or equal to the height determination value, then express .

[0087] S280. When it is detected that the steering angle of each tire in the chassis is less than the set steering judgment angle, the boom retraction state is obtained. If the boom retraction state is the boom stowed, the platform travel speed limit is determined to be the preset boom stowed travel speed; if the boom retraction state is the boom extended, the platform travel speed limit is determined to be the second travel speed.

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

[0089] Furthermore, the above S270 and S280 can be described in detail by the following specific calculation formula:

[0090] .

[0091] in, is the platform travel speed limit, To preset the arm travel speed, is the horizontal extension length of the boom, is the horizontal direction judgment value, is the extended length of the boom in the height direction, is the height direction judgment value, is the steering angle of the target tire, It is the second walking speed of the aerial work platform. Favorite travel speed for a preset boom or deploy travel speed for a preset boom.

[0092] S290. Determine a 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, 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 can be obtained, and the current limit output to the travel drive device can be determined based on the maximum current, the maximum travel speed and the platform travel speed limit.

[0094] Furthermore, determining the current limit output to the travel drive device based on the maximum current value, the maximum travel speed and the platform travel speed limit may include: multiplying the maximum current value by the platform travel speed limit to obtain a current-speed multiplication result, and dividing the current-speed multiplication result by the maximum travel speed to obtain a current limit output to the travel drive device.

[0095] In a specific example, the current limit output to the travel drive device can be determined by the following specific calculation formula:

[0096] .

[0097] in, is the current limit, is the maximum current, is the platform travel speed limit, is the maximum walking speed.

[0098] The technical solution of this embodiment is to determine the minimum value among the preset boom extension walking speed, the preset boom stowed walking speed, the first walking speed and the 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 the set steering judgment angle; when the boom retraction state is obtained when it is detected that the steering angle of each tire in the chassis is less than the set steering judgment angle, the platform walking speed limit is determined as the preset boom stowed walking speed or the second walking speed according to the boom retraction state, thereby achieving more comprehensive speed limit control of the aerial work platform and further improving the safety and comfort of working using the aerial work platform.

[0099] Example 3

[0100] Figure 6 This is a schematic diagram of the structure of a travel control device for an aerial work platform according to a third embodiment of the present invention. This embodiment is applicable to controlling the travel speed of an aerial work platform. The travel control device for the aerial work platform can be implemented in hardware and / or software and configured in the controller of the aerial work platform. The aerial work platform also includes a boom, a chassis, a work platform, and a travel drive device.

[0101] like Figure 6 As shown, the walking control device of 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 walking speed limiting module 65.

[0102] Specifically, the speed coefficient determination module 61 is used to determine the steering travel speed coefficient used to represent the relationship between the work platform linear speed and the aerial work platform travel speed based on the posture data of the aerial work platform.

[0103] The first speed determination module 62 is used to determine the first travel speed of the aerial work platform according to a preset maximum linear speed of the work platform and a steering travel speed coefficient.

[0104] The second speed determination module 63 is used to determine the second travel speed of the aerial work platform according to the actual height of the work platform and the preset boom extension travel speed.

[0105] The speed limit determination module 64 is used to determine 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 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 the set steering judgment angle.

[0106] The travel speed limiting module 65 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.

[0107] The technical solution in this embodiment solves the problem that the existing technology relies entirely on the operator's experience to control the walking speed of the aerial work platform, which easily leads to the aerial work platform walking too fast, 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 walking speed limitation module 65. It ensures the stability of the aerial work platform when turning and walking, and improves the safety and comfort of working using the aerial work platform.

[0108] Optionally, the device also includes a speed limit determination module, which is used to: obtain the boom retraction state when it is detected that the steering angle of each tire in the chassis is less than the set steering judgment angle; if the boom retraction state is the boom stowed, the platform walking speed limit is determined to be a preset boom stowed walking speed; if the boom retraction state is the boom extended, the platform walking speed limit is determined to be the second walking speed.

[0109] Optionally, the speed coefficient determination module 61 includes: a turning radius determination unit, which is used to compare the steering angles of each tire in the chassis to obtain a target steering angle, and determine the turning radius of the aerial work platform based on the target steering angle; an action amplitude determination unit, which is used to obtain the boom posture 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 boom initial position, and determine the operating amplitude of the aerial work platform based on the boom posture data; a steering speed coefficient determination unit, which is used to determine the steering walking speed coefficient used to represent the relationship between the work platform line speed and the aerial work platform walking speed based on 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 boom initial position, and the turning radius and operating amplitude of the aerial work platform.

[0110] Optionally, the steering speed coefficient determination unit is specifically used to: perform a square calculation on the turning radius of the aerial work platform to obtain a first square calculation result, and perform a square calculation on the operating range of the aerial work platform to obtain a second square calculation result; calculate the subtraction result between the steering angle and the relative rotation angle to obtain a subtraction angle, and calculate the cosine value of the subtraction angle; calculate the multiplication result between the first preset value, the turning radius, the relative rotation 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; calculate the square root of the first subtraction result, and use the turning radius divided by the square root of the first subtraction result to obtain a steering walking speed coefficient used to represent the relationship between the work platform line speed and the aerial work platform walking speed.

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

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

[0113] Optionally, the travel speed limiting module 65 is specifically used for: when the aerial work platform also includes a handle for outputting current to the travel drive device, obtaining 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 by the platform travel speed limit to obtain the current-speed multiplication result; dividing the current-speed multiplication result by the maximum travel speed to obtain the current limit output to the travel drive device.

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

[0115] Example 4

[0116] Figure 7 FIG. 1 is a schematic structural diagram of an electronic device 10 that can be used to implement an embodiment of the present invention.

[0117] like Figure 7 As shown, the electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory 12, a random access memory 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform 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 to the random access memory 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the random access memory 13. The processor 11, the read-only memory 12, and the random access memory 13 are connected to each other via a bus 14. The input / output interface 15 is also connected to the bus 14. Specifically, the processor 11 can be a controller on an 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 magnetic disk, an optical disk, 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 via a computer network such as the Internet and / or various telecommunication networks.

[0119] The processor 11 can be any general-purpose and / or specialized processing component 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 specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for controlling the travel of an aerial work platform.

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

[0121] Various embodiments of the systems and techniques described above can 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), system-on-a-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0122] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone 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 may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or apparatus. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media may 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0124] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device that has: 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the 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 back-end 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 front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end 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 clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0127] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed 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. This is not limited herein.

[0128] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection 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 includes a travel and rotation mechanism, an arm, a work platform, and a travel drive device, wherein the travel and rotation mechanism includes a chassis; the method includes: Determine the steering travel speed coefficient used to represent the relationship between the work platform linear speed and the aerial work platform travel speed based on the posture data of the aerial work platform; 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 based on the actual height of the work platform and the preset boom extension 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 judgment angle, the minimum value among the preset boom deployment travel speed, the preset boom stowage travel speed, the first travel speed and the second travel speed is determined as the platform travel 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 judgment angle, the arm retraction state is obtained; If the boom retraction state is boom stowed, the platform travel speed limit is determined to be the preset boom stowed travel speed; If the boom retraction state is 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 for representing the relationship between the work platform linear speed and the aerial work platform travel speed based on the posture data of the aerial work platform includes: Comparing the steering angles of the tires on 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; Based on 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 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 work platform linear speed and the aerial work platform travel speed is determined based on 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 boom initial position, and the turning radius and 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 of 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 square calculation result and the second square calculation result to obtain a first addition result, and calculating 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, wherein According to the actual height of the work platform and the preset boom extension travel speed, the second travel speed of the aerial work platform is determined, including: Determine the height walking speed coefficient based on the actual height of the workbench, the preset height correlation coefficient and the preset exponential coefficient; The second traveling speed of the aerial work platform is determined according to the height traveling speed coefficient and the preset boom extension traveling 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 product of the preset exponential coefficient and the actual height of the workbench as the exponent; The result of dividing the exponential function and the preset height correlation coefficient is calculated, and the result of dividing 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, which is used to output current to the travel drive device; Determining the current limit output to the travel drive device according to the platform travel speed limit includes: Obtain the maximum current output to the travel drive device when the handle is at its maximum opening, and the maximum travel speed achieved by the aerial work platform at the maximum current; Multiplying the maximum current 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 multiplication result of the current speed by the maximum travel speed.

8. A walking control device for an aerial work platform, characterized in that: The system is executed by a controller configured on an aerial work platform, wherein the aerial work platform further comprises a travel and rotation mechanism, a chassis, a work platform and a travel drive device, wherein the travel and rotation mechanism comprises a chassis; the device comprises: A speed coefficient determination module is used to determine a steering travel speed coefficient representing the relationship between the work platform linear speed and the aerial work platform travel speed based on the posture data of the aerial work platform; A first speed determination module is 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 is used to determine a second travel speed of the aerial work platform according to the actual height of the work platform and the preset boom extension travel speed; a speed limit determination module, configured to determine the minimum value among a preset boom extension travel speed, a preset boom stowage travel speed, a first travel speed, and a second travel speed as the platform travel speed limit when detecting 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 of an aerial work platform according to any one of claims 1 to 7 when executed.

Images