An arm support control method and device, electronic equipment and storage medium

Abstract

The application discloses an arm support control method and device, electronic equipment and storage medium, comprising: determining a main arm lifting deceleration angle according to a subtraction result of a main arm maximum amplitude angle and a main arm angle adjustment value; determining a folding arm lifting deceleration angle according to a subtraction result of a folding arm maximum amplitude angle and a folding arm angle adjustment value; determining a main arm descending deceleration angle according to an addition result between a main arm minimum amplitude angle and a main arm angle adjustment value; determining a folding arm descending deceleration angle according to an addition result between a folding arm minimum amplitude angle and a folding arm angle adjustment value; when detecting that the main arm and the folding arm are both in a lifting state, controlling the main arm to decelerate when reaching the main arm lifting deceleration angle, and controlling the folding arm to decelerate when reaching the folding arm lifting deceleration angle; when detecting that the main arm and the folding arm are both in a descending state, controlling the main arm to decelerate when reaching the main arm descending deceleration angle, and controlling the folding arm to decelerate when reaching the folding arm descending deceleration angle, thereby improving the accuracy of arm support control.

Description

Technical Field

[0001] This invention relates to the field of aerial work platform technology, and in particular to a boom control method, device, electronic equipment and storage medium. Background Technology

[0002] Boom-type aerial work platforms are powerful construction tools in the engineering and construction field, mainly divided into two types: straight boom and articulated boom. Because the complex movements of articulated boom aerial work platforms often require the boom to work in conjunction with multiple linkage mechanisms, the boom structure and control logic of articulated boom aerial work platforms are more complex than those of straight boom aerial work platforms.

[0003] In existing technologies, the boom control method of the straight boom aerial work platform is usually directly used to control the boom of the articulated boom aerial work platform, that is, only the main boom and the boom of the articulated boom aerial work platform are controlled.

[0004] However, because the boom structure of articulated boom aerial work platforms is more complex than that of telescopic boom aerial work platforms, existing technologies that only control the main boom and the boom cannot accurately control the boom of articulated boom aerial work platforms, thus affecting the stability of articulated boom aerial work platforms. Summary of the Invention

[0005] This invention provides a boom control method, device, electronic equipment, and storage medium, which solves the problem that existing technologies only control the main boom and the boom, resulting in the inability to simultaneously and accurately control the folding boom and the main boom of a telescopic boom aerial work platform. It can achieve accurate deceleration control of the main boom and the folding boom, thereby improving the stability of the telescopic boom aerial work platform.

[0006] In a first aspect, embodiments of the present invention provide a boom control method. An articulated boom aerial work platform includes a turntable, a combined boom, and a workbench assembly. The combined boom includes a folding boom and a main boom. A first end of the folding boom is connected to the turntable, a second end of the folding boom is connected to a first end of the main boom, and a second end of the main boom is connected to the workbench assembly. The method includes: acquiring multiple changes in the main boom angle relative to the horizontal end face of the turntable within a given time period, and multiple changes in the folding boom angle relative to the horizontal end face of the turntable within a given time period; determining a main boom angle adjustment value based on each main boom angle change; determining a folding boom angle adjustment value based on each folding boom angle change; and subtracting the main boom angle adjustment value from the maximum boom amplitude angle. The following steps are taken: First, determine the main boom lifting deceleration angle. Then, determine the articulated boom lifting deceleration angle by subtracting the maximum boom luffing angle from the articulated boom angle adjustment value. Second, determine the main boom lowering deceleration angle by adding the minimum boom luffing angle to the main boom angle adjustment value. Third, determine the articulated boom lowering deceleration angle by adding the minimum boom luffing angle to the articulated boom angle adjustment value. Fourth, when both the main boom and articulated boom are in a lifting state, control the main boom to decelerate when it reaches the main boom lifting deceleration angle, and control the articulated boom to decelerate when it reaches the articulated boom lifting deceleration angle. Fifth, when both the main boom and articulated boom are in a lowering state, control the main boom to decelerate when it reaches the main boom lowering deceleration angle, and control the articulated boom to decelerate when it reaches the articulated boom lowering deceleration angle.

[0007] Secondly, embodiments of the present invention also provide a boom control device applied to an articulated boom aerial work platform. The articulated boom aerial work platform includes a turntable, a combined boom, and a work platform assembly. The combined boom includes a folding boom and a main boom. The first end of the folding boom is connected to the turntable, the second end of the folding boom is connected to the first end of the main boom, and the second end of the main boom is connected to the work platform assembly. The device includes: an adjustment value determination module, used to acquire the change in the main boom angle relative to the horizontal end face of the turntable within multiple unit time intervals, and the change in the folding boom angle relative to the horizontal end face of the turntable within multiple unit time intervals, and to determine the main boom angle adjustment value based on each main boom angle change, and to determine the folding boom angle adjustment value based on each folding boom angle change; and a lifting deceleration angle determination module, used to determine the lifting deceleration angle based on the difference between the maximum boom luffing angle and the main boom angle adjustment value. The system comprises the following modules: a boom lifting deceleration angle determination module, a boom lowering deceleration angle determination module, a boom lowering deceleration angle determination module, a boom lifting deceleration angle determination module, a boom lowering deceleration angle determination module, a boom lifting speed limiting module, a boom lowering speed limiting module, and a boom lowering speed limiting module. The boom lifting deceleration angle determination module determines the main boom lifting deceleration angle based on the sum of the main boom minimum amplitude angle and the main boom angle adjustment value, and the boom lowering speed limiting module determines the main boom lowering deceleration angle based on the sum of the minimum amplitude angle and the boom angle adjustment value.

[0008] Thirdly, embodiments of the present invention also provide an electronic device, the 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, the computer program being executed by the at least one processor to enable the at least one processor to execute the boom control method provided in any embodiment of the present invention.

[0009] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the boom control method provided in any embodiment of the present invention.

[0010] The technical solution provided by this invention determines the lifting deceleration angle by using the maximum amplitude angle and angle adjustment value, and determines the descent deceleration angle by using the minimum amplitude angle and angle adjustment value. When both the main boom and the articulated boom are detected to be in a lifting state, the main boom is controlled to decelerate when it reaches the main boom lifting deceleration angle, and the articulated boom is controlled to decelerate when it reaches the articulated boom lifting deceleration angle. When both the main boom and the articulated boom are detected to be in a descent state, the main boom is controlled to decelerate when it reaches the main boom descent deceleration angle, and the articulated boom is controlled to decelerate when it reaches the articulated boom descent deceleration angle. This allows for accurate deceleration control of the main boom and the articulated boom, improving the stability of the articulated boom aerial work platform.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of an articulated boom aerial work platform adapted to the boom control method provided in Embodiment 1 of the present invention.

[0014] Figure 2 This is a schematic diagram of a boom lift platform adapted to any boom control method provided by the present invention at a specific luffing position and a specific telescopic position.

[0015] Figure 3 A flowchart of a boom control method provided in Embodiment 1 of the present invention.

[0016] Figure 4 This is a flowchart of another boom control method provided according to Embodiment 2 of the present invention.

[0017] Figure 5 This is a schematic diagram of a main boom telescopic mechanism provided according to an embodiment of the present invention.

[0018] Figure 6 This is a schematic diagram of a method for decelerating the extension of a second section of the main boom according to an embodiment of the present invention.

[0019] Figure 7 This is a schematic diagram of a method for decelerating the extension of a three-section boom in a main boom, according to an embodiment of the present invention.

[0020] Figure 8 This is a schematic diagram of a retraction deceleration control for the second section of the main boom according to an embodiment of the present invention.

[0021] Figure 9 This is a schematic diagram of a retraction deceleration control of the three sections of the main boom according to an embodiment of the present invention.

[0022] Figure 10 This is a schematic diagram provided according to an embodiment of the present invention for reflecting the speed change during synchronous extension and retraction of the main boom.

[0023] Figure 11 This is a schematic diagram of a folding arm telescopic mechanism provided according to an embodiment of the present invention.

[0024] Figure 12 This is a schematic diagram of an extension deceleration control for a three-section arm in a folding arm according to an embodiment of the present invention.

[0025] Figure 13 This is a schematic diagram provided according to an embodiment of the present invention for reflecting the speed change when the folding arm extends asynchronously.

[0026] Figure 14 This is a schematic diagram of a retraction deceleration control for a three-section arm in a folding arm according to an embodiment of the present invention.

[0027] Figure 15 This is a schematic diagram provided according to an embodiment of the present invention for reflecting the speed change when the folding arm retracts asynchronously.

[0028] Figure 16 This is a schematic diagram of a boom control device according to Embodiment 3 of the present invention.

[0029] Figure 17 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention.

[0030] Reference numerals: Electronic device 20; Processor 21; Read-Only Memory (ROM) 22; Random Access Memory (RAM) 23; Bus 24; Input / Output (I / O) interface 25; Input unit 26; Output unit 27; Storage unit 28; Communication unit 29. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Example 1

[0034] This embodiment discloses a boom control method, which is applied to articulated boom aerial work platforms, such as... Figure 1 As shown, the articulated boom aerial work platform includes a turntable, a combined boom, a worktable assembly, a main boom luffing cylinder, a folding boom luffing cylinder, a main boom angle sensor (not shown in the figure), and a folding boom angle sensor (not shown in the figure). The combined boom includes a folding boom and a main boom, and the worktable assembly includes a boom arm and a worktable. Figure 2 As shown, the connection relationship between the turntable, the combined boom and the worktable assembly can be that the first end of the folding boom is connected to the turntable, the second end of the folding boom is connected to the first end of the main boom, the second end of the main boom is connected to the flying boom, and the flying boom is connected to the worktable.

[0035] Figure 3 This is a flowchart of a boom control method according to Embodiment 1 of the present invention, as shown below. Figure 3 As shown, the boom control method disclosed in this embodiment includes S110-S150.

[0036] S110. Obtain the changes in the main boom angle relative to the horizontal end face of the turntable within multiple unit time intervals, and the changes in the folding arm angle relative to the horizontal end face of the turntable within multiple unit time intervals. Determine the main boom angle adjustment value based on the changes in the main boom angle, and determine the folding arm angle adjustment value based on the changes in the folding arm angle.

[0037] In this embodiment, the main boom angle adjustment value can be understood as an angle value used to determine the deceleration angle during the main boom's lifting and lowering. The articulated boom angle adjustment value can be understood as an angle value used to determine the deceleration angle during the articulated boom's lifting and lowering.

[0038] In this step, specifically, upon receiving an actuation of the boom luffing control knob on the articulated boom aerial work platform, the boom is controlled to luff via the boom luffing cylinder. During this control, a boom angle sensor continuously monitors the luffing angle of the boom relative to the turntable's horizontal end face until the maximum luffing angle required for full boom elevation is detected. The boom luffing control knob can be mounted on the upper control box of the articulated boom aerial work platform. Then, the boom luffing angles collected at every two adjacent time points are subtracted to obtain multiple changes in the boom angle relative to the turntable's horizontal end face within a given time unit. Finally, multiple candidate boom angle adjustment values ​​are determined based on these changes, and the final boom angle adjustment value is determined based on the operational performance of the worktable under each candidate adjustment value. Among them, determining multiple candidate main boom angle adjustment values ​​based on the change in each main boom angle may include: determining multiple candidate main boom angle adjustment values ​​based on historical experience, according to the maximum amplitude angle of the main boom and the adjacent main boom amplitude angle closest to the acquisition time of the maximum amplitude angle of the main boom.

[0039] Similarly, upon receiving an actuation operation of the boom luffing control knob on the articulated boom aerial work platform, the boom can be luffed via the boom luffing cylinder. During this luffing control process, a boom angle sensor continuously monitors the luffing angle relative to the turntable's horizontal end face until the maximum luffing angle required for full boom elevation is detected. The boom luffing control knob can be mounted on the upper control box of the articulated boom aerial work platform. Then, the boom luffing angles collected at every two adjacent time points can be subtracted to obtain multiple changes in the boom angle relative to the turntable's horizontal end face within a given time unit. Finally, multiple candidate boom angle adjustment values ​​can be determined based on these changes, and the final boom angle adjustment value is determined based on the operational performance of the work platform under each candidate adjustment value. Among them, determining multiple candidate folding arm angle adjustment values ​​based on the change in each folding arm angle may include: determining multiple candidate folding arm angle adjustment values ​​based on historical experience, according to the maximum folding arm angle and the adjacent folding arm angle closest to the acquisition time of the maximum folding arm angle.

[0040] For example, suppose that the luffing angle of the main boom's rotation relative to the horizontal end face of the turntable is detected in real time, including... The amplitude angle of the folding arm's rotation relative to the horizontal end face of the turntable is detected in real time, including... Then, the main boom amplitude change angles collected at every two adjacent time points can be subtracted to obtain the following multiple main boom angle changes: The arm angle changes were calculated by subtracting the values ​​collected at every two adjacent time points, resulting in the following multiple arm angle changes: .

[0041] S120. Based on the difference between the maximum boom luffing angle and the boom angle adjustment value, determine the boom lifting deceleration angle. Based on the difference between the maximum boom luffing angle and the boom angle adjustment value, determine the boom lifting deceleration angle.

[0042] The maximum boom luffing angle can be understood as the luffing angle when the boom is fully raised. The boom lifting deceleration angle can be understood as the angle at which deceleration control needs to be initiated during the boom's lifting process. The maximum boom luffing angle can be understood as the luffing angle when the boom is fully raised. The boom lifting deceleration angle can be understood as the angle at which deceleration control needs to be initiated during the boom's lifting process.

[0043] Specifically, in this step, the difference between the maximum boom luffing angle and the boom angle adjustment value can be calculated to obtain the boom lifting deceleration angle. Similarly, the difference between the maximum boom luffing angle and the folding boom angle adjustment value can be calculated to obtain the folding boom lifting deceleration angle.

[0044] S130. Based on the sum of the minimum boom luffing angle and the boom angle adjustment value, determine the boom descent deceleration angle, and based on the sum of the minimum boom luffing angle and the boom angle adjustment value, determine the boom descent deceleration angle.

[0045] In this embodiment, the minimum boom luffing angle can be understood as the luffing angle when the boom is not raised. The minimum boom luffing angle can be understood as the luffing angle when the boom is not raised. The boom descent deceleration angle can be understood as the angle at which deceleration control needs to begin during boom descent. The boom descent deceleration angle can be understood as the angle at which deceleration control needs to begin during boom descent.

[0046] Specifically, in this step, the sum of the minimum boom luffing angle and the boom angle adjustment value can be calculated to obtain the boom descent deceleration angle. Similarly, the sum of the minimum boom luffing angle and the boom angle adjustment value can be calculated to obtain the boom descent deceleration angle.

[0047] S140. When it is detected that both the main boom and the articulated boom are in the lifting state, control the main boom to decelerate when it reaches the main boom lifting deceleration angle, and control the articulated boom to decelerate when it reaches the articulated boom lifting deceleration angle.

[0048] In this step, specifically, during the actual operation of the aerial work platform, the first actual angle value of the main boom's rotation relative to the horizontal end face of the turntable can be detected in real time using angle sensors on the main boom, and the second actual angle value of the folding boom's rotation relative to the horizontal end face of the turntable can be detected in real time using angle sensors on the folding boom. Then, when it is determined that the main boom is in a raised state based on the first actual angle values, and the folding boom is also in a raised state based on the second actual angle values, the main boom is controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom lifting deceleration angle.

[0049] S150. When it is detected that both the main boom and the articulated boom are in a descending state, control the main boom to decelerate when it reaches the main boom descending deceleration angle, and control the articulated boom to decelerate when it reaches the articulated boom descending deceleration angle.

[0050] In this step, specifically, when it is determined that the main boom is in a descending state based on each first actual angle value, and the folding boom is also in a descending state based on each second actual angle value, the main boom is controlled to decelerate when it reaches the main boom descending deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom descending deceleration angle.

[0051] The technical solution of this embodiment obtains the changes in the main boom angle relative to the horizontal end face of the turntable within multiple unit time intervals, and the changes in the folding boom angle relative to the horizontal end face of the turntable within multiple unit time intervals. Based on each main boom angle change, a main boom angle adjustment value is determined; based on each folding boom angle change, a folding boom angle adjustment value is determined. The main boom lifting deceleration angle is determined by subtracting the main boom angle adjustment value from the maximum boom amplitude angle; the folding boom lifting deceleration angle is determined by subtracting the folding boom angle adjustment value from the maximum boom amplitude angle; and the main boom lowering deceleration angle is determined by adding the maximum boom amplitude angle and the main boom angle adjustment value. The sum of the results with the boom angle adjustment value determines the boom descent deceleration angle. When both the main boom and the boom are detected to be in a lifting state, the main boom is controlled to decelerate when it reaches the main boom lifting deceleration angle, and the boom is controlled to decelerate when it reaches the boom lifting deceleration angle. When both the main boom and the boom are detected to be in a lowering state, the main boom is controlled to decelerate when it reaches the main boom descent deceleration angle, and the boom is controlled to decelerate when it reaches the boom descent deceleration angle. This technical approach solves the problem that existing technologies only control the main boom and the boom, resulting in the inability to accurately control both the boom and the boom of the articulated boom aerial work platform simultaneously. It enables accurate deceleration control of both the main boom and the boom, improving the stability of the articulated boom aerial work platform.

[0052] Example 2

[0053] This embodiment is a further optimization and extension based on the above embodiments, and can be combined with various optional technical solutions in the above embodiments.

[0054] Figure 4 This is a flowchart of another boom control method provided according to Embodiment 2 of the present invention, as shown below. Figure 4 As shown, the boom control method disclosed in this embodiment includes S210-S280.

[0055] S210. Obtain the changes in the main boom angle relative to the horizontal end face of the turntable within multiple unit time intervals, and the changes in the folding arm angle relative to the horizontal end face of the turntable within multiple unit time intervals. Determine the main boom angle adjustment value based on the changes in the main boom angle, and determine the folding arm angle adjustment value based on the changes in the folding arm angle.

[0056] S220. Based on the difference between the maximum boom luffing angle and the boom angle adjustment value, determine the boom lifting deceleration angle. Based on the difference between the maximum boom luffing angle and the boom angle adjustment value, determine the boom lifting deceleration angle.

[0057] S230. Based on the sum of the minimum boom luffing angle and the boom angle adjustment value, determine the boom descent deceleration angle, and based on the sum of the minimum boom luffing angle and the boom angle adjustment value, determine the boom descent deceleration angle.

[0058] S240. When it is detected that both the main boom and the articulated boom are in the lifting state, control the main boom to decelerate when it reaches the main boom lifting deceleration angle, and control the articulated boom to decelerate when it reaches the articulated boom lifting deceleration angle.

[0059] Optionally, when both the main boom and the folding boom are detected to be in a lifting state, the main boom is controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom lifting deceleration angle. This includes: subtracting the corresponding folding boom angle change from each main boom angle change to obtain multiple angle differences, and calculating the absolute value of each angle difference; if the absolute value of each angle difference is greater than a third preset difference and less than a second preset difference, then when both the main boom and the folding boom are detected to be in a lifting state, the main boom is directly controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom lifting deceleration angle. When the articulated boom reaches the deceleration angle, the boom decelerates. If any angle difference is greater than the second preset difference, when both the main boom and the articulated boom are detected to be in a raised state, the workbench assembly is rear-leveled, and the main boom decelerates when it reaches the main boom deceleration angle, and the articulated boom decelerates when it reaches the articulated boom deceleration angle. If any angle difference is less than the first preset difference, when both the main boom and the articulated boom are detected to be in a raised state, the workbench assembly is front-leveled, and the main boom decelerates when it reaches the main boom deceleration angle, and the articulated boom decelerates when it reaches the articulated boom deceleration angle.

[0060] The first preset difference, the second preset difference, and the third preset difference can be determined based on historical experience. For example, the first preset difference can be set to -1, the second preset difference can be set to 1, and the third preset difference can be set to 0.

[0061] Specifically, if the absolute value of the angle difference is greater than the third preset difference and less than the second preset difference, it indicates that the main boom lifting rate is approximately equal to the folding boom lifting rate. In this case, the tilt angle of the workbench is small and does not affect normal construction, so there is no need to level the workbench. Therefore, when the absolute value of the angle difference is greater than the third preset difference and less than the second preset difference, if both the main boom and the folding boom are detected to be in a lifting state, the main boom can be directly controlled to decelerate when it reaches the main boom lifting deceleration angle until it reaches the maximum luffing angle; the folding boom can be controlled to decelerate when it reaches the folding boom lifting deceleration angle until it reaches the maximum luffing angle. Furthermore, when the absolute value of the angle difference is greater than the third preset difference and less than the second preset difference, the deceleration rate of the main boom within the deceleration range from the main boom lifting deceleration angle to the main boom maximum luffing angle is equal to the deceleration rate of the folding boom within the deceleration range from the folding boom lifting deceleration angle to the folding boom maximum luffing angle.

[0062] If the angle difference is greater than the second preset difference, it indicates that the main boom lifting rate is greater than the articulated boom lifting rate. In this case, the platform tilts forward. Therefore, while controlling the main boom to decelerate when it reaches the main boom lifting deceleration angle, and controlling the articulated boom to decelerate when it reaches the articulated boom lifting deceleration angle, the worktable assembly can be leveled backward. Furthermore, when the angle difference is greater than the second preset difference, the deceleration rate of the main boom within the deceleration range from the main boom lifting deceleration angle to the main boom maximum luffing angle is greater than the deceleration rate of the articulated boom within the deceleration range from the articulated boom lifting deceleration angle to the articulated boom maximum luffing angle.

[0063] If the angle difference is less than the first preset difference, it indicates that the main boom lifting rate is less than the articulated boom lifting rate. In this case, the platform tilts backward. Therefore, while controlling the main boom to decelerate when it reaches the main boom lifting deceleration angle, and controlling the articulated boom to decelerate when it reaches the articulated boom lifting deceleration angle, the worktable assembly can be leveled forward. Furthermore, when the angle difference is less than the first preset difference, the deceleration rate of the main boom within the deceleration range from the main boom lifting deceleration angle to the main boom maximum luffing angle is less than the deceleration rate of the articulated boom within the deceleration range from the articulated boom lifting deceleration angle to the articulated boom maximum luffing angle.

[0064] For example, the change in the main boom angle includes The change in the angle of the folding arm includes In the case that, if the following conditions are met Therefore, when both the main boom and the articulated boom are detected to be in a lifting state, the main boom can be directly controlled to decelerate when it reaches the main boom lifting deceleration angle, and the articulated boom can be controlled to decelerate when it reaches the articulated boom lifting deceleration angle. If the following conditions are met... This allows for back-leveling of the worktable assembly when both the main boom and the folding boom are detected to be in a raised state. It also controls the main boom to decelerate when it reaches its lifting deceleration angle, and controls the folding boom to decelerate when it reaches its lifting deceleration angle. If the following conditions are met... In this case, when both the main boom and the folding boom are detected to be in a lifting state, the workbench assembly can be leveled in advance, and the main boom can be controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding boom can be controlled to decelerate when it reaches the folding boom lifting deceleration angle.

[0065] With the above settings, the work platform can be leveled while the main boom and articulated boom are in the lifting state, thus avoiding back-and-forth swaying of the work platform and ensuring the safety and comfort of working with the articulated boom aerial work platform.

[0066] S250: When it is detected that both the main boom and the articulated boom are in a descending state, control the main boom to decelerate when it reaches the main boom descending deceleration angle, and control the articulated boom to decelerate when it reaches the articulated boom descending deceleration angle.

[0067] Optionally, when both the main boom and the folding arm are detected to be in a lowering state, the main boom is controlled to decelerate when it reaches the main boom lowering deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm lowering deceleration angle. This includes: if the absolute value of each angle difference is greater than a third preset difference and less than a second preset difference, then when both the main boom and the folding arm are detected to be in a lowering state, the main boom is directly controlled to decelerate when it reaches the main boom lowering deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm lowering deceleration angle; if any angle difference is greater than the second preset difference, then when both the main boom and the folding arm are detected to be in a lowering state, the workbench assembly is forward leveled, and the main boom is controlled to decelerate when it reaches the main boom lowering deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm lowering deceleration angle; if any angle difference is less than the first preset difference, then when both the main boom and the folding arm are detected to be in a lifting state, the workbench assembly is backward leveled, and the main boom is controlled to decelerate when it reaches the main boom lowering deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm lowering deceleration angle.

[0068] Specifically, if the absolute value of the angle difference is greater than a third preset difference and less than a second preset difference, and if both the main boom and the folding boom are detected to be in a descending state, the main boom can be directly controlled to decelerate when it reaches the main boom descending deceleration angle, until it reaches the main boom's maximum luffing angle; the folding boom can be controlled to decelerate when it reaches the folding boom descending deceleration angle, until it reaches the folding boom's maximum luffing angle. Furthermore, if the absolute value of the angle difference is greater than a third preset difference and less than a second preset difference, the deceleration rate of the main boom within the deceleration range from the main boom descending deceleration angle to the main boom's minimum luffing angle is equal to the deceleration rate of the folding boom within the deceleration range from the folding boom descending deceleration angle to the folding boom's minimum luffing angle.

[0069] If the angle difference is greater than the second preset difference, it indicates that the main boom lifting rate is greater than the folding boom lifting rate. At this point, the platform tilts backward. Therefore, while controlling the main boom to decelerate when it reaches the main boom descent deceleration angle, and controlling the folding boom to decelerate when it reaches the folding boom descent deceleration angle, the worktable assembly can be leveled forward. Furthermore, when the angle difference is greater than the second preset difference, the deceleration rate of the main boom within the deceleration range from the main boom descent deceleration angle to the main boom minimum luffing angle is greater than the deceleration rate of the folding boom within the deceleration range from the folding boom descent deceleration angle to the folding boom minimum luffing angle.

[0070] If the angle difference is less than the first preset difference, it indicates that the main boom lifting rate is less than the folding boom lifting rate. In this case, the platform tilts forward. Therefore, while controlling the main boom to decelerate when it reaches the main boom descent deceleration angle, and controlling the folding boom to decelerate when it reaches the folding boom descent deceleration angle, the worktable assembly can be leveled backward. Furthermore, when the angle difference is less than the first preset difference, the deceleration rate of the main boom within the deceleration range from the main boom descent deceleration angle to the main boom minimum luffing angle is less than the deceleration rate of the folding boom within the deceleration range from the folding boom descent deceleration angle to the folding boom minimum luffing angle.

[0071] For example, if the following conditions are met Therefore, when both the main boom and the articulated boom are detected to be in a descending state, the main boom can be directly controlled to decelerate when it reaches the main boom descent deceleration angle, and the articulated boom can be controlled to decelerate when it reaches the articulated boom descent deceleration angle. If the following conditions are met... Then, when both the main boom and the folding arm are detected to be in a descending state, the workbench assembly can be pre-leveled, and the main boom can be controlled to decelerate when it reaches the main boom descending deceleration angle, and the folding arm can be controlled to decelerate when it reaches the folding arm descending deceleration angle. If the following conditions are met... In this case, when both the main boom and the folding arm are detected to be in a descending state, the workbench assembly can be back leveled, and the main boom can be controlled to decelerate when it reaches the main boom descending deceleration angle, and the folding arm can be controlled to decelerate when it reaches the folding arm descending deceleration angle.

[0072] With the above settings, the work platform can be leveled while the main boom and articulated boom are in a descending state, ensuring the safety and comfort of working on the articulated boom aerial work platform.

[0073] Optionally, if only rotation of the main boom relative to the horizontal end face of the turntable is detected, the worktable can be rear-leveled when the main boom is detected in the lifting state, and the main boom can be controlled to decelerate when it reaches the main boom lifting deceleration angle; when the main boom is detected in the lowering state, the worktable can be front-leveled, and the main boom can be controlled to decelerate when it reaches the main boom lowering deceleration angle. If only rotation of the folding boom relative to the horizontal end face of the turntable is detected, the folding boom can be controlled to decelerate when it reaches the folding boom lifting deceleration angle when it is detected in the lifting state; when the main boom is detected in the lowering state, the folding boom can be controlled to decelerate when it reaches the folding boom lowering deceleration angle.

[0074] S260. Calculate the absolute value of the change in angle of each main boom and the absolute value of the change in angle of each folding boom, and subtract the absolute value of the change in angle of the corresponding folding boom from the absolute value of the change in angle of each main boom to obtain multiple angle change differences.

[0075] S270. If the difference in any angle change is less than the first preset difference, or the difference in any angle change is greater than the second preset difference, then when the main boom is detected to be in the lifting state and the folding boom is in the lowering state, the main boom is controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom lowering deceleration angle.

[0076] In this step, specifically, if the difference in any angle change is less than the first preset difference, or the difference in any angle change is greater than the second preset difference, then when the main boom is detected to be in the lifting state and the folding arm is in the lowering state, the workbench assembly is leveled in advance, and the main boom is controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm lowering deceleration angle.

[0077] For example, if the following conditions are met or If the main boom is detected to be in a raised state and the folding arm is in a lowered state, the worktable is considered to be tilted backward. At this time, the worktable assembly can be leveled forward, and the main boom can be controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding arm can be controlled to decelerate when it reaches the folding arm lowering deceleration angle.

[0078] With the above settings, the work platform can be leveled while the main boom in the lifting state and the articulated boom in the lowering state are decelerated, ensuring the safety and comfort of working on the articulated boom aerial work platform.

[0079] S280. When it is detected that the main boom is in a descending state and the folding boom is in a lifting state, control the main boom to decelerate when it reaches the main boom descending deceleration angle, and control the folding boom to decelerate when it reaches the folding boom lifting deceleration angle.

[0080] In this step, specifically, if the difference in any angle change is less than the first preset difference, or the difference in any angle change is greater than the second preset difference, then when the main boom is detected to be in a descending state and the folding arm is in a lifting state, the workbench assembly is back-leveled, and the main boom is controlled to decelerate when it reaches the main boom descending deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm lifting deceleration angle.

[0081] For example, if the following conditions are met or If the main boom is detected to be in a lowering state and the folding arm is in a lifting state, the worktable is considered to be tilted forward. At this time, the worktable assembly can be leveled backward, and the main boom can be controlled to decelerate when it reaches the main boom lowering deceleration angle, and the folding arm can be controlled to decelerate when it reaches the folding arm lifting deceleration angle.

[0082] With the above settings, the work platform can be leveled while the main boom in the lowering state and the articulated boom in the lifting state are decelerated, ensuring the safety and comfort of working on the articulated boom aerial work platform.

[0083] The technical solution of this embodiment involves controlling the main boom to decelerate when it reaches the main boom lifting deceleration angle and controlling the folding boom to decelerate when it reaches the folding boom lifting deceleration angle when both the main boom and the folding boom are detected to be in a lifting state; and controlling the main boom to decelerate when it reaches the main boom lowering deceleration angle and controlling the folding boom to decelerate when both are detected to be in a lowering state when both are detected to be in a lowering state. If the difference in any angle change is less than a first preset difference or greater than a second preset difference, and if the main boom is detected to be in a lifting state and the folding boom to be in a lowering state, then the main boom is controlled to... The technical solution of controlling the main boom to decelerate when it reaches the lifting deceleration angle and controlling the articulated boom to decelerate when it reaches the lowering deceleration angle, and controlling the articulated boom to decelerate when it reaches the lowering deceleration angle, can achieve speed control of the main boom and articulated boom performing various compound actions, ensuring the safety and comfort of working with articulated boom aerial work platforms.

[0084] Based on the above embodiments, the articulated boom aerial work platform may further include a boom extension mechanism and a boom length sensor. The boom extension mechanism is used to control the extension and retraction of the boom. In practical applications, if the boom comprises two sections, the boom extension mechanism is as follows: Figure 5The diagram only includes the boom extension cylinder; if the boom comprises three or four sections, the boom extension mechanism includes the boom extension cylinder and wire ropes for connecting the multiple sections.

[0085] Furthermore, the method also includes: obtaining the full extension length of the main arm, the full retraction length of the main arm, and the main arm length adjustment value, and calculating the difference between the full extension length of the main arm and the main arm length adjustment value to obtain the main arm extension deceleration length; calculating the sum of the full retraction length of the main arm and the main arm length adjustment value to obtain the main arm retraction deceleration length; when the main arm is detected to be in the extension state, controlling the main arm to decelerate when it reaches the main arm extension deceleration length; when the main arm is detected to be in the retraction state, controlling the main arm to decelerate when it reaches the main arm retraction deceleration length.

[0086] The fully extended boom length can be understood as the length of the boom when it is fully extended. The fully retracted boom length can be understood as the length of the boom when it is fully retracted. The boom length adjustment value can be used to determine the deceleration length during boom extension and retraction.

[0087] Specifically, upon receiving an operation to extend the boom on the articulated boom lift platform, the boom extension mechanism can be used to control the boom's extension. During this extension control, a boom length sensor continuously monitors the extended boom length from its fully retracted length until it is detected. Alternatively, upon receiving an operation to retract the boom on the articulated boom lift platform, the boom extension mechanism can be used to control the boom's extension. During this extension control, a boom length sensor continuously monitors the retracted boom length from its fully extended length until it is detected. Then, based on historical experience and the real-time detected boom extension or retraction lengths, a boom length adjustment value can be determined. Specifically, multiple boom length variations can be determined based on the boom extension or retraction lengths, and multiple candidate boom length adjustment values ​​can be identified. Finally, based on the operational performance of the workbench at each candidate boom length adjustment value, the final boom length adjustment value is determined. Preferably, the main boom length adjustment value can be 200 mm. Finally, as Figure 6-7 As shown, when the main boom is detected to be in an extended state, the main boom can be controlled to decelerate when it reaches the deceleration length of the extended boom. Figure 8-9 As shown, when the main arm is detected to be in a retracted state, the main arm can be controlled to decelerate when it reaches the main arm retraction deceleration length.

[0088] It is worth noting that, because each section of the main boom extends and retracts synchronously under the control of the wire rope, therefore, as Figure 10As shown, when the main boom extends to the deceleration length, the speed of each segment of the main boom decreases from the first speed to the second speed; when the main boom retracts to the deceleration length, the speed of each segment of the main boom also decreases from the first speed to the second speed.

[0089] Optionally, the articulated boom aerial work platform may also include a folding boom extension mechanism and at least one folding boom length sensor.

[0090] The articulated boom telescopic mechanism is used to control the extension and retraction of the articulated boom via articulated boom telescopic cylinders. In practical applications, if the articulated boom consists of two sections, the articulated boom telescopic mechanism includes only articulated boom telescopic cylinders; if the articulated boom consists of three sections, the mechanism includes two telescopic cylinders; and if the articulated boom consists of four sections, the mechanism includes three telescopic cylinders. The articulated boom length sensor can be used to detect the overall length of the articulated boom, or the length of a non-specific section within the articulated boom. A specific section can be the section connected to the turntable or the section connected to the main boom.

[0091] For example, such as Figure 11 As shown, if the articulated boom includes a first section, a second section, and a third section, then a first articulated boom telescopic cylinder and a second articulated boom telescopic cylinder can be configured for the articulated boom telescopic mechanism. Furthermore, in order to better... Figure 11 The articulated boom shown is used for deceleration control. A boom length sensor for detecting the overall length of the boom and a boom length sensor for detecting the length of the second boom section can be configured in the articulated boom aerial work platform.

[0092] The advantage of this design is that, since wire ropes are prone to deformation and even breakage after prolonged use, and wire rope deformation can lead to inaccurate extension and retraction lengths of the articulated boom, while breakage can cause the main boom to drop instantaneously, thus affecting the stability and safety of operations using the articulated boom aerial work platform. Therefore, the technical solution of this embodiment, by adding a telescopic cylinder to the articulated boom telescopic cylinder when the articulated boom includes multiple boom sections, can ensure the operational stability and safety of the articulated boom and the main boom.

[0093] Furthermore, the articulated boom in the aerial work platform includes a bottom primary fixed boom section, a first-stage telescopic boom structure, and a second-stage telescopic boom structure. The first end of the bottom primary fixed boom section is connected to a turntable, and the second end of the bottom primary fixed boom section is nested within the first end of the first-stage telescopic boom structure. The second end of the first-stage telescopic boom structure is nested within the second-stage telescopic boom structure. The method further includes: obtaining the first fully extended length and a first length adjustment value of the first-stage telescopic boom structure, and calculating the difference between the first fully extended length and the first length adjustment value to obtain the first extension deceleration length of the first-stage telescopic boom structure; obtaining the fully extended... The length and second length adjustment values ​​are calculated, and the difference between the full extension length of the folding arm and the second length adjustment value is calculated to obtain the extension deceleration length of the folding arm. When the first-stage telescopic arm structure is detected to be in the extended state, the first-stage telescopic arm structure is controlled to decelerate when it reaches the first extension deceleration length. When the first-stage telescopic arm structure is detected to have decelerated to the first full extension length, the extension speed before reaching the first extension deceleration length is obtained, and the second-stage telescopic arm structure is controlled to extend at the extension speed before deceleration. When the folding arm is detected to have reached the folding arm extension deceleration length, the second-stage telescopic arm structure is controlled to decelerate.

[0094] Both the first-stage telescopic boom structure and the second-stage telescopic boom structure can include at least one telescopic boom section. The bottom primary fixed boom section is not telescopic. The first fully extended length can be understood as the length from the first end of the bottom primary fixed boom section to the second end of the first-stage telescopic boom structure when the first-stage telescopic boom structure is fully extended. The folding boom fully extended length can be understood as the length of each boom section when fully extended.

[0095] Taking an example where both the first-stage and second-stage telescopic boom structures consist of only one telescopic boom section, the extension of the folding boom can be controlled via the folding boom telescopic mechanism upon receiving an actuation of the boom extension button on the articulated boom aerial work platform. During this extension control, a first folding boom length sensor continuously monitors the extension length of the first-stage telescopic boom structure from its first fully retracted length until the first fully extended length is detected. Similarly, a second folding boom length sensor continuously monitors the extension length from its full retracted length until the full extended length is detected. Multiple first length variations can then be determined based on the extension lengths of the first-stage telescopic boom structure, and multiple candidate first length adjustment values ​​can be determined based on these variations. Finally, the final first length adjustment value is determined based on the operational performance of the workbench at each candidate first length adjustment value. Similarly, multiple folding boom length variations are determined based on the extension lengths of the folding boom, and multiple candidate second length adjustment values ​​are determined based on these variations. The final second length adjustment value is then determined based on the operational performance of the workbench at each candidate second length adjustment value. The first length adjustment value and the second length adjustment value can be the same, such as 200 mm. Finally, as... Figure 12 As shown, when the first-stage telescopic arm structure is detected to be in the extended state, the first-stage telescopic arm structure can be controlled to decelerate when it reaches the first extension deceleration length; when the first-stage telescopic arm structure is detected to have decelerated to the first full extension length, the extension speed before reaching the first extension deceleration length is obtained, and the second-stage telescopic arm structure is controlled to extend at the extension speed before deceleration; when the folding arm is detected to have reached the folding arm extension deceleration length, the second-stage telescopic arm structure is controlled to decelerate.

[0096] It is worth noting that, because the sections of the boom in a folding boom extend and retract asynchronously under the control of the respective telescopic cylinders, therefore, as Figure 13 As shown, when the first-stage telescopic arm structure extends to the first deceleration length, the speeds of both the first-stage telescopic arm structure and the second-stage telescopic mechanism decrease from the first telescopic speed to the second telescopic speed. When the first-stage telescopic arm structure extends from the first deceleration length to the first full extension length, the speed of the second telescopic arm mechanism returns to the first telescopic speed, and when the second-stage telescopic arm structure extends to the folding arm extension deceleration length, the speed of the second telescopic arm mechanism decreases from the first telescopic speed to the second telescopic speed.

[0097] Optionally, the method further includes: obtaining the first full retraction length of the first-stage telescopic boom structure, and calculating the sum of the first full retraction length and the first length adjustment value to obtain the first retraction deceleration length of the first-stage telescopic boom structure; obtaining the full retraction length of the folding arm, and calculating the sum of the full retraction length of the folding arm and the second length adjustment value to obtain the folding arm retraction deceleration length; when the first-stage telescopic boom structure is detected to be in a retracted state, controlling the first-stage telescopic boom structure to decelerate when it reaches the first retraction deceleration length; when the first-stage telescopic boom structure is detected to have decelerated to the first full retraction length, obtaining the retraction undecelerated speed of the first-stage telescopic boom structure before reaching the first retraction deceleration length, and controlling the second-stage telescopic boom structure to retract at the retraction undecelerated speed; when the folding arm is detected to have reached the folding arm retraction deceleration length, controlling the second-stage telescopic boom structure to decelerate.

[0098] The first fully retracted length can be understood as the length from the first end of the bottom primary fixed section to the second end of the first-stage telescopic boom structure when the first-stage telescopic boom structure is fully retracted. The folding boom fully retracted length can be understood as the length of each section of the folding boom when fully retracted.

[0099] Specifically, upon receiving an actuation of the boom retraction switch on the articulated boom aerial work platform, the boom extension mechanism can control the boom retraction. Then, during the boom retraction control process, a first boom length sensor continuously monitors the retraction length of the first-stage telescopic boom structure from its first fully extended length until the first fully retracted length is detected. Similarly, a second boom length sensor continuously monitors the retraction length from its full extended length until the full retraction length is detected. Finally, as... Figure 14 As shown, when the first-stage telescopic boom structure is detected to be in a retracted state, the first-stage telescopic boom structure can be controlled to decelerate when it reaches the first retraction deceleration length; when the first-stage telescopic boom structure is detected to have decelerated to the first full retraction length, the retraction undecelerated speed of the first-stage telescopic boom structure before reaching the first retraction deceleration length can be obtained, and the second-stage telescopic boom structure can be controlled to retract at the retraction undecelerated speed; when the folding boom is detected to have reached the folding boom retraction deceleration length, the second-stage telescopic boom structure can be controlled to decelerate.

[0100] It is worth noting that, because the sections of the boom in a folding boom extend and retract asynchronously under the control of the respective telescopic cylinders, therefore, as Figure 15 As shown, when the first-stage telescopic arm structure retracts to the first retraction deceleration length, the speeds of both the first-stage telescopic arm structure and the second-stage telescopic mechanism decrease from the first telescopic speed to the second telescopic speed. When the first-stage telescopic arm structure retracts from the first retraction deceleration length to the first fully retracted length, the speed of the second telescopic arm mechanism recovers to the first telescopic speed, and when the second-stage telescopic arm structure retracts to the folding arm retraction deceleration length, the speed of the second telescopic arm mechanism decreases from the first telescopic speed to the second telescopic speed.

[0101] The above settings allow for deceleration control of the main boom and folding boom during extension and retraction, reducing the impact and vibration caused by these movements and improving the safety and comfort of operating the articulated boom lift. Secondly, by simultaneously controlling the deceleration of the main boom luffing, folding boom luffing, main boom extension, and folding boom extension movements, the impact of these movements on the stability and operational performance of the articulated boom lift is fully considered, ensuring the stability and smoothness of the platform during luffing and extension operations.

[0102] Example 3

[0103] Figure 16 This is a schematic diagram of a boom control device according to Embodiment 3 of the present invention. This embodiment is applicable to the control of the boom of an articulated boom aerial work platform. The boom control device can be implemented in hardware and / or software and can be configured in electronic devices such as the controller of the articulated boom aerial work platform. Figure 16As shown, the boom control device disclosed in this embodiment includes an adjustment value determination module 161, a lifting deceleration angle determination module 162, a lowering deceleration angle determination module 163, a boom lifting speed limiting module 164, and a boom lowering speed limiting module 165.

[0104] Specifically, the adjustment value determination module 161 is used to acquire the changes in the main boom angle relative to the horizontal end face of the turntable within multiple unit time intervals, and the changes in the folding boom angle relative to the horizontal end face of the turntable within multiple unit time intervals, and to determine the main boom angle adjustment value based on each main boom angle change, and the folding boom angle adjustment value based on each folding boom angle change. The lifting deceleration angle determination module 162 is used to determine the main boom lifting deceleration angle based on the difference between the maximum boom amplitude angle and the main boom angle adjustment value, and to determine the folding boom lifting deceleration angle based on the difference between the maximum folding boom amplitude angle and the folding boom angle adjustment value. The lowering deceleration angle determination module 163 is used to determine the main boom lowering deceleration angle based on the sum of the minimum boom amplitude angle and the main boom angle adjustment value, and to determine the folding boom lowering deceleration angle based on the sum of the minimum folding boom amplitude angle and the folding boom angle adjustment value. The boom lifting speed limiting module 164 is used to control the main boom to decelerate when it reaches the main boom lifting deceleration angle and the folding boom to decelerate when it reaches the folding boom lifting deceleration angle, when both the main boom and the folding boom are detected to be in the lifting state. The boom descent speed limiting module 165 is used to control the main boom to decelerate when it reaches the main boom descent deceleration angle and the folding boom to decelerate when it reaches the folding boom descent deceleration angle, when both the main boom and the folding boom are detected to be in the descent state.

[0105] The technical solution in this embodiment, through the cooperation of the adjustment value determination module 161, the lifting deceleration angle determination module 162, the descent deceleration angle determination module 163, the boom lifting speed limiting module 164, and the boom descent speed limiting module 165, solves the problem that the existing technology only controls the main boom and the boom, resulting in the inability to accurately control the articulated boom and the main boom of the articulated boom aerial work platform at the same time. It can achieve accurate deceleration control of the main boom and the articulated boom, thus improving the stability of the articulated boom aerial work platform.

[0106] Optionally, the device further includes a lifting and deceleration angle determination module, which includes: a change difference determination unit, used to calculate the absolute value of the change in angle of each main boom and the absolute value of the change in angle of each folding boom, and to subtract the absolute value of the change in angle of the corresponding folding boom from the absolute value of the change in angle of each main boom to obtain multiple angle change differences; a first lifting and deceleration unit, used to control the main boom to decelerate when it reaches the main boom lifting deceleration angle and control the folding boom to decelerate when it reaches the folding boom lowering deceleration angle when it is detected that the main boom is in a lifting state and the folding boom is in a lowering state when it is detected that the main boom is in a lowering state and the folding boom is in a lifting state; and a second lifting and deceleration unit, used to control the main boom to decelerate when it reaches the main boom lowering deceleration angle and control the folding boom to decelerate when it reaches the folding boom lifting deceleration angle when it is detected that the main boom is in a lowering state and the folding boom is in a lifting state.

[0107] Optionally, the device also includes a main boom extension and retraction speed limiting module, which is used to: acquire the main boom fully extended length, the main boom fully retracted length, and the main boom length adjustment value, and calculate the difference between the main boom fully extended length and the main boom length adjustment value to obtain the main boom extension deceleration length; calculate the sum of the main boom fully retracted length and the main boom length adjustment value to obtain the main boom retraction deceleration length; when the main boom is detected to be in the extended state, control the main boom to decelerate when it reaches the main boom extension deceleration length; when the main boom is detected to be in the retracted state, control the main boom to decelerate when it reaches the main boom retraction deceleration length.

[0108] Optionally, the device further includes a folding arm extension speed limiting module, which is used to: obtain the first full extension length and the first length adjustment value of the first-stage telescopic arm structure, and calculate the subtraction result of the first full extension length and the first length adjustment value to obtain the first extension deceleration length of the first-stage telescopic arm structure; obtain the full extension length and the second length adjustment value of the folding arm, and calculate the subtraction result of the full extension length and the second length adjustment value of the folding arm to obtain the folding arm extension deceleration length; when the first-stage telescopic arm structure is detected to be in an extended state, control the first-stage telescopic arm structure to decelerate when it reaches the first extension deceleration length; when the first-stage telescopic arm structure is detected to have decelerated to the first full extension length, obtain the extension speed before reaching the first extension deceleration length of the first-stage telescopic arm structure, and control the second-stage telescopic arm structure to extend at the extension speed before deceleration; when the folding arm is detected to have reached the folding arm extension deceleration length, control the second-stage telescopic arm structure to decelerate.

[0109] Optionally, the device further includes a folding arm retraction speed limiting module, which is used to: obtain the first full retraction length of the first-stage telescopic boom structure, and calculate the sum of the first full retraction length and the first length adjustment value to obtain the first retraction deceleration length of the first-stage telescopic boom structure; obtain the full retraction length of the folding arm, and calculate the sum of the full retraction length of the folding arm and the second length adjustment value to obtain the folding arm retraction deceleration length; when the first-stage telescopic boom structure is detected to be in a retracted state, control the first-stage telescopic boom structure to decelerate when it reaches the first retraction deceleration length; when the first-stage telescopic boom structure is detected to have decelerated to the first full retraction length, obtain the retraction undecelerated speed of the first-stage telescopic boom structure before reaching the first retraction deceleration length, and control the second-stage telescopic boom structure to retract at the retraction undecelerated speed; when the folding arm is detected to have reached the folding arm retraction deceleration length, control the second-stage telescopic boom structure to decelerate.

[0110] Optionally, the boom lifting speed limiting module 164 is specifically used to: subtract the corresponding folding boom angle change from each main boom angle change to obtain multiple angle differences, and calculate the absolute value of each angle difference; if the absolute value of each angle difference is greater than a third preset difference and less than a second preset difference, then when both the main boom and the folding boom are detected to be in a lifting state, the main boom is directly controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom lifting deceleration angle; if any angle difference is greater than the second preset difference, then when both the main boom and the folding boom are detected to be in a lifting state, the workbench assembly is back-leveled, and the main boom is controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom lifting deceleration angle; if any angle difference is less than the first preset difference, then when both the main boom and the folding boom are detected to be in a lifting state, the workbench assembly is front-leveled, and the main boom is controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom lifting deceleration angle.

[0111] Optionally, the boom descent speed limiting module 165 is specifically used for: if the absolute value of each angle difference is greater than a third preset difference and less than a second preset difference, then when both the main boom and the folding boom are detected to be in a descent state, directly controlling the main boom to decelerate when it reaches the main boom descent deceleration angle, and controlling the folding boom to decelerate when it reaches the folding boom descent deceleration angle; if any angle difference is greater than the second preset difference, then when both the main boom and the folding boom are detected to be in a descent state, performing forward leveling on the workbench assembly, and controlling the main boom to decelerate when it reaches the main boom descent deceleration angle, and controlling the folding boom to decelerate when it reaches the folding boom descent deceleration angle; if any angle difference is less than the first preset difference, then when both the main boom and the folding boom are detected to be in a lifting state, performing backward leveling on the workbench assembly, and controlling the main boom to decelerate when it reaches the main boom descent deceleration angle, and controlling the folding boom to decelerate when it reaches the folding boom descent deceleration angle.

[0112] Optionally, the first lifting and deceleration unit is specifically used to: when the main boom is detected to be in the lifting state and the folding boom is in the lowering state, to perform forward leveling on the worktable assembly, and to control the main boom to decelerate when it reaches the main boom lifting deceleration angle, and to control the folding boom to decelerate when it reaches the folding boom lowering deceleration angle.

[0113] Optionally, the second lifting and deceleration unit is specifically used to: when the main boom is detected to be in a lowering state and the folding arm is in a lifting state, to perform rear leveling on the worktable assembly, to control the main boom to decelerate when it reaches the main boom lowering deceleration angle, and to control the folding arm to decelerate when it reaches the folding arm lifting deceleration angle.

[0114] The boom control device provided in this embodiment of the invention can execute the boom control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method execution. Content not described in detail in this embodiment can be referred to the description in any method embodiment of this application.

[0115] Example 4

[0116] Figure 17 A schematic diagram of the structure of an electronic device 20 that can be used to implement embodiments of the present invention is shown. For example... Figure 17 As shown, the electronic device 20 includes at least one processor 21 and a memory, such as ROM 22 or RAM 23, communicatively connected to the at least one processor 21. The memory stores computer programs executable by the at least one processor. The processor 21 can perform various appropriate actions and processes based on the computer program stored in the ROM 22 or loaded into the RAM 23 from the storage unit 28. The RAM 23 can also store various programs and data required for the operation of the electronic device 20. The processor 21, ROM 22, and RAM 23 are interconnected via a bus 24. An I / O interface 25 is also connected to the bus 24.

[0117] Multiple components in electronic device 20 are connected to I / O interface 25, including: input unit 26, such as keyboard, mouse, etc.; output unit 27, such as various types of monitors, speakers, etc.; storage unit 28, such as disk, optical disk, etc.; and communication unit 29, such as network card, modem, wireless transceiver, etc. Communication unit 29 allows electronic device 20 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0118] Processor 21 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 21 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 21 performs the various methods and processes described above, such as boom control methods. In some embodiments, the boom control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 28. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 20 via ROM 22 and / or communication unit 29. When the computer program is loaded into RAM 23 and executed by processor 21, one or more steps of the boom control method described above may be performed. Alternatively, in other embodiments, processor 21 may be configured to perform boom control methods by any other suitable means (e.g., by means of firmware).

[0119] Various embodiments of the systems and techniques described above herein 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), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0120] Computer programs used to implement 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 executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0121] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0122] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input). The systems and techniques described herein can be implemented in computing systems including back-end components (e.g., as a data server), or computing systems including middleware components (e.g., an application server), or computing systems including front-end components (e.g., a user computer with a graphical user interface or web browser through which the user interacts with embodiments of the systems and techniques described herein), or computing systems including any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include Local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the Internet. Computing systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, also known as cloud computing servers or cloud hosts, which are hosting products within the cloud computing service ecosystem to address the shortcomings of traditional physical hosting and VPS services, such as high management difficulty and weak business scalability.

[0123] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0124] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A boom control method, characterized in that, An application to articulated boom aerial work platforms, the articulated boom aerial work platform including a turntable, a combined boom, and a worktable assembly, the combined boom including a folding boom and a main boom, a first end of the folding boom connected to the turntable, a second end of the folding boom connected to a first end of the main boom, and a second end of the main boom connected to the worktable assembly, the worktable assembly including a boom boom and a worktable; the method includes: The changes in the main boom angle relative to the horizontal end face of the turntable are obtained within multiple unit time intervals, and the changes in the folding arm angle relative to the horizontal end face of the turntable are obtained within multiple unit time intervals. The main boom angle adjustment value is determined based on the changes in the main boom angle, and the folding arm angle adjustment value is determined based on the changes in the folding arm angle. The main boom lifting deceleration angle is determined by subtracting the main boom angle from the maximum boom luffing angle and the main boom angle adjustment value. The articulated boom lifting deceleration angle is determined by subtracting the articulated boom angle from the maximum boom luffing angle and the articulated boom angle adjustment value. The main boom descent deceleration angle is determined by adding the minimum boom luffing angle and the main boom angle adjustment value, and the articulated boom descent deceleration angle is determined by adding the minimum boom luffing angle and the articulated boom angle adjustment value. When it is detected that both the main boom and the folding boom are in a lifting state, the main boom is controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom lifting deceleration angle. When it is detected that both the main boom and the folding boom are in a descending state, the main boom is controlled to decelerate when it reaches the main boom descending deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom descending deceleration angle. The determination of the main boom angle adjustment value based on the changes in the main boom angles of each of the aforementioned components includes: Multiple candidate boom angle adjustment values ​​are determined based on the changes in boom angle, and the final boom angle adjustment value is determined based on the working effect of the workbench under each candidate boom angle adjustment value. The determination of the folding arm angle adjustment value based on the change in each of the aforementioned folding arm angles includes: Multiple candidate folding arm angle adjustment values ​​are determined based on the changes in each folding arm angle, and the final folding arm angle adjustment value is determined based on the working effect of the workbench under each candidate folding arm angle adjustment value.

2. The method according to claim 1, characterized in that, The method further includes: Calculate the absolute value of the angle change of each main boom and the absolute value of the angle change of each folding boom, and subtract the absolute value of the corresponding angle change of each main boom from the absolute value of the angle change of each folding boom to obtain multiple angle change differences; If the difference in any angle change is less than the first preset difference, or the difference in any angle change is greater than the second preset difference, then when the main arm is detected to be in a lifting state and the folding arm is in a lowering state, the main arm is controlled to decelerate when it reaches the main arm lifting deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm lowering deceleration angle. When it is detected that the main boom is in a descending state and the folding boom is in a lifting state, the main boom is controlled to decelerate when it reaches the main boom descending deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom lifting deceleration angle.

3. The method according to claim 1, characterized in that, The method further includes: Obtain the main boom fully extended length, main boom fully retracted length, and main boom length adjustment value, and calculate the difference between the main boom fully extended length and the main boom length adjustment value to obtain the main boom extension deceleration length; The sum of the full retraction length of the main boom and the adjustment value of the main boom length is calculated to obtain the main boom retraction deceleration length; When the main arm is detected to be in an extended state, the main arm is controlled to decelerate when it reaches the main arm extension deceleration length; When the main arm is detected to be in a retracted state, the main arm is controlled to decelerate when it reaches the main arm retraction deceleration length.

4. The method according to claim 1, characterized in that, The articulated arm includes a bottom primary fixed section arm, a first-stage telescopic arm structure, and a second-stage telescopic arm structure. The second-stage telescopic arm structure is nested inside the first-stage telescopic arm structure, and the first-stage telescopic arm structure is nested inside the bottom primary fixed section arm. The bottom primary fixed section arm is connected to the turntable. The method further includes: Obtain the first full extension length and the first length adjustment value of the first-stage telescopic boom structure, and calculate the difference between the first full extension length and the first length adjustment value to obtain the first extension deceleration length of the first-stage telescopic boom structure; Obtain the full extension length of the folding arm and the second length adjustment value, and calculate the difference between the full extension length of the folding arm and the second length adjustment value to obtain the deceleration length of the folding arm extension; When the first-stage telescopic arm structure is detected to be in the extended state, the first-stage telescopic arm structure is controlled to decelerate when it reaches the first extension deceleration length; When the first-stage telescopic arm structure is detected to have decelerated to the first full extension length, the extension speed before reaching the first extension deceleration length is obtained, and the second-stage telescopic arm structure is controlled to extend according to the extension speed before deceleration. When the folding arm is detected to have reached the deceleration length of the folding arm extension, the second-stage telescopic arm structure is controlled to decelerate.

5. The method according to claim 4, characterized in that, The method further includes: Obtain the first full retraction length of the first-stage telescopic boom structure, and calculate the sum of the first full retraction length and the first length adjustment value to obtain the first retraction deceleration length of the first-stage telescopic boom structure; Obtain the full retraction length of the folding arm, and calculate the sum of the full retraction length and the second length adjustment value to obtain the folding arm retraction deceleration length; When the first-stage telescopic arm structure is detected to be in a retracted state, the first-stage telescopic arm structure is controlled to decelerate when it reaches the first retracted deceleration length. When the first-stage telescopic arm structure is detected to have decelerated to the first full retraction length, the retraction speed before reaching the first retraction deceleration length is obtained, and the second-stage telescopic arm structure is controlled to retract according to the retraction speed before deceleration. When the folding arm is detected to have reached the folding arm retraction deceleration length, the second-stage telescopic arm structure is controlled to decelerate.

6. The method according to claim 1, characterized in that, When both the main boom and the folding boom are detected to be in a raised state, the main boom is controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom lifting deceleration angle, including: Each change in the main boom angle is subtracted from the corresponding change in the folding boom angle to obtain multiple angle differences, and the absolute value of each angle difference is calculated. If the absolute value of each angle difference is greater than the third preset difference and less than the second preset difference, then when it is detected that both the main arm and the folding arm are in the lifting state, the main arm is directly controlled to decelerate when it reaches the main arm lifting deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm lifting deceleration angle. If any angle difference is greater than the second preset difference, when it is detected that both the main arm and the folding arm are in the lifting state, the workbench assembly is back leveled, and the main arm is controlled to decelerate when it reaches the main arm lifting deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm lifting deceleration angle. If any angle difference is less than the first preset difference, when it is detected that both the main arm and the folding arm are in the lifting state, the workbench assembly is leveled in advance, and the main arm is controlled to decelerate when it reaches the main arm lifting deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm lifting deceleration angle. When it is detected that both the main boom and the folding boom are in a descending state, the main boom is controlled to decelerate when it reaches the main boom descending deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom descending deceleration angle, including: If the absolute value of each angle difference is greater than the third preset difference and less than the second preset difference, then when it is detected that both the main arm and the folding arm are in a descending state, the main arm is directly controlled to decelerate when it reaches the main arm descending deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm descending deceleration angle. If any angle difference is greater than the second preset difference, when it is detected that both the main arm and the folding arm are in a descending state, the workbench assembly is leveled in advance, and the main arm is controlled to decelerate when it reaches the main arm descending deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm descending deceleration angle. If any angle difference is less than the first preset difference, when it is detected that both the main arm and the folding arm are in the lifting state, the workbench assembly is back leveled, and the main arm is controlled to decelerate when it reaches the main arm descent deceleration angle, and the folding arm is controlled to decelerate when it reaches the folding arm descent deceleration angle.

7. The method according to claim 2, characterized in that, When it is detected that the main boom is in a raised state and the articulated boom is in a lowered state, the main boom is controlled to decelerate when it reaches the main boom lifting deceleration angle, and the articulated boom is controlled to decelerate when it reaches the articulated boom lowering deceleration angle, including: The workbench assembly is pre-leveled, and the main boom is controlled to decelerate when it reaches the main boom lifting deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom lowering deceleration angle. When it is detected that the main boom is in a descending state and the articulated boom is in a raised state, the main boom is controlled to decelerate when it reaches the main boom descending deceleration angle, and the articulated boom is controlled to decelerate when it reaches the articulated boom raising deceleration angle, including: The workbench assembly is leveled afterward, and the main boom is controlled to decelerate when it reaches the main boom descent deceleration angle, and the folding boom is controlled to decelerate when it reaches the folding boom lifting deceleration angle.

8. A boom control device, characterized in that, This device is applied to articulated boom aerial work platforms. The articulated boom aerial work platform includes a turntable, a combined boom assembly, and a worktable assembly. The combined boom includes a folding boom and a main boom. A first end of the folding boom is connected to the turntable, a second end of the folding boom is connected to a first end of the main boom, and a second end of the main boom is connected to the worktable assembly. The worktable assembly includes a boom arm and a worktable. The device includes: The adjustment value determination module is used to obtain the change in the main boom angle relative to the horizontal end face of the turntable within multiple unit time intervals, and the change in the folding arm angle relative to the horizontal end face of the turntable within multiple unit time intervals, and to determine the main boom angle adjustment value based on each of the main boom angle changes, and to determine the folding arm angle adjustment value based on each of the folding arm angle changes. The lifting deceleration angle determination module is used to determine the main boom lifting deceleration angle based on the difference between the maximum boom luffing angle and the main boom angle adjustment value, and to determine the articulated boom lifting deceleration angle based on the difference between the maximum boom luffing angle and the articulated boom angle adjustment value. The descent deceleration angle determination module is used to determine the descent deceleration angle of the main boom based on the sum of the minimum luffing angle of the main boom and the main boom angle adjustment value, and to determine the descent deceleration angle of the articulated boom based on the sum of the minimum luffing angle of the articulated boom and the articulated boom angle adjustment value. The boom lifting speed limiting module is used to control the main boom to decelerate when it reaches the main boom lifting deceleration angle and the folding boom to decelerate when it detects that both the main boom and the folding boom are in a lifting state. The boom descent speed limiting module is used to control the main boom to decelerate when it reaches the main boom descent deceleration angle and the folding boom to decelerate when it detects that both the main boom and the folding boom are in a descent state. The adjustment value determination module includes: The main boom adjustment value determination unit is used to determine multiple candidate main boom angle adjustment values ​​based on the changes in the main boom angles, and to determine the final main boom angle adjustment value based on the working effect of the workbench under each candidate main boom angle adjustment value. The articulated arm adjustment value determination unit is used to determine multiple candidate articulated arm angle adjustment values ​​based on the changes in each articulated arm angle, and to determine the final articulated arm angle adjustment value based on the working effect of the workbench under each candidate articulated arm angle adjustment value.

9. 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, the computer program being executed by the at least one processor to enable the at least one processor to perform the boom control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the boom control method according to any one of claims 1-7.

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