Aerial work platform boom system control method, device, equipment and medium

Abstract

The present invention discloses a method, device, equipment and medium for controlling the boom system of an aerial work platform. The method comprises: collecting the tilt direction data of the entire folding arm aerial work platform in real time through the X-axis angle sensor arranged on the turntable counterweight system in the aerial work platform, and determining the working condition type of the entire machine according to the tilt direction data; calculating the real-time torque value of each torque module according to the sensors in each functional system; when the target folding arm control condition is met, executing the amplitude change angle and telescopic state control of the telescopic folding arm according to the target folding arm control strategy corresponding to the target folding arm control condition; when the torque balance condition is met, stopping the control of the boom system. The technical solution of the embodiment of the present invention meets different working height and position requirements under the premise of ensuring the stability of the platform by collaboratively controlling the telescopic and amplitude change amplitudes of the folding arm and the main arm according to factors such as the mechanical properties and dynamic characteristics of the two.

Description

Technical Field

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

[0002] In the aerial work platform sector, as demand for working heights increases, traditional link-type folding booms on high-rise articulated boom trucks are no longer suitable for full-scale use due to weight, cost, and stress factors. Consequently, the industry is increasingly adopting boom systems that combine telescopic folding booms with a main boom. These systems offer the flexibility to adjust span heights and meet diverse construction needs.

[0003] At present, when calculating the stability of a boom system with a telescopic folding arm, five conditions must be comprehensively considered, including the maximum chassis tilt angle, minimum tipping distance, maximum tipping distance when the folding arm is fully retracted, platform load and center of gravity, and the torque generated by maximum wind force and manual operating force. Based on this, the counterweight parameters that meet the torque balance under the most unfavorable working conditions are determined.

[0004] However, existing technologies have significant flaws: First, stability calculations are based on the most unfavorable operating conditions, while actual operation will cause the center of gravity of the entire machine to change, resulting in excessive safety and design redundancy. Second, to ensure safety, the arm must be extended and retracted at the maximum angle, which makes it impossible to meet the requirements under specific working conditions, restricts the construction range, and creates blind spots for low-altitude operations. Therefore, how to leverage the characteristics of the entire machine to achieve lightweighting while improving operating efficiency and expanding the working range has become a difficult problem that the industry urgently needs to overcome. Summary of the Invention

[0005] Based on this, the present invention provides a method, device, equipment and medium for controlling an aerial work platform boom system to solve the problems existing in the existing aerial work platform boom system in terms of stability control, adaptability to working conditions and operating efficiency.

[0006] In a first aspect, an embodiment of the present invention provides an anti-rollover control method for an aerial work platform, the method comprising:

[0007] The X-axis angle sensor disposed on the turntable counterweight system of the aerial work platform collects the tilt direction data of the entire folding boom aerial work platform in real time, and determines the operating condition type of the entire folding boom based on the tilt direction data; wherein the operating condition types include forward tilting condition and backward tilting condition, and the X-axis is predefined as being along the direction of the boom system of the aerial work platform, and the boom system includes a telescopic main boom and a telescopic folding boom;

[0008] Calculate the real-time torque value of each torque module based on sensors arranged in each functional system of the aerial work platform; wherein the torque module includes at least one functional system in the aerial work platform;

[0009] Determining whether the current aerial work platform satisfies a target folding arm control condition corresponding to the current working condition type according to the current working condition type and the real-time torque value, and executing control of the luffing angle and telescopic state of the telescopic folding arm according to a target folding arm control strategy corresponding to the target folding arm control condition when the target folding arm control condition is satisfied;

[0010] When the moment balance condition is met, the control of the boom system is stopped.

[0011] In a second aspect, an embodiment of the present invention further provides an aerial work platform boom system device, the device comprising:

[0012] A whole-machine working condition determination module is configured to collect real-time tilt direction data of the whole-machine folding boom aerial work platform via an X-axis angle sensor disposed on the turntable counterweight system of the aerial work platform, and determine the whole-machine working condition type based on the tilt direction data; wherein the working condition types include forward tilting and backward tilting conditions, and the X-axis is predefined as being along the direction of the boom system of the aerial work platform, and the boom system includes a telescopic main boom and a telescopic folding boom;

[0013] A torque value calculation module, configured to calculate the real-time torque value of each torque module based on sensors arranged in each functional system of the aerial work platform; wherein the torque module includes at least one functional system in the aerial work platform;

[0014] a control strategy execution module, configured to determine, based on the current working condition type and the real-time torque value, whether the current aerial work platform satisfies a target folding arm control condition corresponding to the current working condition type, and, if the target folding arm control condition is satisfied, execute control of the luffing angle and telescopic state of the telescopic folding arm in accordance with the target folding arm control strategy corresponding to the target folding arm control condition;

[0015] The torque balance determination module is used to stop controlling the boom system when the torque balance condition is met.

[0016] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising: 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 a method for an aerial work platform boom system as described in any embodiment of the present invention.

[0017] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement an aerial work platform boom system method described in any embodiment of the present invention when executed.

[0018] The embodiment of the present invention can quickly capture the impact of the main arm and folding arm movements on the center of gravity of the entire machine through directional monitoring based on the boom system. By incorporating parameters such as the telescopic length and amplitude adjustment angle of the main arm and folding arm into the torque calculation model, it is possible to dynamically evaluate the impact of the boom system movement on the balance of the entire machine, predict the risk of overturning in advance, and provide quantitative support for the telescopic and amplitude adjustment linkage control of the folding arm. The simultaneous participation of telescopic and amplitude adjustment realizes the integration of operating steps. The traditional control method requires the telescopic and amplitude adjustment operations to be performed separately, which not only increases the operating time, but also easily leads to the accumulation of operating errors. Collaborative control integrates the two actions into a coherent process, and the synchronous adjustment of the folding arm and the main arm can be completed through a single control instruction. At the same time, according to the mechanical properties, dynamic characteristics and other factors of the folding arm and the main arm, the telescopic and amplitude adjustment amplitudes of the two are reasonably allocated to avoid excessive stress or excessive energy consumption of a certain component, reduce local stress concentration, and extend the service life of the platform.

[0019] 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

[0020] 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.

[0021] Figure 1 This is a flow chart of a method for controlling an aerial work platform boom system according to a first embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the distribution of various functional systems of an aerial work platform applicable to embodiments of the present invention;

[0023] Figure 3 This is a flow chart of another method for controlling an aerial work platform boom system according to a second embodiment of the present invention;

[0024] Figure 4 is a flow chart of another aerial work platform boom system control method provided according to embodiment three of the present invention;

[0025] Figure 5 2 is a structural schematic diagram of a boom system control device for an aerial work platform provided according to a fourth embodiment of the present invention;

[0026] Figure 6 The present invention is a schematic structural diagram of an electronic device for implementing a method for controlling an aerial work platform boom system according to an embodiment of the present invention. 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 method for controlling an aerial work platform boom system provided in the first embodiment of the present invention. This embodiment is applicable to the case of controlling the stabilizing torque of a variable-length telescopic folding-arm aerial work platform. The method can be executed by a control device for an aerial work platform boom system. The device can be implemented in the form of hardware and / or software and can be configured in a variable-length telescopic folding-arm aerial work platform. Figure 1 As shown, the method includes:

[0031] S110 , collecting the tilt direction data of the entire folding boom aerial work platform in real time through an X-axis angle sensor arranged on the turntable counterweight system of the aerial work platform, and determining the working condition type of the entire machine according to the tilt direction data.

[0032] The working condition types include forward tilting working condition and backward tilting working condition, and the X-axis is predefined as the direction of the boom system along the aerial work platform, and the boom system includes a telescopic main boom and a telescopic folding boom.

[0033] An aerial work platform is a device that lifts people, tools, or materials to a certain height through the work platform for aerial work. It is widely used in the fields of construction, municipal administration, and electricity. The boom system described in the embodiment of the present invention is composed of a telescopic main boom and a telescopic folding arm. It is an important component of the aerial work platform and is used to support the work platform and lift it to different heights and positions to adjust the working range. The turntable counterweight system connects the chassis system and the boom system, which can realize the rotation of the boom system, allowing the aerial work platform to operate in different directions. The X-axis angle sensor is arranged here to monitor the tilt direction of the entire machine.

[0034] An X-axis angle sensor positioned within the turntable's counterweight system collects real-time data on the machine's tilt direction. The X-axis is defined as the direction of the boom system because the boom's extension direction has the greatest impact on the machine's center of gravity shift, and this direction provides the most direct indication of the machine's forward or backward tilt. When the aerial work platform is operating, factors such as boom amplitude adjustment and extension, as well as changes in the platform's load capacity, can cause the machine to tilt. By capturing tilt angle data with the sensor, it is possible to determine whether the machine is in a forward tilt condition (increasing boom tilt angle) or a backward tilt condition (increasing tilt angle in the opposite direction).

[0035] S120. Calculate the real-time torque value of each torque module based on sensors arranged in each functional system in the aerial work platform; wherein the torque module includes at least one functional system in the aerial work platform.

[0036] Sensors within each functional system of an aerial work platform collect data related to that system. This data is processed and used to calculate the real-time torque values ​​of each torque module. Each torque module encompasses one or more functional systems, such as the work platform system or chassis system. By integrating data from these systems, the stress conditions of each component of the entire machine can be fully reflected. Torque value is a key indicator of overall machine stability. Calculating real-time torque values ​​provides real-time information on the stress dynamics of each component of the machine. By comparing this value with pre-set safety standards, the stability of the entire machine can be determined, providing a quantitative basis for subsequent boom control.

[0037] Optionally, calculating the real-time torque value of each torque module based on sensors arranged in each functional system in the aerial work platform may include:

[0038] The plane sensor arranged on the working platform system of the aerial work platform is used to monitor the weight and center of gravity of the working platform system in real time, and the first torque value of the first torque module is calculated by combining the angle sensor data arranged on the arm system and the weight parameter of the aerial work platform;

[0039] Calculate the second torque value of the second torque module through the angle sensors arranged on the chassis system and the turntable counterweight system;

[0040] Calculate the third torque value of the third torque module by using the angle sensor and the length sensor arranged on the telescopic folding arm system of the boom system;

[0041] The fourth torque value of the fourth torque module is calculated by an angle sensor and a length sensor arranged on the telescopic main arm system of the boom system.

[0042] In this embodiment of the present invention, the first torque module includes a work platform system and a jib system. A planar sensor is positioned on the work platform system of the aerial work platform to monitor the weight and center of gravity of the work platform system in real time. The jib system, as the connection between the work platform and the main boom, also generates torque during movement and load-bearing. The combined torques of these two systems reflect the forces acting on the front end of the platform (near the work area). The aerial work platform's deadweight parameter is the fundamental force and the most fundamental component of the platform's load. The torque of the first torque module is primarily determined by the weight and center of gravity of the work platform system, the angle of the jib system, and the aerial work platform's deadweight parameter. During actual operation, the work platform system carries operators and materials, and its gravity tends to cause the aerial work platform to rotate about a certain point. When the work platform is loaded and the boom is at a certain angle, the tipping line of this gravity deviates from the platform's support point, generating a tipping moment that generally causes the platform to tilt outward about the point where the chassis contacts the ground. For example, when the working platform is extended and there is a heavy object on it, there is a tendency for the front end of the platform to move downward and the rear end to move upward. At this time, the torque provided by the torque module is a tipping torque.

[0043] The second torque module includes the chassis system and the turntable counterweight system. The turntable counterweight system is the foundation supporting the entire aerial work platform, balancing the weight of the rest of the platform to prevent it from tipping over. Therefore, the torque generated by the second torque module is directed in the direction of resistance. By properly positioning the counterweight, it can resist the tipping torque generated by the work platform load, boom system, and other factors under various operating conditions, maintaining platform stability. For example, if the platform tilts forward, the torque generated by the turntable counterweight system will cause the platform to tilt backward to regain balance.

[0044] Changes in the angle and length of the telescopic boom in the boom system affect torque. For example, when the boom is extended or retracted, or changes angle, the weight it carries and its position change generate a corresponding torque. Under different operating conditions, this torque can be part of the tipping moment or serve as a counterbalance to some extent. However, in general, when the boom is extended and loaded, it increases the tendency of the platform to tip over, so the torque is usually directed towards the tipping moment. For example, when the boom is extended and lowered, the weight on the front of the platform is increased, which can cause the platform to tip forward.

[0045] The angle and length changes of the telescopic boom system also generate torque. Similar to the telescopic folding arm, the extension and angle of the boom alter the platform's center of gravity and lever arm length, thus affecting platform stability. Generally, the longer the boom is extended and the greater the angle, the greater the weight and lever arm at the front of the platform, making it more likely to tip over. Therefore, the torque of the fourth torque module is primarily directed in the direction of the tipping moment. For example, when the boom is raised and extended, it pulls the work platform away from the chassis support point, increasing the possibility of the platform tipping forward or backward.

[0046] Among them, the location distribution of each functional system on the aerial work platform is shown in Figure 2 The tilting line is a reference line for the whole machine to achieve balance under different tilting conditions. The tilting moment and stabilizing moment are distributed on both sides of the tilting line of the whole machine. The construction position is the working target of the aerial work platform, which is mainly achieved by controlling the telescopic boom system to reach the vicinity of the construction position to implement the working task.

[0047] Furthermore, before calculating the first torque value of the first torque module by combining the angle sensor data arranged on the arm system and the weight parameter of the aerial work platform, the method may further include:

[0048] When the aerial work platform is in an unloaded state and on level ground, the angle of the telescopic folding arm is adjusted to a maximum amplitude state, and the length of the telescopic folding arm is adjusted to a maximum extension state;

[0049] Using the pressure sensors arranged at each support point in the chassis system, the pressure data of each support point at the current moment is collected and summed to obtain the total pressure value of the chassis system, and the total pressure value is converted into the deadweight parameter of the aerial work platform.

[0050] In an embodiment of the present invention, when the aerial work platform is unloaded and located on level ground, the angle of the telescopic folding arm is adjusted to its maximum amplitude and the length of the telescopic folding arm is adjusted to its maximum extension. This is because when the folding arm is at its maximum angle and fully extended, the center of gravity of the aerial work platform's upper components (including the folding arm, main boom, jib, work platform, etc.) is relatively far from the tilting line of the chassis system. At this time, the tilting moment of the entire machine reaches a relatively large value. Calculating the moment under this most unfavorable operating condition ensures that the calculated counterweight meets the stability requirements of the entire machine under various possible operating conditions. The counterweight calculated based on the maximum tilting moment is the minimum necessary to meet the stability requirements of the entire machine under the most unfavorable operating condition. If the counterweight is calculated under other operating conditions, the calculated counterweight may be too large due to the relatively small tilting moment, resulting in an increase in the machine's deadweight and hindering lightweight design. For example, existing technologies calculate the counterweight when the folding arm is at its maximum angle and minimum retraction state. At this time, the center of gravity of the entire machine is close to the chassis support point, resulting in a smaller calculated tipping moment. However, in actual operations, the folding arm often needs to be fully extended to cover a larger operating range. At this time, the center of gravity moves significantly outward, which increases the risk of tipping. Therefore, the counterweight and structural strength designed based on the deadweight parameters of the short arm state may be insufficient under long arm working conditions, and additional safety redundancy needs to be added (such as adding counterweights or thickening structural parts), resulting in an increase in the weight of the entire machine, which deviates from the core demands of lightweight equipment and high endurance.

[0051] Furthermore, the chassis system's support points are where the platform contacts the ground and bears gravity. Installing pressure sensors at each support point provides real-time pressure measurements. This pressure data reflects the distribution of the platform's deadweight at each support point and serves as the basis for calculating the platform's total pressure. The total pressure of the chassis system is calculated by summing the collected pressure data at each support point. Since the platform is stationary, the total pressure on the chassis system equals the platform's own weight, according to the principle of force equilibrium. The resulting total pressure is converted to the platform's deadweight. This conversion is typically based on the known acceleration of gravity and the conversion relationship between pressure and weight. For example, if the pressure sensor measures pressure in Newtons (N), dividing the total pressure (N) by the acceleration of gravity (g) yields the platform's mass (kg). This pressure value is then converted to a deadweight parameter expressed in mass, providing accurate weight data for subsequent torque calculations.

[0052] S130. Based on the current working condition type and the real-time torque value, determine whether the current aerial work platform meets the target folding arm control condition corresponding to the current working condition type, and when the target folding arm control condition is met, perform the control of the amplitude change angle and telescopic state of the telescopic folding arm in accordance with the target folding arm control strategy corresponding to the target folding arm control condition.

[0053] The current working condition type is combined with the real-time torque value to determine whether the target folding arm control conditions are met. If so, it means that there is a potential risk of instability in the current state of the entire machine, and stability needs to be restored by adjusting the amplitude change angle and telescopic state of the telescopic folding arm. The specific control strategy is pre-set according to the working conditions and torque conditions. For example, in the forward tilting condition, the folding arm may need to be adjusted downward and retracted to reduce the risk of forward tilting. Through precise folding arm control, the entire machine can remain stable under different working conditions and loads to avoid tipping accidents. At the same time, the arm position can be reasonably adjusted under the premise of meeting stability to improve working efficiency.

[0054] S140: When the moment balance condition is met, stop controlling the boom system.

[0055] The torque balance condition, determined through theoretical calculations and engineering practice, is a quantitative standard for when the combined torque of the various torque modules of the entire machine approaches zero, indicating the entire machine is in a stable equilibrium state. When this condition is met, the aerial work platform no longer requires boom adjustment and can maintain its current stable operating state, preventing over-control or unnecessary adjustments, reducing energy consumption and equipment wear, and ensuring the platform continues to operate in a stable state, ensuring operator safety and smooth operations.

[0056] Furthermore, after stopping the control of the boom system when the moment balance condition is met, the method may further include:

[0057] Based on the plane sensor, telescopic main arm and telescopic folding arm angle and length sensor data on the work platform, the spatial coordinates of the current work platform are obtained;

[0058] Calculating a spatial distance difference between a preset construction position and the spatial coordinates of the current work platform, and comparing the spatial distance difference with a distance threshold;

[0059] If the absolute value of the spatial distance difference is greater than the distance threshold, an adjustment strategy for the telescopic main boom luffing angle and extension length is determined based on the relative positional relationship between the construction position and the spatial coordinates of the current working platform;

[0060] generating adjustment instructions for the telescopic main boom's luffing angle and extension length according to the adjustment strategy;

[0061] Using the adjustment instructions to control the drive devices corresponding to the angle sensor and the length sensor during the extension and retraction of the telescopic main arm, the telescopic main arm moves toward the construction position;

[0062] During the movement of the telescopic main arm, the spatial coordinates of the current working platform are updated in real time, and the operation of calculating the spatial distance difference between the preset construction position and the spatial coordinates of the current working platform and comparing the spatial distance difference with the distance threshold is returned until the spatial distance difference is less than or equal to the distance threshold.

[0063] This embodiment of the present invention focuses on a closed-loop control system for precisely controlling the working platform of an aerial work platform to reach a predetermined construction location. After conventional control of the boom system ceases when torque equilibrium conditions are met, the system acquires the working platform's current spatial coordinates based on data from various sensors, calculates the spatial distance difference between the working platform and the construction location, and adjusts the telescopic boom's amplitude angle and extension length based on the comparison results. This process is repeated until the working platform reaches the target location.

[0064] Specifically, the spatial distance difference is calculated as the spatial distance difference between the spatial coordinates of the preset construction location and the spatial coordinates of the current work platform, calculated using a spatial distance formula (such as the three-dimensional Euclidean distance formula). The distance threshold represents the allowable error range of the work platform position. The absolute value of the calculated spatial distance difference is compared with the distance threshold to determine whether the work platform is close enough to the construction location. If the absolute value of the spatial distance difference is greater than the distance threshold, it means that the work platform has not yet reached the target location and needs to be adjusted. If it is less than or equal to the distance threshold, it is considered that the work platform has reached the target location and no further adjustment is required.

[0065] When the absolute value of the spatial distance difference is greater than the distance threshold, it is necessary to analyze the relative position relationship between the construction position and the spatial coordinates of the current working platform. For example, determine whether the target position is above, below, left, right, in front or behind the current position, as well as the distance difference in each direction. Based on the relative position relationship, an adjustment strategy for the telescopic main arm's amplitude angle and extension length is formulated. For example, if the target position is above and in front of the current position, it may be necessary to increase the amplitude angle of the main arm and extend the extension length of the main arm to move the working platform toward the target position. Based on the determined adjustment strategy, the system will generate corresponding adjustment instructions, which contain specific adjustment values ​​for the telescopic main arm's amplitude angle and extension length, such as "increase the main arm's amplitude angle by 5 degrees and extend the extension length by 1 meter." The adjustment instructions are usually encoded in a specific format so that they can be recognized and executed by the drive device, wherein the instructions can be transmitted to the drive device associated with the telescopic main arm via wired or wireless means.

[0066] The drive devices corresponding to the angle and length sensors in the telescopic boom are the actuators used to control the boom's amplitude adjustment angle and extension length. For example, the angle drive device can be a hydraulic motor or electric push rod, which adjusts the boom's angle by changing its operating state; the length drive device can be a hydraulic cylinder or a screw-nut mechanism, which controls the boom's extension and retraction length. During the telescopic boom's movement, the spatial coordinates of the work platform constantly change, requiring real-time updating of the work platform's spatial coordinates. This can be achieved by continuously collecting sensor data and recalculating the coordinates.

[0067] After updating the coordinates, the system returns to calculate the spatial distance difference based on the preset construction position and the spatial coordinates of the current work platform, and compares the spatial distance difference with the distance threshold. Through this cyclic comparison method, the system can continuously monitor the distance changes between the work platform and the target position, and adjust the movement of the main arm in time according to the actual situation until the spatial distance difference is less than or equal to the distance threshold, that is, the work platform reaches the construction position.

[0068] The embodiment of the present invention can quickly capture the impact of the main arm and folding arm movements on the center of gravity of the entire machine through directional monitoring based on the boom system. By incorporating parameters such as the telescopic length and amplitude adjustment angle of the main arm and folding arm into the torque calculation model, it is possible to dynamically evaluate the impact of the boom system movement on the balance of the entire machine, predict the risk of overturning in advance, and provide quantitative support for the telescopic and amplitude adjustment linkage control of the folding arm. The simultaneous participation of telescopic and amplitude adjustment realizes the integration of operating steps. The traditional control method requires the telescopic and amplitude adjustment operations to be performed separately, which not only increases the operating time, but also easily leads to the accumulation of operating errors. Collaborative control integrates the two actions into a coherent process, and the synchronous adjustment of the folding arm and the main arm can be completed through a single control instruction. At the same time, according to the mechanical properties, dynamic characteristics and other factors of the folding arm and the main arm, the telescopic and amplitude adjustment amplitudes of the two are reasonably allocated to avoid excessive stress or excessive energy consumption of a certain component, reduce local stress concentration, and extend the service life of the platform.

[0069] Example 2

[0070] Figure 3 This is a flow chart of another aerial work platform boom system control method provided in the second embodiment of the present invention. This embodiment is refined based on the first embodiment. Specifically, Figure 3 As shown, the method includes:

[0071] S310. Collect the tilt direction data of the entire folding boom aerial work platform in real time through the X-axis angle sensor arranged on the turntable counterweight system of the aerial work platform, and determine the working condition type of the entire machine according to the tilt direction data.

[0072] S320. Monitor the weight and center of gravity of the working platform system in real time through a planar sensor arranged on the working platform system of the aerial work platform, and calculate the first torque value of the first torque module by combining the angle sensor data arranged on the forearm system and the deadweight parameter of the aerial work platform.

[0073] S330: Calculate a second torque value of a second torque module using angle sensors arranged on the chassis system and the turntable counterweight system.

[0074] S340: Calculate a third torque value of a third torque module by using an angle sensor and a length sensor arranged on the telescopic folding arm system in the boom system.

[0075] S350: Calculate a fourth torque value of a fourth torque module by using an angle sensor and a length sensor arranged on the telescopic main arm system in the boom system.

[0076] S360: Calculate the sum of the first moment value, the third moment value, and the fourth moment value.

[0077] As can be seen from the above examples, the first moment represents the tipping moment generated by the operating load, and its direction always tends to tilt the entire machine forward or backward about the fulcrum. The third moment module represents the tipping moment generated by the weight and posture of the folding arm itself, and its magnitude and direction vary with the folding arm angle and length. The fourth moment module represents the tipping moment generated by the weight and posture of the main arm itself, and also varies with the main arm parameters. The second moment module (chassis + turntable counterweight) represents the stabilizing moment of the entire machine to resist tipping, and its direction always opposes the tipping tendency.

[0078] S370: If the working condition type is the forward tilting working condition, when the sum of the first moment value, the third moment value, and the fourth moment value is greater than the second moment value, it is determined that the first arm folding control condition is met.

[0079] Under the forward tilt condition, when the "first moment value + third moment value + fourth moment value > second moment value", it indicates that the total tipping moment generated by the operating load and the boom system is greater than the total stabilizing moment generated by the chassis system and the turntable counterweight system. At this time, the entire machine is in a critical unbalanced state, and the first arm folding control condition is met.

[0080] S380: When the first folding arm control condition is met, the telescopic main arm length, the telescopic folding arm length, the telescopic main arm luffing angle, and the telescopic folding arm luffing angle at the current moment are obtained.

[0081] At this point, the current stress state of the platform may lead to an increased risk of tilting forward, and it is necessary to change the platform's torque distribution by adjusting the telescopic folding arm to restore or maintain the platform's stability. The length of the telescopic main arm, the length of the telescopic folding arm, the telescopic main arm amplitude adjustment angle, and the telescopic folding arm amplitude adjustment angle are key parameters that describe the position and shape of the boom system. The length and amplitude adjustment angle of the telescopic main arm and folding arm determine the overall posture and center of gravity position of the platform. Different parameter combinations correspond to different torque distributions and stability states. For example, the longer the main arm or the larger the amplitude adjustment angle, the higher the center of gravity of the platform may be, and the risk of tilting forward may also increase; changes in the length and angle of the folding arm will also affect the position and torque balance of the working platform.

[0082] S390, controlling the telescopic folding arm to swing downward at a rated downward swing rate, calculating the angle change of the telescopic folding arm in real time, synchronously calculating the real-time extension amount of the telescopic folding arm using the extension amount calculation formula, and synchronously extending the telescopic folding arm according to the real-time extension amount.

[0083] In the forward-leaning condition, the downward shifting of the arm will reduce the length of the lever arm of the folding arm and the main arm to the front end of the platform, reducing the torque generated at the front end. At the same time, due to the lowering of the center of gravity, the balancing ability of the rear-end support system is relatively enhanced, which helps to restore the moment balance of the platform. During the process of downward shifting of the folding arm, if only the arm is shifted without extension, the position of the working platform may change significantly, resulting in interruption of the operation or the need for readjustment. By synchronously extending the folding arm, it is possible to ensure that the working platform maintains a relatively stable position during the shifting process. The coordinated operation of downward shifting and extending the folding arm can achieve a smooth transition of the platform's posture. During the shifting process, by synchronously extending the folding arm, large fluctuations in the working platform's position can be avoided, so that the platform remains relatively stable during the adjustment process.

[0084] Optionally, the expansion amount calculation formula is:

[0085] ;

[0086] is the length of the telescopic main arm at the current moment; is the length of the telescopic folding arm at the current moment; is the luffing angle of the telescopic main arm at the current moment; is the telescopic folding arm amplitude variation angle at the current moment; is the angle change of the telescopic folding arm; It is the real-time telescopic amount of the telescopic folding arm, which includes the real-time extension amount and the real-time contraction amount.

[0087] It should be noted that the calculation formula for the telescopic amount is an expression that comprehensively considers the mechanical effects of the main arm and the folding arm at different angles. Represents the real-time extension of the folding arm. and Respectively represent the contribution of the main arm and folding arm to the torque at the current angle; and It means that the folding arm angle changes The torque contribution after the arm angle change can be obtained by calculating the difference between the two values. It is used to convert the change of torque in the molecule into the expansion and contraction of the folding arm. It plays the role of a proportional factor. to adjust the size of the expansion. and It determines the spatial position of the main arm endpoint and affects the longitudinal distribution of the center of gravity of the whole machine. For example, the increase of the main arm length will increase the forward moment, and the angle change affects the size of the main arm through the sine function. ), the main arm's contribution to the moment changes from becomes , the difference quantifies the torque increment of the main arm after the angle changes. and Directly control the position and posture of the work platform. Swinging the folding arm upward (increasing the angle) will move the center of gravity backward, while retracting the folding arm (reducing the length) will move the center of gravity forward. The torque contribution is changed from becomes , the difference represents the torque increment caused by the change of the folding arm angle. It is the proportional factor that converts the torque change into the actual contraction amount. decreases, the denominator value becomes smaller, resulting in the calculated Increase, at this time Indicates the real-time contraction amount of the folding arm, reflecting the physical relationship that "the greater the upward swing angle, the more the folding arm needs to contract."

[0088] S3100: When the moment balance condition is met, stop controlling the boom system.

[0089] When the "first torque value + third torque value + fourth torque value = second torque value + floating value" condition is met, the moment equilibrium condition is considered met. This equilibrium state is a key factor in determining whether to activate boom control and when to terminate boom control. When approaching this equilibrium state, the control system adjusts the boom's movement based on real-time monitoring data to gradually approach and maintain this equilibrium state. Once this equilibrium state is reached, boom system control is discontinued to prevent excessive control or unnecessary adjustments, reduce energy consumption and equipment wear, and ensure continuous platform operation in a stable state. It should be noted that in actual operating conditions, factors such as sensor measurement errors, elastic deformation of the mechanical structure, and environmental loads can cause inherent deviations in torque calculations. If the balance criterion is based solely on "first torque value + third torque value + fourth torque value = second torque value," the system will enter a critically stable state, where even minor disturbances (such as operator movement or wind gusts) can instantly disrupt equilibrium. The introduction of floating value transforms theoretical absolute equilibrium (zero-error balance) into relative equilibrium within an allowable error range, ensuring the platform maintains sufficient interference resistance even under extreme operating conditions. For example, when the total tipping moment is close to the stabilizing moment, the floating value can provide additional moment buffer space to prevent the platform from exceeding the critical balance point due to sudden loads, reflecting the design concept of "prevention first".

[0090] The embodiment of the present invention mainly describes the folding arm control strategy under the forward tilt condition of the aerial work platform. According to the actual forward tilt of the platform, the posture of the folding arm is adjusted in a targeted manner. Through the swing amplitude change and extension action, the center of gravity distribution of the platform is changed to offset the forward tilt torque, so that the platform can restore or maintain a balanced state. Under the premise of ensuring the stability of the platform, it can meet different working height and position requirements, thereby improving the versatility and adaptability of the platform.

[0091] Example 3

[0092] Figure 4 This is a flow chart of another aerial work platform boom system control method provided in the third embodiment of the present invention. This embodiment is refined based on the first embodiment. Specifically, Figure 4 As shown, the method includes:

[0093] S410, collecting the tilt direction data of the entire folding boom aerial work platform in real time through the X-axis angle sensor arranged on the turntable counterweight system of the aerial work platform, and determining the working condition type of the entire machine according to the tilt direction data.

[0094] S420. Monitor the weight and center of gravity of the working platform system in real time through a planar sensor arranged on the working platform system of the aerial work platform, and calculate the first torque value of the first torque module by combining the angle sensor data arranged on the forearm system and the deadweight parameter of the aerial work platform.

[0095] S430: Calculate a second torque value of a second torque module using angle sensors arranged on the chassis system and the turntable counterweight system.

[0096] S440: Calculate a third torque value of a third torque module by using an angle sensor and a length sensor arranged on the telescopic folding arm system in the boom system.

[0097] S450: Calculate a fourth torque value of a fourth torque module by using an angle sensor and a length sensor arranged on the telescopic main arm system in the boom system.

[0098] S460: Calculate the sum of the first torque value, the third torque value, and the fourth torque value.

[0099] S470: If the working condition type is the backward tilting working condition, when the sum of the first moment value, the third moment value, and the fourth moment value is less than the second moment value, it is determined that the second arm folding control condition is met.

[0100] Under the backward tilting condition, when the "first moment value + third moment value + fourth moment value < second moment value", it indicates that the total tipping moment generated by the operating load and the boom system is less than the total stabilizing moment generated by the chassis system and the turntable counterweight system. At this time, the entire machine is in a critical unbalanced state, and the second arm folding control condition is met.

[0101] S480: When the second folding arm control condition is met, the telescopic main arm length, the telescopic folding arm length, the telescopic main arm luffing angle, and the telescopic folding arm luffing angle at the current moment are obtained.

[0102] At this time, the current stress state of the platform may increase the risk of tilting backward, and it is necessary to adjust the telescopic folding arm to change the moment distribution of the platform to restore or maintain the stability of the platform. The specific description has been similarly described in Example 2 and will not be repeated here.

[0103] S490, controlling the telescopic folding arm to change amplitude upward according to the rated upward swing rate, calculating the angle change of the telescopic folding arm in real time, synchronously calculating the real-time contraction amount of the telescopic folding arm using the expansion and contraction amount calculation formula, and synchronously contracting the telescopic folding arm according to the real-time contraction amount.

[0104] In the backward tilting condition, upward luffing of the folding arm shifts the boom system's center of gravity forward, while retracting the folding arm further shifts the center of gravity toward the front of the platform. This, in conjunction with the upward swing action, increases the forward tilting torque, counteracting the backward tilting tendency. The simultaneous upward luffing and retraction of the folding arm adjusts the platform's posture to suit different working conditions while maintaining a certain operating range and high flexibility. The upward luffing increases the operating height, while the retracted folding arm adjusts the operating radius. Performing these two actions simultaneously helps reduce the stress on the boom system structure. In actual operation, if only the upward luffing of the folding arm is performed without retraction, the boom structure may be subjected to excessive bending and torque.

[0105] S4100: When the moment balance condition is met, stop controlling the boom system.

[0106] When "the first torque value + the third torque value + the fourth torque value + the floating value = the second torque value", it is considered that the torque balance condition is met. In the embodiment of the present invention, the floating value is essentially a safety redundancy for the tilting condition. If only "the first torque value + the third torque value + the fourth torque value = the second torque value" is required, the platform is in a critical stability state, and any disturbance in the tilting direction may break the balance. After the floating value is introduced, even if the total torque increases slightly due to unexpected factors, it is still judged to be balanced as long as it does not exceed "the second torque value - the floating value", so as to avoid excessive adjustment caused by small fluctuations.

[0107] The embodiment of the present invention mainly describes the folding arm control strategy under the backward tilt condition of the aerial work platform. According to the actual backward tilt of the platform, the posture of the folding arm is adjusted in a targeted manner. Through the upward swing and contraction actions, the center of gravity distribution of the platform is changed to offset the backward tilt torque, so that the platform can be restored or maintained in a balanced state. Under the premise of ensuring the stability of the platform, it can meet different working height and position requirements, thereby improving the versatility and adaptability of the platform.

[0108] Example 4

[0109] Figure 5 This is a schematic diagram of the structure of a boom system control device for an aerial work platform provided in the fourth embodiment of the present invention. Figure 5 As shown, the device includes:

[0110] The whole-machine working condition determination module 510 is configured to collect real-time tilt direction data of the whole-machine folding boom aerial work platform via an X-axis angle sensor disposed on the turntable counterweight system of the aerial work platform, and determine the whole-machine working condition type based on the tilt direction data; wherein the working condition types include forward tilt condition and backward tilt condition, and the X-axis is predefined as the direction along the boom system of the aerial work platform, and the boom system includes a telescopic main boom and a telescopic folding boom;

[0111] A torque value calculation module 520 is configured to calculate the real-time torque value of each torque module based on sensors disposed in each functional system of the aerial work platform; wherein the torque module includes at least one functional system in the aerial work platform;

[0112] The control strategy execution module 530 is configured to determine whether the current aerial work platform satisfies a target folding arm control condition corresponding to the current working condition based on the current working condition type and the real-time torque value, and, if the target folding arm control condition is satisfied, execute control of the luffing angle and telescopic state of the telescopic folding arm according to the target folding arm control strategy corresponding to the target folding arm control condition;

[0113] The moment balance determination module 540 is configured to stop controlling the boom system when a moment balance condition is met.

[0114] The embodiment of the present invention can quickly capture the impact of the main arm and folding arm movements on the center of gravity of the entire machine through directional monitoring based on the boom system. By incorporating parameters such as the telescopic length and amplitude adjustment angle of the main arm and folding arm into the torque calculation model, it is possible to dynamically evaluate the impact of the boom system movement on the balance of the entire machine, predict the risk of overturning in advance, and provide quantitative support for the telescopic and amplitude adjustment linkage control of the folding arm. The simultaneous participation of telescopic and amplitude adjustment realizes the integration of operating steps. The traditional control method requires the telescopic and amplitude adjustment operations to be performed separately, which not only increases the operating time, but also easily leads to the accumulation of operating errors. Collaborative control integrates the two actions into a coherent process, and the synchronous adjustment of the folding arm and the main arm can be completed through a single control instruction. At the same time, according to the mechanical properties, dynamic characteristics and other factors of the folding arm and the main arm, the telescopic and amplitude adjustment amplitudes of the two are reasonably allocated to avoid excessive stress or excessive energy consumption of a certain component, reduce local stress concentration, and extend the service life of the platform.

[0115] Optionally, based on the above embodiments, the torque value calculation module 520 may include:

[0116] A first torque value calculation unit is used to monitor the weight and center of gravity of the work platform system in real time through a planar sensor arranged on the work platform system of the aerial work platform, and calculate the first torque value of the first torque module in combination with the angle sensor data arranged on the arm system and the weight parameter of the aerial work platform;

[0117] A second torque value calculation unit, configured to calculate a second torque value of a second torque module by using an angle sensor arranged on the chassis system and the turntable configuration system;

[0118] A third torque value calculation unit is used to calculate the third torque value of the third torque module through the angle sensor and the length sensor arranged on the telescopic folding arm system in the boom system;

[0119] The fourth torque value calculation unit is used to calculate the fourth torque value of the fourth torque module through the angle sensor and the length sensor arranged on the telescopic main arm system in the boom system.

[0120] Optionally, based on the above embodiments, the control strategy execution module 530 may include:

[0121] a torque summing unit, configured to calculate the sum of the first torque value, the third torque value, and the fourth torque value;

[0122] a first arm-folding control condition determination unit, configured to determine that the first arm-folding control condition is satisfied when the sum of the first moment value, the third moment value, and the fourth moment value is greater than the second moment value if the working condition type is a forward tilting working condition;

[0123] a forward tilting working condition parameter acquisition unit, configured to acquire the telescopic main boom length, the telescopic folding boom length, the telescopic main boom luffing angle, and the telescopic folding boom luffing angle at the current moment when the first folding boom control condition is met;

[0124] The forward tilt working condition control execution unit is used to control the telescopic folding arm to change the amplitude downward according to the rated swing-down rate, calculate the angle change of the telescopic folding arm in real time, use the extension amount calculation formula to synchronously calculate the real-time extension amount of the telescopic folding arm, and synchronously extend the telescopic folding arm according to the real-time extension amount.

[0125] Optionally, based on the above embodiments, the control strategy execution module 530 may further include:

[0126] a torque summing unit, configured to calculate the sum of the first torque value, the third torque value, and the fourth torque value;

[0127] a second arm-folding control condition determination unit, configured to determine that the second arm-folding control condition is satisfied when the sum of the first moment value, the third moment value, and the fourth moment value is less than the second moment value if the working condition type is a backward tilting working condition;

[0128] a backward tilting working condition parameter acquisition unit, for acquiring the telescopic main boom length, the telescopic folding boom length, the telescopic main boom luffing angle, and the telescopic folding boom luffing angle at the current moment when the second folding boom control condition is met;

[0129] The backward tilt working condition control execution unit is used to control the telescopic folding arm to change the amplitude upward according to the rated upward swing rate, calculate the angle change of the telescopic folding arm in real time, use the expansion and contraction amount calculation formula to synchronously calculate the real-time contraction amount of the telescopic folding arm, and synchronously contract the telescopic folding arm according to the real-time contraction amount.

[0130] Optionally, based on the above embodiments, the expansion and contraction amount calculation formula is:

[0131] ;

[0132] is the length of the telescopic main arm at the current moment; is the length of the telescopic folding arm at the current moment; is the luffing angle of the telescopic main arm at the current moment; is the telescopic folding arm amplitude variation angle at the current moment; is the angle change of the telescopic folding arm; It is the real-time telescopic amount of the telescopic folding arm, which includes the real-time extension amount and the real-time contraction amount.

[0133] Optionally, based on the above embodiments, the system may further include: a construction distance adjustment unit configured to, when a moment balance condition is satisfied, stop controlling the boom system and obtain the spatial coordinates of the current working platform based on data from a plane sensor on the working platform, and angle and length sensors of the telescopic main boom and the telescopic folding arm;

[0134] Calculating a spatial distance difference between a preset construction position and the spatial coordinates of the current work platform, and comparing the spatial distance difference with a distance threshold;

[0135] If the absolute value of the spatial distance difference is greater than the distance threshold, an adjustment strategy for the telescopic main boom luffing angle and extension length is determined based on the relative positional relationship between the construction position and the spatial coordinates of the current working platform;

[0136] generating adjustment instructions for the telescopic main boom's luffing angle and extension length according to the adjustment strategy;

[0137] Using the adjustment instructions to control the drive devices corresponding to the angle sensor and the length sensor during the extension and retraction of the telescopic main arm, the telescopic main arm moves toward the construction position;

[0138] During the movement of the telescopic main arm, the spatial coordinates of the current working platform are updated in real time, and the operation of calculating the spatial distance difference between the preset construction position and the spatial coordinates of the current working platform and comparing the spatial distance difference with the distance threshold is returned until the spatial distance difference is less than or equal to the distance threshold.

[0139] Optionally, based on the above embodiments, the device may further include: a platform deadweight parameter determination unit, configured to adjust the angle of the telescopic folding arm to a maximum amplitude state and the length of the telescopic folding arm to a maximum extension state when the aerial work platform is in an unloaded state and on a horizontal ground, before calculating the first torque value of the first torque module in combination with the angle sensor data arranged on the arm system and the deadweight parameter of the aerial work platform;

[0140] Using the pressure sensors arranged at each support point in the chassis system, the pressure data of each support point at the current moment is collected and summed to obtain the total pressure value of the chassis system, and the total pressure value is converted into the deadweight parameter of the aerial work platform.

[0141] An aerial work platform boom system control device provided in an embodiment of the present invention can execute an aerial work platform boom system control method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method.

[0142] Example 5

[0143] Figure 6 A schematic diagram of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0144] like Figure 6 As shown, electronic device 10 includes at least one processor 11 and memory, such as read-only memory (ROM) 12 and random access memory (RAM) 13, communicatively connected to at least one processor 11. The memory stores computer programs executable by the at least one processor. Processor 11 can perform various appropriate actions and processes based on the computer programs stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of electronic device 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. An input / output (I / O) interface 15 is also connected to bus 14.

[0145] Multiple components in the electronic device 10 are connected to the I / O 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.

[0146] 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 a method for controlling an aerial work platform boom system.

[0147] That is, the tilt direction data of the entire folding boom aerial work platform is collected in real time by an X-axis angle sensor arranged on the turntable counterweight system of the aerial work platform, and the operating condition type of the entire folding boom aerial work platform is determined based on the tilt direction data; wherein the operating condition types include forward tilt condition and backward tilt condition, and the X-axis is predefined as the direction along the boom system of the aerial work platform, and the boom system includes a telescopic main boom and a telescopic folding boom;

[0148] Calculate the real-time torque value of each torque module based on sensors arranged in each functional system of the aerial work platform; wherein the torque module includes at least one functional system in the aerial work platform;

[0149] Determining whether the current aerial work platform satisfies a target folding arm control condition corresponding to the current working condition type according to the current working condition type and the real-time torque value, and executing control of the luffing angle and telescopic state of the telescopic folding arm according to a target folding arm control strategy corresponding to the target folding arm control condition when the target folding arm control condition is satisfied;

[0150] When the moment balance condition is met, the control of the boom system is stopped.

[0151] In some embodiments, a method for controlling an aerial work platform boom system 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 ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for controlling an aerial work platform boom system described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the method for controlling an aerial work platform boom system via any other suitable means (e.g., via firmware).

[0152] 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-chip systems (SOCs), 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.

[0153] 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.

[0154] 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.

[0155] 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).

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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 method for controlling an aerial work platform boom system, characterized in that: include: The X-axis angle sensor disposed on the turntable counterweight system of the aerial work platform collects the tilt direction data of the entire folding boom aerial work platform in real time, and determines the operating condition type of the entire folding boom based on the tilt direction data; wherein the operating condition types include forward tilting condition and backward tilting condition, and the X-axis is predefined as being along the direction of the boom system of the aerial work platform, and the boom system includes a telescopic main boom and a telescopic folding boom; Calculate the real-time torque value of each torque module according to the sensors arranged in each functional system in the aerial work platform; wherein, the torque module includes at least one functional system in the aerial work platform; including: using a plane sensor arranged on the working platform system of the aerial work platform to monitor the weight and center of gravity of the working platform system in real time, and calculating the first torque value of the first torque module in combination with the angle sensor data arranged on the forearm system and the deadweight parameter of the aerial work platform; calculating the second torque value of the second torque module by using the angle sensor arranged on the chassis system and the turntable counterweight system; calculating the third torque value of the third torque module by using the angle sensor and length sensor arranged on the telescopic folding arm system of the boom system; calculating the fourth torque value of the fourth torque module by using the angle sensor and length sensor arranged on the telescopic main arm system of the boom system; According to the current working condition type and the real-time torque value, determine whether the current aerial work platform meets the target folding arm control condition corresponding to the current working condition type, and when the target folding arm control condition is met, execute the amplitude change angle and telescopic state control of the telescopic folding arm according to the target folding arm control strategy corresponding to the target folding arm control condition; including: calculating the sum of the torque values ​​of the first torque value, the third torque value and the fourth torque value; if the working condition type is the forward tilting working condition, when the sum of the torque values ​​of the first torque value, the third torque value and the fourth torque value is greater than the second torque value, determine that the first folding arm control condition is met; when the first folding arm control condition is met, obtain the telescopic main arm length, the telescopic folding arm length, the telescopic main arm amplitude change angle and the telescopic folding arm amplitude change angle at the current moment; control the telescopic folding arm to change the amplitude downward according to the rated swing-down rate, calculate the angle change of the telescopic folding arm in real time, synchronously calculate the real-time extension of the telescopic folding arm using the extension amount calculation formula, and synchronously extend the telescopic folding arm according to the real-time extension; The calculation formula for the expansion amount is: ； is the length of the telescopic main arm at the current moment; is the length of the telescopic folding arm at the current moment; is the luffing angle of the telescopic main arm at the current moment; is the telescopic folding arm amplitude variation angle at the current moment; is the angle change of the telescopic folding arm; The real-time telescopic amount of the telescopic folding arm, which includes the real-time extension amount and the real-time contraction amount; When the moment balance condition is met, the control of the boom system is stopped.

2. The method according to claim 1, characterized in that According to the current working condition type and the real-time torque value, it is determined whether the current aerial work platform meets the target arm folding control condition corresponding to the current working condition type, and when the target arm folding control condition is met, the target arm folding control strategy corresponding to the target arm folding control condition is used to control the amplitude change angle and the telescopic state of the telescopic arm, further comprising: Calculating a sum of the first moment value, the third moment value, and the fourth moment value; If the working condition type is the backward tilting working condition, when the sum of the torque values ​​of the first torque value, the third torque value, and the fourth torque value is less than the second torque value, it is determined that the second arm folding control condition is met; When the second folding arm control condition is met, the telescopic main arm length, the telescopic folding arm length, the telescopic main arm luffing angle, and the telescopic folding arm luffing angle at the current moment are obtained; The telescopic folding arm is controlled to change the amplitude upward according to the rated upward swing rate, the angle change of the telescopic folding arm is calculated in real time, the real-time contraction amount of the telescopic folding arm is synchronously calculated using the expansion and contraction amount calculation formula, and the telescopic folding arm is synchronously contracted according to the real-time contraction amount.

3. The method according to claim 1, characterized in that When the moment balance condition is met, after stopping the control of the boom system, the method further includes: Based on the plane sensor, telescopic main arm and telescopic folding arm angle and length sensor data on the work platform, the spatial coordinates of the current work platform are obtained; Calculating a spatial distance difference between a preset construction position and the spatial coordinates of the current work platform, and comparing the spatial distance difference with a distance threshold; If the absolute value of the spatial distance difference is greater than the distance threshold, an adjustment strategy for the telescopic main boom luffing angle and extension length is determined based on the relative positional relationship between the construction position and the spatial coordinates of the current working platform; generating adjustment instructions for the telescopic main boom's luffing angle and extension length according to the adjustment strategy; Using the adjustment instructions to control the drive devices corresponding to the angle sensor and the length sensor during the extension and retraction of the telescopic main arm, the telescopic main arm moves toward the construction position; During the movement of the telescopic main arm, the spatial coordinates of the current working platform are updated in real time, and the operation of calculating the spatial distance difference between the preset construction position and the spatial coordinates of the current working platform and comparing the spatial distance difference with the distance threshold is returned until the spatial distance difference is less than or equal to the distance threshold.

4. The method according to claim 1, wherein Before calculating the first torque value of the first torque module by combining the angle sensor data arranged on the arm system and the weight parameter of the aerial work platform, the method further includes: When the aerial work platform is in an unloaded state and on level ground, the angle of the telescopic folding arm is adjusted to a maximum amplitude state, and the length of the telescopic folding arm is adjusted to a maximum extension state; Using the pressure sensors arranged at each support point in the chassis system, the pressure data of each support point at the current moment is collected and summed to obtain the total pressure value of the chassis system, and the total pressure value is converted into the deadweight parameter of the aerial work platform.

5. A control device for an aerial work platform boom system, used to execute the method according to any one of claims 1 to 4, characterized in that: include: A whole-machine working condition determination module is configured to collect real-time tilt direction data of the whole-machine folding boom aerial work platform via an X-axis angle sensor disposed on the turntable counterweight system of the aerial work platform, and determine the whole-machine working condition type based on the tilt direction data; wherein the working condition types include forward tilting and backward tilting conditions, and the X-axis is predefined as being along the direction of the boom system of the aerial work platform, and the boom system includes a telescopic main boom and a telescopic folding boom; A torque value calculation module is used to calculate the real-time torque value of each torque module based on the sensors arranged in each functional system in the aerial work platform; wherein the torque module includes at least one functional system in the aerial work platform; the torque value calculation module includes: a first torque value calculation unit, used to monitor the weight and center of gravity position of the working platform system in real time through the planar sensor arranged on the working platform system of the aerial work platform, and calculate the first torque value of the first torque module in combination with the angle sensor data arranged on the forearm system and the deadweight parameter of the aerial work platform; a second torque value calculation unit, used to calculate the second torque value of the second torque module through the angle sensor arranged on the chassis system and the turntable configuration system; a third torque value calculation unit, used to calculate the third torque value of the third torque module through the angle sensor and length sensor arranged on the telescopic folding arm system of the boom system; a fourth torque value calculation unit, used to calculate the fourth torque value of the fourth torque module through the angle sensor and length sensor arranged on the telescopic main arm system of the boom system; The control strategy execution module is used to judge whether the current aerial work platform meets the target folding arm control condition corresponding to the current working condition type according to the current working condition type and the real-time torque value, and when the target folding arm control condition is met, the target folding arm control strategy corresponding to the target folding arm control condition is used to execute the variable angle and telescopic state control of the telescopic folding arm; the control strategy execution module includes: a torque summing unit for calculating the sum of the torque values ​​of the first torque value, the third torque value and the fourth torque value; a first folding arm control condition judgment unit for, if the working condition type is the forward tilting working condition, when the first torque value, the third torque value and the fourth torque value are in the forward tilting working condition, the first folding arm control condition judgment unit is used to judge whether the current aerial work platform meets the target folding arm control condition according to the target folding arm control condition; When the sum of the torque value and the torque value of the fourth torque value is greater than the second torque value, it is determined that the first folding arm control condition is met; the forward tilting working condition parameter acquisition unit is used to obtain the telescopic main arm length, the telescopic folding arm length, the telescopic main arm amplitude change angle and the telescopic folding arm amplitude change angle at the current moment when the first folding arm control condition is met; the forward tilting working condition control execution unit is used to control the telescopic folding arm to swing downward according to the rated swing-down rate, calculate the angle change of the telescopic folding arm in real time, use the extension amount calculation formula to synchronously calculate the real-time extension amount of the telescopic folding arm, and synchronously extend the telescopic folding arm according to the real-time extension amount; The calculation formula for the expansion amount is: ； is the length of the telescopic main arm at the current moment; is the length of the telescopic folding arm at the current moment; is the luffing angle of the telescopic main arm at the current moment; is the telescopic folding arm amplitude variation angle at the current moment; is the angle change of the telescopic folding arm; The real-time telescopic amount of the telescopic folding arm, which includes the real-time extension amount and the real-time contraction amount; The torque balance determination module is used to stop controlling the boom system when the torque balance condition is met.

6. An electronic device, characterized in that: The electronic device 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 a method for controlling an aerial work platform boom system according to any one of claims 1 to 4.

7. 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 a method for controlling an aerial work platform boom system according to any one of claims 1 to 4 when executed.

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