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

Abstract

This application discloses a control method, system, device, and storage medium for an aerial work platform, belonging to the technical field of engineering machinery technology. The control method for the aerial work platform includes: detecting the boom's luffing angle and extension; determining the chassis's tilt angle and the load capacity of the work platform; determining the distance information between each platform component and the target object; setting the horizontal distance between a first center of gravity position and a second center of gravity position as the horizontal distance between the centers of gravity; calculating the target position of the mobile counterweight structure based on the luffing angle, extension, tilt angle, load capacity, distance information, and horizontal distance between the centers of gravity, using torque balance as a constraint; and controlling the mobile counterweight structure to move to the target position, so that the aerial work platform is in a torque balance state. This application can improve the stability of the aerial work platform.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular relates to a control method, system and device of a high-altitude working platform and a storage medium. BACKGROUND

[0002] The high-altitude working platform is a device for high-altitude work, including chassis, rotating platform, arm support, fly jib, working platform and other components, which can improve work efficiency and safety.

[0003] Due to the particularity of the manned working platform, the safety of the high-altitude working platform has been the focus of attention in the industry. The stability of the whole machine is the embodiment of the safety performance of the high-altitude working platform, and the stability is closely related to the counterweight of the device. In the related technology, a fixed counterweight structure is usually set for the high-altitude working platform, but the amplitude angle and elongation of the arm support of the high-altitude working platform will frequently change with the work demand, and the stability will be insufficient, which will cause safety hazards.

[0004] Therefore, how to improve the stability of the high-altitude working platform is a technical problem to be solved by those skilled in the art at present. SUMMARY

[0005] The purpose of the present application is to provide a control method, system and device of a high-altitude working platform and a storage medium, which can improve the stability of the high-altitude working platform.

[0006] To solve the above technical problems, the present application provides a control method of a high-altitude working platform, the high-altitude working platform comprising a plurality of platform components, the platform components comprising: a chassis, a rotating platform, an arm support, a fly jib, a working platform, a main counterweight structure and a mobile counterweight structure; the rotating platform is installed on the chassis, the arm support is connected with the rotating platform and the fly jib respectively, the working platform is connected with the fly jib, the main counterweight structure is installed on the rotating platform, and the control method of the high-altitude working platform comprises:

[0007] detecting the amplitude angle and elongation of the arm support; wherein the amplitude angle is the included angle between the length direction of the arm support in the current posture and the length direction of the arm support in the reference posture, and the reference posture is the posture when one end of the arm support connected with the fly jib is lowered to the lowest point;

[0008] determining the inclination angle of the chassis and the load of the working platform; wherein the inclination angle is the included angle between the plane where the chassis is located and the horizontal plane; and the load is used to describe the weight of the target object placed on the working platform;

[0009] determining distance information of each of the platform components and the target object, wherein the distance information comprises horizontal distances between the center of gravity of the platform components and the tipping line, and horizontal distances between the center of gravity of the target object and the tipping line;

[0010] setting a horizontal distance between the first center of gravity position and the second center of gravity position as a center of gravity horizontal distance, wherein the first center of gravity position is a center of gravity position of the jib when the luffing angle is equal to 90 degrees, and the second center of gravity position is a center of gravity position of the jib when the jib is in the reference posture;

[0011] calculating a target position of the mobile counterweight structure according to the luffing angle, the elongation, the tilt angle, the load amount, the distance information, and the center of gravity horizontal distance, under the constraint of torque balance;

[0012] controlling the mobile counterweight structure to move to the target position, so that the aerial work platform is in a torque balance state.

[0013] Optionally, calculating a target position of the mobile counterweight structure according to the luffing angle, the elongation, the tilt angle, the load amount, the distance information, and the center of gravity horizontal distance, under the constraint of torque balance, comprises:

[0014] calculating a chassis torque value according to the weight of the chassis, the tilt angle, and the horizontal distance between the center of gravity of the chassis and the tipping line;

[0015] calculating a turret torque value according to the weight of the turret, the tilt angle, and the horizontal distance between the center of gravity of the turret and the tipping line;

[0016] calculating a jib torque value according to the weight of the jib, the tilt angle, the horizontal distance between the center of gravity of the jib and the tipping line, the elongation, the center of gravity horizontal distance, and the luffing angle;

[0017] calculating a main counterweight torque value according to the weight of the main counterweight structure, the tilt angle, and the horizontal distance between the center of gravity of the main counterweight structure and the tipping line;

[0018] calculating a mobile counterweight torque value according to the weight of the mobile counterweight structure, the tilt angle, and the horizontal distance between the center of gravity of the mobile counterweight structure and the tipping line;

[0019] calculating a fly jib torque value according to the weight of the fly jib, the tilt angle, and the horizontal distance between the center of gravity of the fly jib and the tipping line;

[0020] calculating a work platform moment value according to the weight of the work platform, the tilt angle, and the horizontal distance between the center of gravity of the work platform and the tilt line;

[0021] calculating a load moment value according to the weight of the target object, the tilt angle, and the horizontal distance between the center of gravity of the target object and the tilt line;

[0022] calculating a total moment value of the aerial work platform according to the chassis moment value, the turntable moment value, the boom moment value, the main counterweight moment value, the movable counterweight moment value, the jib moment value, the work platform moment value, and the load moment value;

[0023] determining a target position of the movable counterweight structure according to the total moment value of the aerial work platform, wherein the target position is a position at which the total moment value of the aerial work platform is equal to 0.

[0024] calculating a total moment value of the aerial work platform according to the chassis moment value, the turntable moment value, the boom moment value, the main counterweight moment value, the movable counterweight moment value, the jib moment value, the work platform moment value, and the load moment value, including:

[0025] determining a tilt trend of the aerial work platform according to the luffing angle and / or the extension amount;

[0026] calculating a total moment value of the aerial work platform according to the chassis moment value, the turntable moment value, the boom moment value, the main counterweight moment value, the movable counterweight moment value, the jib moment value, the work platform moment value, and the load moment value in combination with the tilt trend.

[0027] determining a tilt trend of the aerial work platform according to the luffing angle and / or the extension amount, including:

[0028] if the luffing angle is greater than or equal to a preset angle and the extension amount is less than or equal to a preset length, determining that the tilt trend of the aerial work platform is backward tilting;

[0029] if the luffing angle is less than the preset angle or the extension amount is greater than the preset length, determining that the tilt trend of the aerial work platform is forward tilting.

[0030] calculating a total moment value of the aerial work platform according to the chassis moment value, the turntable moment value, the boom moment value, the main counterweight moment value, the movable counterweight moment value, the jib moment value, the work platform moment value, and the load moment value in combination with the tilt trend, including:

[0031] If the tilting trend of the aerial work platform is backward tilting, the chassis moment value, the turntable moment value, the boom moment value, the movable counterweight moment value, the jib moment value, the work platform moment value and the load moment value are added to obtain a first resultant moment value;

[0032] The difference between the first resultant moment value and the main counterweight moment value is taken as the total moment value of the aerial work platform.

[0033] Optionally, the total moment value of the aerial work platform is calculated by combining the chassis moment value, the turntable moment value, the boom moment value, the main counterweight moment value, the movable counterweight moment value, the jib moment value, the work platform moment value and the load moment value according to the tilting trend, including:

[0034] If the tilting trend of the aerial work platform is forward tilting, the chassis moment value, the turntable moment value, the main counterweight moment value and the movable counterweight moment value are added to obtain a second resultant moment value, and the boom moment value, the jib moment value, the work platform moment value and the load moment value are added to obtain a third resultant moment value;

[0035] The difference between the second resultant moment value and the third resultant moment value is taken as the total moment value of the aerial work platform.

[0036] Optionally, the aerial work platform further comprises a telescopic oil cylinder, a first end of the telescopic oil cylinder being connected with the boom, and a second end of the telescopic oil cylinder being connected with the movable counterweight structure;

[0037] Correspondingly, the movable counterweight structure is controlled to move to the target position, including:

[0038] The distance between the current position of the movable counterweight structure and the target position is set as a to-be-moved distance;

[0039] The telescopic oil cylinder is controlled to extend or retract according to the to-be-moved distance, so that the movable counterweight structure moves to the target position.

[0040] The application further provides a control system of an aerial work platform, the aerial work platform comprising a plurality of platform components, the platform components comprising: a chassis, a turntable, a boom, a jib, a work platform, a main counterweight structure and a movable counterweight structure; the turntable being installed on the chassis, the boom being connected with the turntable and the jib respectively, the work platform being connected with the jib, the main counterweight structure being installed on the turntable, the control system of the aerial work platform comprising:

[0041] The boom detection module is configured to detect a luffing angle and an elongation of the boom, wherein the luffing angle is an included angle between a length direction of the boom in a current posture and a length direction of the boom in a reference posture, and the reference posture is a posture when one end of the boom connected to the jib is lowered to a lowest point;

[0042] The load detection module is configured to determine an inclination angle of the chassis and a load amount of the working platform, wherein the inclination angle is an included angle between a plane where the chassis is located and a horizontal plane, and the load amount is used to describe a weight of a target object placed on the working platform;

[0043] The distance calculation module is configured to determine distance information of each platform component and the target object, wherein the distance information includes a horizontal distance between a center of gravity of the platform component and a tipping line, and a horizontal distance between a center of gravity of the target object and the tipping line;

[0044] The distance calculation module is further configured to set a horizontal distance between a first center of gravity position and a second center of gravity position as a center of gravity horizontal distance, wherein the first center of gravity position is a center of gravity position of the boom when the luffing angle is equal to 90 degrees, and the second center of gravity position is a center of gravity position of the boom when the boom is in the reference posture;

[0045] The position calculation module is configured to calculate a target position of the movable counterweight structure according to the luffing angle, the elongation, the inclination angle, the load amount, the distance information and the center of gravity horizontal distance, with torque balance as a constraint condition.

[0046] The balance control module is configured to control the movable counterweight structure to move to the target position, so that the aerial work platform is in a torque balance state.

[0047] The application further provides a storage medium having a computer program stored thereon, and the computer program is configured to implement the steps of the control method of the aerial work platform.

[0048] The application further provides an electronic device including a memory and a processor, and the memory has a computer program stored therein, and the processor is configured to call the computer program in the memory to implement the steps of the control method of the aerial work platform.

[0049] The application provides a control method of a high-altitude operation platform, the high-altitude operation platform is provided with a main counterweight structure and a movable counterweight structure, the control method detects the luffing angle of an arm support, the elongation of the arm support, the tilting angle of a chassis and the load of a working platform, determines the distance information of each platform component and the target object, and takes the horizontal distance of the center of gravity of the arm support at the luffing angle of 90 degrees and 0 degrees as the horizontal distance of the center of gravity. The position of the movable counterweight structure in the high-altitude operation platform can be changed, the application takes the torque balance as a constraint condition, calculates the target position of the movable counterweight structure according to the luffing angle, the elongation, the tilting angle, the load, the distance information and the horizontal distance of the center of gravity, so that the high-altitude operation platform is in a torque balance state. Therefore, the application effectively improves the stability of the high-altitude operation platform by dynamically adjusting the position of the movable counterweight structure. The application also provides a control system of a high-altitude operation platform, a storage medium and an electronic device, which have the above beneficial effects, and details are not repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the application, the drawings required in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0051] Figure 1 A flow chart of a control method of a high-altitude operation platform provided by the embodiments of the application;

[0052] Figure 2 An angle schematic diagram of a high-altitude operation platform provided by the embodiments of the application;

[0053] Figure 3 A whole appearance schematic diagram of a high-altitude operation platform provided by the embodiments of the application;

[0054] Figure 4 A partial appearance schematic diagram of a high-altitude operation platform provided by the embodiments of the application;

[0055] Figure 5 A structure schematic diagram of a rotary table provided by the embodiments of the application;

[0056] Figure 6 A schematic diagram of a movable counterweight structure provided by the embodiments of the application;

[0057] Figure 7 A control principle diagram of a high-altitude operation platform provided by the embodiments of the application;

[0058] Figure 8A rear-leaning working condition counterweight limit position diagram provided by the embodiment of the present application;

[0059] Figure 9 A front-leaning working condition counterweight limit position diagram provided by the embodiment of the present application. DETAILED DESCRIPTION

[0060] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0061] Please see the following Figure 1 , Figure 1 A flow chart of a control method of a high-altitude operation platform provided by the embodiment of the present application.

[0062] The specific steps can include:

[0063] S101: detecting a luffing angle and an elongation of the boom.

[0064] The embodiment can be applied to a controller of a high-altitude operation platform, and the high-altitude operation platform can further include a plurality of platform components, including a chassis, a turret, a boom, a jib, a work platform, a main counterweight structure and a mobile counterweight structure.

[0065] The turret is installed on the chassis, the boom is connected with the turret and the jib respectively, the work platform is connected with the jib, and the main counterweight structure is installed on the turret. The main counterweight structure is a fixed counterweight structure. Specifically, a first end of the boom is connected with the turret, a second end of the boom is connected with a first end of the jib, and a second end of the jib is connected with the work platform.

[0066] The embodiment can be provided with a length angle sensor in the boom, which is used to detect the luffing angle and the elongation of the boom. The luffing angle is an included angle between a length direction of a current posture of the boom and a length direction of a reference posture of the boom, and the reference posture is a posture when one end of the boom connecting the jib is lowered to the lowest point. The elongation of the boom is a difference between a length in a current state of the boom and a length in a shortest state of the boom. The present solution can determine the luffing angle and the elongation according to a detection signal transmitted by the length angle sensor.

[0067] S102: determining an inclination angle of the chassis and a load amount of the work platform.

[0068] The inclination angle is an angle between a plane where the chassis is located and a horizontal plane.

[0069] Please refer to Figure 2 , Figure 2 An angle diagram of the aerial work platform is provided in the embodiments of the present application, wherein represents a luffing angle, represents an inclination angle.

[0070] The embodiments can set a horizontal angle sensor on the chassis and a weighing sensor on the working platform, and then determine the inclination angle according to the detection signal transmitted by the horizontal angle sensor and determine the load according to the detection signal transmitted by the weighing sensor.

[0071] S103: Determine distance information of each platform component and the target object.

[0072] In this step, the center of gravity of each platform component, the center of gravity of the target object, and the position of the rollover line can be determined, and then the distance information can be determined based on the center of gravity of the platform component, the center of gravity of the target object, and the position of the rollover line. The distance information includes the horizontal distance between the center of gravity of the platform component and the rollover line, and the horizontal distance between the center of gravity of the target object and the rollover line. In the present scheme, the horizontal distance and the horizontal distance both refer to the distance in the horizontal direction.

[0073] The rollover line is a boundary line that distinguishes the stable state of the vehicle from the rollover state. When the overall center of gravity of the vehicle is projected outside the area surrounded by the rollover line, the vehicle is in the rollover state. The distance information described in the present scheme refers to the distance relative to the same rollover line.

[0074] S104: Set the horizontal distance between the first center of gravity and the second center of gravity as the horizontal distance of the center of gravity.

[0075] The first center of gravity is the center of gravity of the boom when the luffing angle is equal to 90 degrees, and the second center of gravity is the center of gravity of the boom when the boom is in the reference posture (i.e., the luffing angle is equal to 0 degrees). When determining the horizontal distance of the center of gravity, the other parameters of the boom (such as the extension amount) are not changed except the luffing angle.

[0076] The horizontal distance of the gravity center refers to the horizontal distance between the gravity center positions of the boom under certain conditions (i.e., the luffing angle is 90 degrees and 0 degrees). The horizontal distance of the gravity center reflects the relative position change of the gravity center of the boom under different postures. In the aerial work platform, the gravity center position of the boom changes with the change of the luffing angle. By determining the horizontal distance of the gravity center, the moment of the boom under different postures can be more accurately calculated, so as to realize more accurate moment balance.

[0077] S105: calculating the target position of the mobile counterweight structure according to the luffing angle, the elongation, the inclination angle, the load, the distance information and the horizontal distance of the gravity center, with the moment balance as the constraint condition.

[0078] In the aerial work platform, the position of the mobile counterweight structure needs to be dynamically adjusted to ensure stability. Specifically, the target position of the mobile counterweight structure is calculated by comprehensively considering the luffing angle of the boom, the elongation, the inclination angle of the chassis, the load of the working platform, the distance information of each component and the target object from the tipping line, and the horizontal distance of the gravity center of the boom under different postures, with the moment balance as the constraint condition. Through these parameters, the target position of the mobile counterweight structure is calculated, so that it can maintain moment balance under different working conditions, thereby improving the stability and operation safety of the platform.

[0079] S106: controlling the mobile counterweight structure to move to the target position, so that the aerial work platform is in a moment balance state.

[0080] In the aerial work platform, the mobile counterweight structure can be accurately moved to the calculated target position, ensuring that the aerial work platform maintains moment balance under various working conditions, thereby improving its stability and operation safety, and effectively reducing the risk of tipping.

[0081] The aerial work platform described above is provided with a main counterweight structure and a mobile counterweight structure. In this embodiment, the luffing angle of the boom, the elongation of the boom, the inclination angle of the chassis and the load of the working platform are detected, and the distance information of each platform component and the target object is determined. The horizontal distance of the gravity center position of the boom when the luffing angle is equal to 90 degrees and 0 degrees is taken as the horizontal distance of the gravity center. The position of the mobile counterweight structure in the aerial work platform can be changed. In this embodiment, the target position of the mobile counterweight structure is calculated according to the luffing angle, the elongation, the inclination angle, the load, the distance information and the horizontal distance of the gravity center, with the moment balance as the constraint condition, so that the aerial work platform is in a moment balance state. Therefore, by dynamically adjusting the position of the mobile counterweight structure, the stability of the aerial work platform is effectively improved. The mobile counterweight structure can move along a straight line or rotate around a fixed point.

[0082] As forFigure 1 Further, the embodiment is introduced as follows: according to the amplitude angle, the elongation, the tilt angle, the load, the distance information and the horizontal distance of the gravity center, the target position of the mobile counterweight structure is calculated under the constraint of torque balance, including:

[0083] According to the weight of the chassis , the tilt angle and the horizontal distance between the gravity center of the chassis and the tilt line , the chassis torque value is calculated .

[0084] According to the weight of the rotating table , the tilt angle and the horizontal distance between the gravity center of the rotating table and the tilt line , the rotating table torque value is calculated .

[0085] According to the weight of the boom , the tilt angle , the horizontal distance between the gravity center of the boom and the tilt line , the elongation , the horizontal distance of the gravity center and the amplitude angle , the boom torque value is calculated . During the operation of the device, the length of the boom will change. In the conventional scheme, the instantaneous torque measured by the sensor at the rotary support is usually used to calculate the boom torque. However, the measurement error of the instantaneous torque can be reduced by the torque calculation method of the embodiment, thereby improving the calculation accuracy of the boom torque value.

[0086] According to the weight of the main counterweight structure , the tilt angle and the horizontal distance between the gravity center of the main counterweight structure and the tilt line , the main counterweight torque value is calculated .

[0087] According to the weight of the mobile counterweight structure , the tilt angle , the horizontal distance between the gravity center of the mobile counterweight structure and the tilt line , the mobile counterweight torque value is calculated .

[0088] According to the weight of the boom , the tilt angle and the horizontal distance between the gravity center of the boom and the tilt line , the boom torque value is calculated .

[0089] According to the weight of the working platform , the inclination angle and the horizontal distance between the center of gravity of the working platform and the tipping line Calculate the working platform moment value .

[0090] According to the weight of the target object , the inclination angle and the horizontal distance between the center of gravity of the target object and the tipping line Calculate the load moment value .

[0091] According to the chassis moment value, the turret moment value, the boom moment value, the main counterweight moment value, the mobile counterweight moment value, the jib moment value, the working platform moment value and the load moment value, the total moment value of the aerial work platform is calculated. In the related art, there is a scheme for achieving balance control according to the moment received by the rotation support part of the aerial work platform; and in the embodiment, the moment is calculated according to the distance between each platform component and the tipping line. This way of calculating the moment based on the tipping line directly reflects the anti-tipping ability of the whole machine, is not affected by the rotation deceleration gap and sensor drift, and the signal lag error is large because the moment received by the rotation support part needs to be transmitted through multiple stages and contains structural elastic deformation. Therefore, the embodiment is more accurate, faster in response and higher in safety factor.

[0092] According to the total moment value of the aerial work platform, the target position of the mobile counterweight structure is determined; wherein the target position is a position that makes the total moment value of the aerial work platform equal to 0. Based on the above target position, the center of gravity change amount of the mobile counterweight structure can be determined , and after updating the horizontal distance between the center of gravity of the mobile counterweight structure and the tipping line to , the moment balance state is reached.

[0093] As a further introduction to the Figure 1 corresponding embodiment, the process of calculating the total moment value of the aerial work platform according to the chassis moment value, the turret moment value, the boom moment value, the main counterweight moment value, the mobile counterweight moment value, the jib moment value, the working platform moment value and the load moment value includes:

[0094] determine a tilting trend of the aerial work platform according to the luffing angle and / or the elongation amount; and calculate the chassis moment value, the turntable moment value, the boom moment value, the main counterweight moment value, the movable counterweight moment value, the jib moment value, the working platform moment value and the load moment value in combination with the tilting trend to obtain a total moment value of the aerial work platform.

[0095] The tilting trend includes a forward tilting trend (i.e., a forward tilting movement trend) and a backward tilting trend (i.e., a backward tilting movement trend).

[0096] Specifically, the process of determining the tilting trend of the aerial work platform according to the luffing angle and / or the elongation amount includes:

[0097] If the luffing angle is greater than or equal to a preset angle and the elongation amount is less than or equal to a preset length, it is determined that the tilting trend of the aerial work platform is backward tilting.

[0098] If the luffing angle is less than the preset angle or the elongation amount is greater than the preset length, it is determined that the tilting trend of the aerial work platform is forward tilting.

[0099] The preset angle and the preset length can be preset parameters set according to actual tests.

[0100] Further, if the tilting trend of the aerial work platform is backward tilting, the process of calculating the chassis moment value, the turntable moment value, the boom moment value, the main counterweight moment value, the movable counterweight moment value, the jib moment value, the working platform moment value and the load moment value in combination with the tilting trend to obtain a total moment value of the aerial work platform includes:

[0101] adding the chassis moment value, the turntable moment value, the boom moment value, the movable counterweight moment value, the jib moment value, the working platform moment value and the load moment value to obtain a first resultant moment value; and taking a difference between the first resultant moment value and the main counterweight moment value as the total moment value of the aerial work platform.

[0102] The first resultant moment value can be:

[0103] + + + + + + .

[0104] Further, if the tilting trend of the aerial work platform is forward tilting, the process of calculating the total moment value of the aerial work platform in combination with the tilting trend includes:

[0105] adding the chassis moment value, the revolving platform moment value, the main counterweight moment value and the movable counterweight moment value to obtain a second resultant moment value, adding the arm support moment value, the fly jib moment value, the working platform moment value and the load moment value to obtain a third resultant moment value; and taking the difference between the second resultant moment value and the third resultant moment value as the total moment value of the aerial work platform.

[0106] The second resultant moment value can be:

[0107] + + + .

[0108] The third resultant moment value can be:

[0109] + + + .

[0110] In the conventional scheme, the moment of each component is usually directly set to a fixed direction, while the embodiment determines the moment direction of each component based on the tilting trend, thereby improving the calculation accuracy of the total moment value of the aerial work platform.

[0111] As for the Figure 1 For further introduction of the corresponding embodiment, the aerial work platform further comprises a telescopic oil cylinder, a first end of the telescopic oil cylinder being connected with the arm support, and a second end of the telescopic oil cylinder being connected with the movable counterweight structure.

[0112] Correspondingly, the process of controlling the movable counterweight structure to move to the target position includes: setting the distance between the current position of the movable counterweight structure and the target position as a to-be-moved distance; and controlling the telescopic oil cylinder to extend or retract according to the to-be-moved distance, so as to move the movable counterweight structure to the target position.

[0113] During the operation of the aerial work platform, if only real-time adjustment is made based on the current state, it is difficult to predict and deal with possible unstable situations in advance, resulting in insufficient stability of the platform under complex working conditions. In view of this problem, the embodiment has the improvement mode in this aspect, and the specific implementation is as follows: according to the historical operation data and real-time sensor data, the device state change sequence in the future time period is predicted, and the position of the movable counterweight structure is adjusted in advance based on the device state change sequence. The device state change sequence refers to the sequence of changes of each key parameter of the aerial work platform over time within a certain time; for example, it can include a luffing angle change sequence, an elongation change sequence, a tilt angle change sequence, a load change sequence, a distance information change sequence, and a wind direction change sequence.

[0114] The above-mentioned flow described in the embodiment is illustrated below through an example in actual application.

[0115] When the aerial work platform is in a forward or backward working condition, the counterweight adjusts the whole machine gravity center position through its own weight, so as to ensure the balance of the whole machine. However, the counterweight of the current industry scheme is fixedly installed, and the stability of the whole machine is determined as soon as the machine is put into operation. The stability performance of the equipment is subject to the counterweight manufacturing precision and its installation structure, which seriously affects the operation safety of the industry personnel.

[0116] In view of the above-mentioned problems existing in the aerial work platform, the embodiment provides an aerial work platform and a movable turntable counterweight structure thereof. The scheme adds a movable counterweight structure to the upper part of the turntable, and comprehensively considers the turntable structure and space limitation, applies a motion module to the turntable counterweight structure, and establishes a corresponding logic control method to control the turntable counterweight to move together with the change of the luffing angle of the boom, thereby improving the forward and backward stability of the whole machine, so as to achieve the purpose of not limiting the luffing angle of the boom and reducing the working height of the whole machine to improve the stability. The turntable movable counterweight mechanism provided by the embodiment can realize the installation and movement of the counterweight on the turntable. The control method of the turntable movable counterweight mechanism provided by the embodiment can control the movement of the turntable counterweight in real time, and improve the stability of the whole machine without limiting the luffing angle of the boom and reducing the working height of the whole machine. The turntable counterweight movement mechanism provided by the embodiment does not require personnel participation, and is entirely processed by the controller, thereby ensuring the safety of the operator and the machine.

[0117] Please refer to Figure 3 , Figure 3 The embodiment provided by the present application is a schematic diagram of the overall appearance of an aerial work platform. 1 represents a chassis, 2 represents a turntable, 3 represents a boom, 4 represents a main counterweight structure (also referred to as a turntable main counterweight), 5 represents a movable counterweight structure (also referred to as a movable counterweight), 6 represents a fly jib, 7 represents a working platform, 8 represents a main luffing oil cylinder, 9 represents a counterweight adjusting telescopic oil cylinder, represents an elongation.

[0118] Referring to Figure 4 , Figure 4 A partial appearance schematic view of a high-altitude operation platform provided by the embodiment of the application, in which 5 represents a mobile counterweight structure, and 9 represents a counterweight adjusting telescopic oil cylinder.

[0119] Referring to Figure 5 , Figure 5 A structural schematic view of a rotary table provided by the embodiment of the application, in which 2 represents a rotary table.

[0120] Referring to Figure 6 , Figure 6 A schematic view of a mobile counterweight structure provided by the embodiment of the application, in which 5 represents a mobile counterweight structure.

[0121] Referring to Figure 7 , Figure 7 A control principle diagram of a high-altitude operation platform provided by the embodiment of the application, in which 10 represents a chassis horizontal angle sensor, 11 represents an arm support long angle sensor, 12 represents a working platform weighing sensor, 13 represents a displacement sensor, 14 represents a controller, and 9 represents a driving oil cylinder.

[0122] The mobile counterweight mechanism of the rotary table provided by the embodiment comprises a chassis, a rotary table, an arm support, a main counterweight, a mobile counterweight, a fly arm, a working platform, a main amplitude oil cylinder, a counterweight adjusting telescopic oil cylinder, a chassis horizontal angle sensor, an arm support long angle sensor, a working platform weighing sensor, a displacement sensor and a controller 1, wherein the mobile counterweight is installed on the rotary table through a pin shaft; the rotation of the mobile counterweight is realized through the counterweight adjusting telescopic oil cylinder, and the telescopic oil cylinder is installed on the mobile counterweight and the arm support; the chassis and the rotary table are connected through a slewing bearing; the main counterweight is installed on the rotary table; the arm support is connected with the rotary table through the main amplitude oil cylinder, so as to realize the change of the arm support angle; the chassis horizontal angle sensor is installed on the chassis, so as to monitor the inclination angle of the chassis in real time; the arm support long angle sensor is installed on the arm support, so as to monitor the elongation and amplitude angle of the arm support in real time; the working platform weighing sensor is installed on the working platform, so as to monitor the load on the working platform in real time; the controller is connected with the telescopic oil cylinder, the displacement sensor, the chassis horizontal angle sensor, the arm support long angle sensor and the working platform weighing sensor, and the displacement sensor is used to detect the position of the mobile counterweight. The above mobile counterweight structure can change its position in the high-altitude operation platform through the rotary motion, and the above mobile mode can fine-tune the mobile counterweight structure along a circular arc, so as to avoid the positioning error caused by the backlash of the linear guide rail, thereby improving the precision of the torque adjustment.

[0123] During operation, the displacement sensor transmits the collected position of the movable counterweight to the controller, which, together with the controller, controls the movement of the counterweight via a telescopic hydraulic cylinder; the chassis level angle sensor collects the chassis tilt angle. The boom length angle sensor will transmit the collected amplitude angle to the controller. and boom extension The load is transmitted to the controller, and the load cell on the work platform transmits the load value. The information is transmitted to the controller, which then summarizes the data and calculates it using logical formulas. Based on the real-time position collected by the displacement sensor, the controller controls the movement of the counterweight by controlling the telescopic cylinder.

[0124] When the amplitude angle ≥Preset Angle And boom extension ≤Preset length At this time, the entire machine is in a backward tilting condition, and the logical calculation formula for torque balance is as follows:

[0125]

[0126] When the amplitude angle <Preset Angle> Or boom extension >Preset length At this time, the entire machine is in a forward-tilting condition, and the logical calculation formula for torque balance is as follows:

[0127]

[0128] The chassis weight of the aerial work platform is The distance from the chassis center of gravity to the rollover line is The weight of the turntable is The distance from the turntable's center of gravity to the tilt line is The weight of the boom is The extension of the boom is boom luffing angle When the angle is 90 degrees, the distance from the center of gravity to the rollover line is Because the hinge point position of the boom varies between different aircraft models, Positive and negative values ​​exist, and the amplitude angle varies. The distance between the center of gravity of the boom at 0 degrees The distance between the center of gravity of the boom at a 90-degree angle is The weight of the main counterweight structure is The distance from the center of gravity of the main counterweight structure to the overturning line is The weight of the moving counterweight is When the counterweight is in the middle of the rotation, the distance from the tipping line is: The distance moved after rotation is ; the weight of the boom is , the distance between the center of gravity of the boom and the tipping line is ; the weight of the working platform is , the distance between the center of gravity of the working platform and the tipping line is ; the weight of the load on the working platform is , the distance between the center of gravity of the load and the tipping line is . The distance moved by the mobile counterweight can be obtained by a displacement sensor, and can be converted into the extension amount of the telescopic cylinder according to the position of the hinge point of the mobile counterweight and the boom, so as to realize the movement of the mobile counterweight.

[0129] In the above formulae, , , , , , , , and can be confirmed in software and theoretical calculation, and are imported into the controller in advance; the extension amount of the boom , the amplitude angle of the boom and the tilting angle of the chassis are measured in real time during the operation of the whole machine.

[0130] Please refer to Figure 8 , Figure 8 is a schematic diagram of the limit position of the counterweight in the rear tilting working condition provided by the embodiment of the present application; please refer to Figure 9 , Figure 9 is a schematic diagram of the limit position of the counterweight in the front tilting working condition provided by the embodiment of the present application; Figure 8 and Figure 9 show the position of the tipping line (the line connecting the contact points of the front wheels and the ground), which is parallel to the horizontal plane.

[0131] When the machine is stationary on a slope, the following conclusions can be drawn from the above logical calculation formulae:

[0132] In the rear tilting working condition, as the amplitude angle of the boom increases, the distance between the center of gravity of the boom and the tipping line gradually decreases, which causes the calculation value on the left side of the logical formula to decrease as a whole, and the calculation value on the right side to remain unchanged, so that the balanced state of the whole machine is broken, and the machine has a risk of tipping. At this time, the position of the mobile counterweight of the turntable can be changed according to the logical formula, so as to achieve the balanced state of the whole machine.

[0133] In the front tilting working condition, as the extension amount of the boom increases, The gradually increasing causes the overall value of the right side of the logical formula to increase, the value of the left side is unchanged, and thus the balance state of the machine is broken, and the machine has a risk of tipping. At this time, the position of the mobile counterweight of the rotating table is moved According to the change of the logical formula, the balance state of the machine can be achieved.

[0134] The control logic of the mobile counterweight is as follows: the position information (chassis inclination angle, arm stretching length, and amplitude angle, etc.) of the aerial work platform is obtained through a sensor; the position of the mobile counterweight of the rotating table is moved according to the inclination of the working ground, the amplitude angle of the arm, the stretching length of the arm, and the load of the working platform; the position of the counterweight of the rotating table is adjusted to a specified position, so that the machine reaches a dynamic balance, and thus the stability of the machine is dynamically adjusted.

[0135] Figure 8 and Figure 9 Two extreme positions of the mobile counterweight (i.e., the mobile counterweight structure) are shown, which are the states of the counterweight rotating to the leftmost side and the counterweight rotating to the rightmost side. In the process of the amplitude angle of the arm changing from small to large, the stability moment of the arm will gradually decrease, and thus the stability moment generated by the counterweight of the rotating table needs to be larger, and thus the position of the counterweight of the rotating table should be farther and farther away from the tipping line, so that when the amplitude angle of the arm is the largest, the counterweight of the rotating table is the farthest away from the tipping line. The control principle of the counterweight in the forward inclination working condition is consistent with that in the backward inclination working condition.

[0136] The above-mentioned tipping line can be the inner quarter or half of the width of the tire in contact with the ground; the selected tipping line in the embodiment can be the tipping line at the most dangerous position, i.e., the position at which the gravity arm of the stability moment is the shortest, the force arm is the smallest, and the stability gravity force arm is the closest to the tipping line.

[0137] In the above-mentioned scheme, the installation mode of the telescopic oil cylinder can be unilateral winding point installation of the arm or symmetrical arrangement of both sides of the arm; the number of the telescopic oil cylinder can be one, two, or more; and the movement mechanism of the mobile counterweight of the rotating table can be rotary movement or linear movement after adding guide rails.

[0138] The control method of the mobile counterweight mechanism of the rotating table provided in the embodiment can dynamically adjust the position of the counterweight of the rotating table, so that the aerial work platform always maintains a balance state, and the stability of the machine is improved. The mobile counterweight mechanism of the rotating table provided in the embodiment can dynamically adjust the position of the counterweight of the rotating table during the working process of the machine, so that the aerial work platform always maintains a balance state, and the stability performance of the machine is the best.

[0139] The application provides a control system of a high-altitude operation platform, the high-altitude operation platform comprises a plurality of platform components, the platform components comprise a chassis, a rotating platform, an arm support, a fly jib, a work platform, a main counterweight structure and a mobile counterweight structure, the rotating platform is installed on the chassis, the arm support is connected with the rotating platform and the fly jib respectively, the work platform is connected with the fly jib, the main counterweight structure is installed on the rotating platform, and the control system of the high-altitude operation platform comprises:

[0140] An arm support detection module is configured to detect a luffing angle and an elongation of the arm support, wherein the luffing angle is an included angle between a length direction of the arm support in a current posture and a length direction of the arm support in a reference posture, and the reference posture is a posture when one end of the arm support connected with the fly jib is lowered to a lowest point.

[0141] A load detection module is configured to determine an inclination angle of the chassis and a load of the work platform, wherein the inclination angle is an included angle between a plane where the chassis is located and a horizontal plane, and the load is used to describe a weight of a target object placed on the work platform.

[0142] A distance calculation module is configured to determine distance information of each platform component and the target object, wherein the distance information comprises a horizontal distance between a barycenter of the platform component and a tipping line and a horizontal distance between a barycenter of the target object and the tipping line.

[0143] The distance calculation module is further configured to set a horizontal distance between a first barycenter position and a second barycenter position as a barycenter horizontal distance, wherein the first barycenter position is a barycenter position of the arm support when the luffing angle is equal to 90 degrees, and the second barycenter position is a barycenter position of the arm support when the arm support is in the reference posture.

[0144] A position calculation module is configured to calculate a target position of the mobile counterweight structure according to the luffing angle, the elongation, the inclination angle, the load, the distance information and the barycenter horizontal distance, with torque balance as a constraint condition.

[0145] A balance control module is configured to control the mobile counterweight structure to move to the target position, so that the high-altitude operation platform is in a torque balance state.

[0146] The embodiment detects the luffing angle of the boom, the extension amount of the boom, the tilting angle of the chassis, and the load amount of the working platform, determines the distance information of each platform assembly and the target object, and takes the horizontal distance of the gravity center position of the boom at the luffing angle of 90 degrees and 0 degrees as the gravity center horizontal distance. The position of the mobile counterweight structure in the aerial work platform can be changed. The embodiment calculates the target position of the mobile counterweight structure according to the luffing angle, the extension amount, the tilting angle, the load amount, the distance information, and the gravity center horizontal distance, and takes the aerial work platform in the torque balance state as the constraint condition. Therefore, the embodiment effectively improves the stability of the aerial work platform by dynamically adjusting the position of the mobile counterweight structure.

[0147] Further, the position calculation module calculates the target position of the mobile counterweight structure according to the luffing angle, the extension amount, the tilting angle, the load amount, the distance information, and the gravity center horizontal distance, and takes the torque balance as the constraint condition. The process includes:

[0148] calculating the chassis torque value according to the weight of the chassis, the tilting angle, and the horizontal distance between the gravity center of the chassis and the tilting line;

[0149] calculating the turret torque value according to the weight of the turret, the tilting angle, and the horizontal distance between the gravity center of the turret and the tilting line;

[0150] calculating the boom torque value according to the weight of the boom, the tilting angle, the horizontal distance between the gravity center of the boom and the tilting line, the extension amount, the gravity center horizontal distance, and the luffing angle;

[0151] calculating the main counterweight torque value according to the weight of the main counterweight structure, the tilting angle, and the horizontal distance between the gravity center of the main counterweight structure and the tilting line;

[0152] calculating the mobile counterweight torque value according to the weight of the mobile counterweight structure, the tilting angle, and the horizontal distance between the gravity center of the mobile counterweight structure and the tilting line;

[0153] calculating the fly jib torque value according to the weight of the fly jib, the tilting angle, and the horizontal distance between the gravity center of the fly jib and the tilting line;

[0154] calculating the working platform torque value according to the weight of the working platform, the tilting angle, and the horizontal distance between the gravity center of the working platform and the tilting line;

[0155] calculating the load torque value according to the weight of the target object, the tilting angle, and the horizontal distance between the gravity center of the target object and the tilting line;

[0156] The total torque value of the aerial work platform is calculated based on the chassis torque value, the turntable torque value, the boom torque value, the main counterweight torque value, the mobile counterweight torque value, the boom torque value, the work platform torque value, and the load torque value.

[0157] The target position of the mobile counterweight structure is determined based on the total torque value of the aerial work platform; wherein, the target position is the position where the total torque value of the aerial work platform is equal to 0.

[0158] Furthermore, the process by which the position calculation module calculates the total torque value of the aerial work platform based on the chassis torque value, the turntable torque value, the boom torque value, the main counterweight torque value, the mobile counterweight torque value, the boom torque value, the work platform torque value, and the load torque value includes:

[0159] The tilting trend of the aerial work platform is determined based on the amplitude angle and / or the elongation.

[0160] The total torque value of the aerial work platform is obtained by calculating the torque values ​​of the chassis, turntable, boom, main counterweight, mobile counterweight, boom, work platform, and load, based on the tilting trend.

[0161] Furthermore, the process by which the position calculation module determines the tilt trend of the aerial work platform based on the amplitude angle and / or the elongation includes: if the amplitude angle is greater than or equal to a preset angle and the elongation is less than or equal to a preset length, then the tilt trend of the aerial work platform is determined to be backward tilt; if the amplitude angle is less than the preset angle or the elongation is greater than the preset length, then the tilt trend of the aerial work platform is determined to be forward tilt.

[0162] Furthermore, the position calculation module calculates the chassis torque value, turntable torque value, boom torque value, main counterweight torque value, mobile counterweight torque value, boom torque value, work platform torque value, and load torque value in conjunction with the tilt trend to obtain the total torque value of the aerial work platform. The process includes: if the tilt trend of the aerial work platform is backward tilting, the chassis torque value, turntable torque value, boom torque value, mobile counterweight torque value, boom torque value, work platform torque value, and load torque value are added together to obtain a first resultant torque value; the difference between the first resultant torque value and the main counterweight torque value is taken as the total torque value of the aerial work platform.

[0163] Furthermore, the position calculation module calculates the chassis torque value, turntable torque value, boom torque value, main counterweight torque value, mobile counterweight torque value, boom torque value, work platform torque value, and load torque value in conjunction with the tilt trend to obtain the total torque value of the aerial work platform. The process includes: if the tilt trend of the aerial work platform is forward tilting, the chassis torque value, turntable torque value, main counterweight torque value, and mobile counterweight torque value are added together to obtain a second resultant torque value; the boom torque value, boom torque value, work platform torque value, and load torque value are added together to obtain a third resultant torque value; the difference between the second resultant torque value and the third resultant torque value is taken as the total torque value of the aerial work platform.

[0164] Furthermore, the aerial work platform also includes a telescopic cylinder, the first end of which is connected to the boom, and the second end of which is connected to the mobile counterweight structure.

[0165] Accordingly, the process by which the balance control module controls the movement of the mobile counterweight structure to the target position includes: setting the distance between the current position of the mobile counterweight structure and the target position as the distance to be moved; and controlling the extension or retraction of the telescopic cylinder according to the distance to be moved, so that the mobile counterweight structure moves to the target position.

[0166] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and they will not be repeated here.

[0167] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0168] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0169] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0170] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A control method of a high-altitude work platform, characterized by, The aerial work platform comprises a plurality of platform components, the platform components comprising a chassis, a turret, an arm support, a jib, a work platform, a main counterweight structure and a mobile counterweight structure; the turret is installed on the chassis, the arm support is connected with the turret and the jib respectively, the work platform is connected with the jib, the main counterweight structure is installed on the turret, and the control method of the aerial work platform comprises: detecting a luffing angle and an elongation of the arm support; wherein the luffing angle is an included angle between a length direction of the arm support in a current posture and a length direction of the arm support in a reference posture, and the reference posture is a posture when one end of the arm support connected with the jib is lowered to a lowest point; determining an inclination angle of the chassis and a load amount of the work platform; wherein the inclination angle is an included angle between a plane where the chassis is located and a horizontal plane; and the load amount is used to describe a weight of a target object placed on the work platform; determining distance information of each of the platform components and the target object; wherein the distance information comprises a horizontal distance between a center of gravity of the platform component and a tipping line, and a horizontal distance between a center of gravity of the target object and the tipping line; setting a horizontal distance between a first center of gravity position and a second center of gravity position as a center of gravity horizontal distance; wherein the first center of gravity position is a center of gravity position of the arm support when the luffing angle is equal to 90 degrees, and the second center of gravity position is a center of gravity position of the arm support when the arm support is in the reference posture; calculating a target position of the mobile counterweight structure according to the luffing angle, the elongation, the inclination angle, the load amount, the distance information and the center of gravity horizontal distance, with torque balance as a constraint condition; controlling the mobile counterweight structure to move to the target position, so that the aerial work platform is in a torque balance state; wherein the aerial work platform further comprises a telescopic oil cylinder, a first end of the telescopic oil cylinder is connected with the arm support, and a second end of the telescopic oil cylinder is connected with the mobile counterweight structure; the mobile counterweight structure is installed on the turret through a pin shaft, the arm support is connected with the turret through a main luffing oil cylinder, the mobile counterweight structure changes its position in the aerial work platform in a rotary manner, and the rotation of the mobile counterweight structure is realized by adjusting the telescopic oil cylinder; the process that the mobile counterweight structure realizes movement is as follows: according to the hinge point positions of the mobile counterweight structure and the arm support, the elongation of the telescopic oil cylinder is converted; wherein the calculation of the target position of the mobile counterweight structure according to the luffing angle, the elongation, the inclination angle, the load amount, the distance information and the center of gravity horizontal distance, with torque balance as a constraint condition, comprises: calculating a chassis torque value according to a weight of the chassis, the inclination angle and a horizontal distance between a center of gravity of the chassis and the tipping line; calculating a turret torque value according to a weight of the turret, the inclination angle and a horizontal distance between a center of gravity of the turret and the tipping line; According to the weight of the boom, the tilt angle, the horizontal distance between the center of gravity of the boom and the tilt line, the elongation, the center of gravity horizontal distance and the luffing angle, a boom moment value is calculated; According to the weight of the main counterweight structure, the tilt angle and the horizontal distance between the center of gravity of the main counterweight structure and the tilt line, a main counterweight moment value is calculated; According to the weight of the mobile counterweight structure, the tilt angle, the horizontal distance between the center of gravity of the mobile counterweight structure and the tilt line, a mobile counterweight moment value is calculated; According to the weight of the jib, the tilt angle and the horizontal distance between the center of gravity of the jib and the tilt line, a jib moment value is calculated; According to the weight of the working platform, the tilt angle and the horizontal distance between the center of gravity of the working platform and the tilt line, a working platform moment value is calculated; According to the weight of the target object, the tilt angle and the horizontal distance between the center of gravity of the target object and the tilt line, a load moment value is calculated; According to the chassis moment value, the turntable moment value, the boom moment value, the main counterweight moment value, the mobile counterweight moment value, the jib moment value, the working platform moment value and the load moment value, a total moment value of the aerial work platform is calculated; According to the total moment value of the aerial work platform, a target position of the mobile counterweight structure is determined; wherein the target position is a position that makes the total moment value of the aerial work platform equal to 0; The determination process of the total moment value comprises: According to the luffing angle and / or the elongation, a tilt trend of the aerial work platform is determined; wherein if the luffing angle is greater than or equal to a preset angle and the elongation is less than or equal to a preset length, the tilt trend of the aerial work platform is backward tilt; if the luffing angle is less than the preset angle or the elongation is greater than the preset length, the tilt trend of the aerial work platform is forward tilt; The chassis moment value, the turntable moment value, the boom moment value, the main counterweight moment value, the mobile counterweight moment value, the jib moment value, the working platform moment value and the load moment value are calculated in combination with the tilt trend, to obtain the total moment value of the aerial work platform.

2. The control method of the aerial work platform according to claim 1, characterized in that, The chassis moment value, the turntable moment value, the boom moment value, the main counterweight moment value, the mobile counterweight moment value, the jib moment value, the working platform moment value and the load moment value are calculated in combination with the tilt trend, to obtain the total moment value of the aerial work platform, comprising: If the tilt trend of the aerial work platform is backward tilt, the chassis moment value, the turntable moment value, the boom moment value, the mobile counterweight moment value, the jib moment value, the working platform moment value and the load moment value are added to obtain a first resultant moment value; The difference between the first resultant moment value and the main counterweight moment value is taken as the total moment value of the aerial work platform.

3. The control method of the aerial work platform according to claim 1, characterized in that, The total moment value of the aerial work platform is calculated by combining the inclination trend with the chassis moment value, the rotary table moment value, the boom moment value, the main counterweight moment value, the movable counterweight moment value, the jib moment value, the working platform moment value and the load moment value, including: If the inclination trend of the aerial work platform is forward inclination, the second combined moment value is obtained by adding the chassis moment value, the rotary table moment value, the main counterweight moment value and the movable counterweight moment value, and the third combined moment value is obtained by adding the boom moment value, the jib moment value, the working platform moment value and the load moment value; The difference between the second combined moment value and the third combined moment value is taken as the total moment value of the aerial work platform.

4. The control method of the aerial work platform according to claim 1, characterized in that, The movable counterweight structure is controlled to move to the target position, including: The distance between the current position of the movable counterweight structure and the target position is set as a distance to be moved; The telescopic oil cylinder is controlled to extend or retract according to the distance to be moved, so that the movable counterweight structure moves to the target position.

5. A control system for an aerial work platform, characterized in that The aerial work platform includes a plurality of platform components, the platform components including a chassis, a rotary table, a boom, a jib, a working platform, a main counterweight structure and a movable counterweight structure; the rotary table is installed on the chassis, the boom is connected with the rotary table and the jib respectively, the working platform is connected with the jib, the main counterweight structure is installed on the rotary table, and a control system of the aerial work platform includes: A boom detection module is configured to detect a luffing angle and an elongation of the boom; wherein the luffing angle is an included angle between a length direction of the boom in a current posture and a length direction of the boom in a reference posture; and the reference posture is a posture when one end of the boom connected with the jib is lowered to a lowest point; A load detection module is configured to determine an inclination angle of the chassis and a load amount of the working platform; wherein the inclination angle is an included angle between a plane where the chassis is located and a horizontal plane; and the load amount is used to describe a weight of a target object placed on the working platform; A distance calculation module is configured to determine distance information of each platform component and the target object; wherein the distance information includes a horizontal distance between a center of gravity of the platform component and a tipping line, and a horizontal distance between a center of gravity of the target object and the tipping line; The distance calculation module is further configured to set a horizontal distance between a first center of gravity position and a second center of gravity position as a center of gravity horizontal distance; wherein the first center of gravity position is a center of gravity position of the boom when the luffing angle is equal to 90 degrees, and the second center of gravity position is a center of gravity position of the boom when the boom is in the reference posture; A position calculation module is configured to calculate a target position of the movable counterweight structure according to the luffing angle, the elongation, the inclination angle, the load amount, the distance information and the center of gravity horizontal distance, with torque balance as a constraint condition; A balance control module is configured to control the movable counterweight structure to move to the target position, so that the aerial work platform is in a torque balance state. The telescopic oil cylinder has a first end connected with the arm support and a second end connected with the mobile counterweight structure; the mobile counterweight structure is installed on the rotating platform through a pin shaft, and the arm support is connected with the rotating platform through a main luffing oil cylinder; the mobile counterweight structure changes its position in the aerial work platform through rotary motion, and the rotation of the mobile counterweight structure is realized by adjusting the telescopic oil cylinder; The process of realizing the motion of the mobile counterweight structure includes: according to the hinge point positions of the mobile counterweight structure and the arm support, the extension amount of the telescopic oil cylinder is converted; The process of calculating the target position of the mobile counterweight structure by the position calculation module under the constraint condition of torque balance includes: calculating the chassis torque value according to the weight of the chassis, the tilt angle, and the horizontal distance between the center of gravity of the chassis and the tilt line; calculating the rotating platform torque value according to the weight of the rotating platform, the tilt angle, and the horizontal distance between the center of gravity of the rotating platform and the tilt line; calculating the arm support torque value according to the weight of the arm support, the tilt angle, the horizontal distance between the center of gravity of the arm support and the tilt line, the extension amount, the horizontal distance of the center of gravity, and the luffing angle; calculating the main counterweight torque value according to the weight of the main counterweight structure, the tilt angle, and the horizontal distance between the center of gravity of the main counterweight structure and the tilt line; calculating the mobile counterweight torque value according to the weight of the mobile counterweight structure, the tilt angle, and the horizontal distance between the center of gravity of the mobile counterweight structure and the tilt line; calculating the boom torque value according to the weight of the boom, the tilt angle, and the horizontal distance between the center of gravity of the boom and the tilt line; calculating the working platform torque value according to the weight of the working platform, the tilt angle, and the horizontal distance between the center of gravity of the working platform and the tilt line; calculating the load torque value according to the weight of the target object, the tilt angle, and the horizontal distance between the center of gravity of the target object and the tilt line; calculating the total torque value of the aerial work platform according to the chassis torque value, the rotating platform torque value, the arm support torque value, the main counterweight torque value, the mobile counterweight torque value, the boom torque value, the working platform torque value, and the load torque value; determining the target position of the mobile counterweight structure according to the total torque value of the aerial work platform; wherein the target position is a position that makes the total torque value of the aerial work platform equal to 0; The process of determining the total torque value includes: determining the tilt trend of the aerial work platform according to the luffing angle and / or the extension amount; wherein if the luffing angle is greater than or equal to a preset angle and the extension amount is less than or equal to a preset length, the tilt trend of the aerial work platform is backward tilt; if the luffing angle is less than the preset angle or the extension amount is greater than the preset length, the tilt trend of the aerial work platform is forward tilt. The total moment value of the aerial work platform is calculated by combining the inclination trend with the chassis moment value, the turntable moment value, the arm support moment value, the main counterweight moment value, the movable counterweight moment value, the fly jib moment value, the working platform moment value and the load moment value.

6. An electronic device, comprising: The aerial work platform control method comprises the following steps: acquiring the chassis moment value, the turntable moment value, the arm support moment value, the main counterweight moment value, the movable counterweight moment value, the fly jib moment value, the working platform moment value and the load moment value of the aerial work platform; combining the inclination trend with the chassis moment value, the turntable moment value, the arm support moment value, the main counterweight moment value, the movable counterweight moment value, the fly jib moment value, the working platform moment value and the load moment value to obtain the total moment value of the aerial work platform; and controlling the aerial work platform according to the total moment value.

7. A storage medium, characterized by The storage medium stores computer executable instructions, and the computer executable instructions are loaded and executed by the processor to realize the steps of the aerial work platform control method according to any one of claims 1 to 4.

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