Control method of mobile aerial work platform

Abstract

The invention relates to a control method of a mobile aerial work platform, and relates to the technical field of engineering machinery control, and the control method comprises the following steps: S1, reading a key switch state in real time to determine a current working mode; s2, when the key switch is in the landing leg control mode, landing leg control operation including manual stretching or contraction and automatic leveling is executed, and automatic leveling is achieved by obtaining the inclination angle of the platform and cooperatively adjusting the stretching amount of each landing leg based on errors; s3, when the key switch is in the platform control mode, platform control operation including platform lifting and walking is executed, the lifting speed and the walking speed are both proportional to the displacement of the operation handle, and steering is supported during walking; and S4, while executing S2 or S3, monitoring the safety state, including inclination and load, of the platform in real time, and immediately stopping all outputs when a fault is detected. Through mode isolation, proportion control, automatic leveling and high-priority safety monitoring, the operation safety, the control accuracy and the deployment efficiency of the platform are improved.

Description

Technical Field

[0001] This application relates to the field of engineering machinery control technology, and in particular to a control method for a mobile aerial work platform. Background Technology

[0002] Mobile aerial work platforms, as an important type of engineering equipment, are widely used in fields such as construction, equipment maintenance, warehousing and logistics, and municipal engineering. They are used to lift operators and tools to high altitudes for work. Their core functions include outrigger support, platform lifting, and platform movement to adapt to different working environments and needs.

[0003] Existing mobile aerial work platforms have shortcomings in operation control and safety management. For example, most platforms have unclear operating permissions when switching control modes. Ground control and platform control are often switched simply by a switch, lacking strict physical isolation and logical interlocking mechanisms. This can lead to the risk of different operators operating simultaneously or making mistakes under certain circumstances. This lack of rigor in permission management increases the possibility of accidents during operations.

[0004] In addition, the leveling operation of the outriggers of existing platforms usually relies on the experience of the operators, which is not only inefficient and prolongs the equipment preparation time, but also makes it difficult to guarantee the accuracy of manual leveling. If the platform does not reach a strict level, its stability during lifting and high-altitude operations will be affected, thus posing a threat to operational safety.

[0005] In terms of platform motion control, some existing systems use simple on / off control, that is, only two states: on and off. They lack the ability to adjust speed in a fine way, which makes it difficult for operators to start, stop and adjust the position of the platform smoothly. Especially in narrow spaces or work scenarios that require high-precision docking, the operation difficulty increases and may even cause damage to the equipment or the surrounding environment due to the impact of the motion. Summary of the Invention

[0006] The purpose of this application is to provide a control method for a mobile aerial work platform, which solves the problems in the prior art such as unclear operation authority management, low efficiency and insufficient accuracy of outrigger leveling, lack of fine adjustment capability for platform motion control, and the need to improve the integration and response speed of the safety monitoring system.

[0007] Firstly, the control method for a mobile aerial work platform provided in this application adopts the following technical solution:

[0008] The control method includes the following processing flow:

[0009] Key switch status reading and mode switching:

[0010] The system continuously monitors the physical position of the key switch. Based on the key switch settings, the system clearly divides the working mode into two mutually exclusive states: outrigger control mode (ground operation) and platform control mode (high-altitude operation).

[0011] Operation in outrigger control mode:

[0012] When the key switch is in outrigger control mode, the system allows operation of the platform's support legs. In this mode, all outrigger actions must meet a prerequisite:

[0013] The enable switch must be in the active state.

[0014] Manual outrigger control:

[0015] The system cyclically monitors the inputs from the selection buttons, enable switches, and operating handles corresponding to each outrigger. When an outrigger selection button is pressed and the enable switch is activated, the system drives the corresponding outrigger hydraulic cylinder to extend or retract based on the longitudinal displacement direction of the operating handle. Outrigger control output... The calculation follows the following proportional control law:

[0016] ;

[0017] in, Indicates the first Control signals for each support leg, such as the PWM duty cycle of a hydraulic valve; The proportional gain coefficient for outrigger control; The normalized longitudinal displacement of the operating handle (value range is...) (where positive values ​​represent contraction and negative values ​​represent extension). To enable the switch state (1 indicates active, 0 indicates inactive); For the first The status of the selection button for each leg (1 indicates it is pressed, 0 indicates it is not pressed).

[0018] Automatic leveling program: When the automatic leveling button is pressed and the enable switch is activated, the system automatically executes the leveling program, which obtains the current lateral tilt angle of the platform in real time. and longitudinal tilt angle The system employs a closed-loop feedback control strategy based on the error between the real-time tilt angle and the horizontal target (usually 0 degrees). For the first... One outrigger, its target extension and retraction speed Calculated based on the following model:

[0019] ;

[0020] in, and These represent the lateral and longitudinal tilt angle errors, respectively. and The target tilt angle (usually 0); and These are the proportional gains for horizontal and vertical leveling, respectively. and It is the first The program continuously adjusts the extension and retraction of each outrigger based on its geometric coupling coefficients for lateral and longitudinal tilt angles, until... and All are less than the preset allowable horizontal error threshold. .

[0021] Operation in platform control mode:

[0022] When the key switch is in platform control mode, control is transferred to the control panel above the platform. In this mode, all platform actions require a prerequisite: the enable switch must be active.

[0023] Platform lifting control: When the platform lifting sub-mode is selected, the system controls the vertical movement of the platform based on the longitudinal displacement of the operating handle, and the platform lifting speed... The calculation follows the following proportional control law:

[0024] ;

[0025] in, The proportional gain coefficient for lift control; positive. The corresponding platform is rising, negative The corresponding platform declined.

[0026] Platform travel and steering control: When the platform travel sub-mode is selected, the system controls the platform's forward or backward movement based on the longitudinal displacement of the control handle. Platform travel speed. The calculation follows the following proportional control law:

[0027] ;

[0028] in, The proportional gain coefficient for walking control; positive. Corresponding to forward, negative The system also detects the left turn button in real time while walking on the platform, allowing for a reverse movement. Or turn right button The state; when any steering button is detected to be pressed, the control platform executes the corresponding steering action; steering angular velocity command. The calculation follows the following discrete control law:

[0029] ;

[0030] in, This is the preset maximum steering angular velocity.

[0031] Real-time safety status monitoring and fault handling: The system independently and continuously monitors the platform's safety status throughout the entire operation, including but not limited to tilt status and load status.

[0032] Tilt protection: The system acquires the platform's lateral tilt angle in real time. and longitudinal tilt angle When any tilt angle exceeds the preset maximum allowable tilt angle threshold or At that time, a tilting fault was triggered. .

[0033] ;

[0034] Overload protection: The system monitors the load on the platform in real time. When the load exceeds the platform's maximum rated load At that time, an overload fault was triggered. .

[0035] ;

[0036] Fault handling mechanism: When any safety fault (such as...) or When triggered, the system immediately executes the highest priority fault handling procedure: all output signals to the actuators. All are set to a safe value (e.g., 0) to stop all platform actions. At the same time, the system displays the corresponding fault code through the human-machine interface and remains locked until the fault condition is resolved and a valid reset is performed.

[0037] In summary, this application includes at least one of the following beneficial technical effects:

[0038] 1. This invention physically isolates the ground outrigger control mode from the aerial platform control mode by setting a key switch, fundamentally preventing misoperation caused by mode confusion. At the same time, the enable switch is a necessary prerequisite for all actions, ensuring that any platform movement is carried out under the clear intention of the operator. In addition, the safety status monitoring system, which operates at all times, has the highest priority and can immediately stop all outputs once dangerous conditions such as tilting or overload are detected, forming a multi-layered safety protection system from permissions, intentions to status monitoring.

[0039] 2. In the platform lifting and walking control, the present invention adopts a proportional control method that associates the displacement of the operating handle with the execution speed. Through this method, the lifting or traveling speed of the platform is proportional to the pushing amplitude of the operating handle, enabling the operator to achieve smooth and stepless speed adjustment from zero to maximum speed. This precise speed control capability allows the operator to make fine position adjustments and slow start and stop, enhancing the controllability of the platform when approaching obstacles or performing delicate docking operations.

[0040] 3. The automatic leveling program provided by this invention automates the outrigger leveling process, which originally required repeated manual operation and relied on experience. By reading tilt sensor data in real time and using a closed-loop feedback control algorithm to coordinate the adjustment of the four outriggers, the program can quickly and accurately adjust the platform to a level state. This not only shortens the preparation time before high-altitude operations and improves work efficiency, but also ensures the accuracy of leveling through precise algorithm control, providing a stable and reliable operating foundation for the entire equipment. Attached Figure Description

[0041] Figure 1 This is a flowchart of a method embodiment of this application. Detailed Implementation

[0042] The following is in conjunction with the appendix Figure 1 This application will be described in further detail below.

[0043] A control method for a mobile aerial work platform, referring to Figure 1 This includes the following steps:

[0044] Step S1 involves reading the status of the key switch module and switching the system operating mode.

[0045] This step is the first step in the control system's access control, ensuring that operators can safely and with authority control the mobile aerial work platform in different work scenarios. The ECU module (electronic control unit) continuously monitors the status of the key switch module connected to its digital input interface. The key switch module is designed to have distinct physical positions, such as ECU control mode and platform control mode. These positions indicate the currently selected mode by changing the level signal on the ECU module's input pin.

[0046] The ECU module reads the mode selection signal output by the key switch module at a preset scan cycle through its internal software logic. ,according to The ECU module determines the operating mode based on the current value and sets the system's operating mode status. The mode switching logic is precisely defined as follows:

[0047] ;

[0048] in: This indicates the currently active system operating mode state within the ECU module; its value represents the outrigger control mode or platform control mode. This indicates the current read value of the mode selection signal output by the key switch module. This value can be binary or an enumerated value. It is a predefined constant that represents the signal state corresponding to the key switch being in the outrigger control mode; It is a predefined constant that indicates the signal state of the key switch in the platform control mode. In this mode, the operation authority is transferred to the control console on the aerial work platform, allowing the platform to be raised, lowered, and moved. This is an internal status indicator that indicates the system has entered outrigger control mode. In this state, the ECU module only processes input signals from the ground control box and disables input from the platform console. This is an internal status indicator that indicates the system has entered platform control mode. In this state, the ECU module only processes input signals from the platform console and disables inputs from the ground control box.

[0049] The mode switching mechanism is mutually exclusive, meaning the system can only be in one operating mode at any given time. When the ECU module detects a change in the key switch module's state, it first performs necessary system resource allocation and enable / disable operations for input or output interfaces. For example, when switching from outrigger control mode to platform control mode, the ECU module will stop scanning the ground control handle module and outrigger selection button module, and instead activate scanning of the platform control handle module (if the two are physically separated) and steering button module. This combination of physical and logical mode isolation prevents the operator from controlling the platform from different locations simultaneously, effectively avoiding safety risks caused by permission conflicts or misoperations. The human-machine interface module will display the current active mode so that the operator can clearly identify the system status.

[0050] Step S2: The ECU module (electronic control unit) detects that the key switch module is in the outrigger control mode. When activated, in this mode, the operator on the ground precisely controls the platform's four outriggers or performs automatic leveling operations via a ground control box. The outrigger movements are driven by a hydraulic valve assembly module, which controls the extension and retraction of the hydraulic cylinders, thereby adjusting the outriggers. All outrigger operations require an enable signal output from the enable switch module. In active state ( The enable switch module is typically designed as a button or foot switch that needs to be pressed continuously. If the operator releases the button, all outrigger movements will stop immediately to ensure operational safety.

[0051] The outrigger control operation consists of two parts: manual outrigger control and automatic leveling program.

[0052] For manual outrigger control, the ECU module cyclically scans input signals from the outrigger selection button module, enable switch module, and operating handle module. The outrigger selection button module contains four independent instantaneous buttons, each corresponding to one outrigger of the platform (e.g., left front, right front, left rear, right rear). The operating handle module provides analog outputs in this mode, primarily responding to its displacement along the longitudinal axis. When the operator presses one of the outrigger selection buttons And the enable signal output by the enable switch module 103 When the operation handle module 104 is activated, the ECU module 101 processes the input from the operation handle module 104. The ECU module 101 then processes the input from the operation handle module 104 based on the longitudinal normalized displacement signal output by the operation handle module 104. The direction and amplitude are determined, and control signals are generated and sent to the proportional control valves of the corresponding outriggers in the hydraulic valve manifold module. For example, when When the value is positive (handle pushed forward), the control signal causes the outriggers to retract; when... When the value is negative (handle pulled back), the control signal causes the outriggers to extend; the extension and retraction speed of the outriggers is related to... The speed is directly proportional to the amplitude, achieving stepless speed regulation. The control law is defined as follows:

[0053] ;

[0054] in: Indicates sending to the The control signal of the hydraulic proportional control valve for each outrigger, such as the pulse width modulation duty cycle, determines whether the outrigger extends or retracts based on its positive or negative value or direction information. When it is 0, the hydraulic valve is in the neutral position and the outrigger stops moving. This represents the proportional gain coefficient for outrigger control, used to normalize the displacement signal output from the operating handle module. This coefficient, which maps to the control signal range required for the hydraulic valve, is obtained through system debugging. This represents the normalized displacement signal output by the operating handle module on the longitudinal axis, and its value range is typically set within... Positive values ​​usually indicate that the handle is pushed forward, while negative values ​​indicate that the handle is pulled back. The magnitude of the value represents the displacement. This indicates the status of the enable signal output by the enable switch module. When it is 1, it means that the enable switch is activated and operation is allowed; when it is 0, it means that it is not activated and all outrigger movements are prohibited. Indicates the first The selection signal output by the single-leg selection button module 105 indicates the status of the selection signal. When it is 1, it indicates the first leg. One leg has been selected for operation; a value of 0 indicates that it is not selected.

[0055] Regarding the automatic leveling program, when the operator presses the automatic leveling button on the automatic leveling button module... And enable signal output by the enable switch module. When activated, the ECU module initiates an automatic leveling program, which achieves platform leveling through the following steps:

[0056] First, the ECU module continuously receives real-time platform attitude data output from the tilt sensor module 108, including the platform's lateral tilt angle. and longitudinal tilt angle Tilt sensor modules are typically dual-axis MEMS (microelectromechanical systems) sensors, capable of measuring the tilt angle of a platform with high precision.

[0057] Next, the ECU module calculates the current platform attitude and the preset horizontal target (i.e., the target tilt angle). and The error between ) and the lateral tilt angle error and longitudinal tilt angle error The calculation is as follows:

[0058] ;

[0059] ;

[0060] in: This represents the difference between the platform's current lateral tilt angle and the target lateral tilt angle; This represents the difference between the platform's current longitudinal tilt angle and the target longitudinal tilt angle; and This indicates the real-time lateral and longitudinal tilt angles output by the tilt sensor module, in degrees. and This represents the desired target values ​​for the platform's lateral and longitudinal tilt angles, typically set to 0° to indicate absolute levelness.

[0061] Subsequently, the ECU module employs a closed-loop feedback control algorithm, based on the calculated error. and It collaboratively generates and sends control signals to the hydraulic valve assembly module to adjust the extension and retraction speed of the four outriggers. One outrigger, its target extension / retraction speed command The calculation formula is:

[0062] ;

[0063] in: Indicates the first The desired extension / retraction speed command for each outrigger determines whether the outrigger extends or retracts, and the magnitude of the value determines the speed. and Indicates the first The geometric coupling coefficients of each outrigger are predetermined based on the physical position of the outrigger on the platform chassis and the direction of its influence on the platform tilt angle. and This indicates the proportional control gain for lateral and longitudinal leveling. These gains are determined through system identification and tuning and are used to convert tilt errors into appropriate outrigger speed commands.

[0064] The automatic leveling procedure is an iterative process. The ECU module continuously and cyclically executes tilt angle reading, error calculation, and outrigger speed command generation until the convergence condition is met. and ,in, It is a preset allowable horizontal error threshold. When the error is less than this threshold, the platform is considered to have reached a level state, the automatic leveling program ends, and all outrigger movements stop.

[0065] Step S3: The ECU module (electronic control unit) recognizes that the key switch module is in platform control mode. When activated, this mode transfers control to the control console on the aerial work platform. Operators can raise, lower, or move the platform using the control handles and steering buttons. Similar to outrigger control, all platform actions require an enable signal from the enable switch module. In active state ( In this mode, the enable switch module is usually located on the platform control panel. If the operator releases it, all platform actions will stop immediately to ensure operational safety.

[0066] The platform control operation includes two parts: platform lifting control and platform walking and steering control.

[0067] Regarding platform lifting control, when the operator selects the platform lifting sub-mode via the sub-mode selection switch on the platform control console, the ECU module begins processing the longitudinal normalized displacement signal from the platform operating handle module. The ECU module continuously monitors the enable signal output by the enable switch module. When the enable switch At that time, the ECU module according to The direction and amplitude are determined, and control signals are generated and sent to the proportional control valves in the hydraulic valve group module responsible for platform lifting. For example, when... When the value is positive (handle pushed forward), the control signal drives the platform to rise; when... When the value is negative (the handle is pulled back), the control signal drives the platform to descend, and the platform's vertical lifting speed... and The amplitude is proportional to the speed, achieving stepless speed regulation. The control law is defined as follows:

[0068] ;

[0069] in: This indicates the desired vertical lifting speed command for the platform. Its positive or negative value determines whether it rises or falls, and the magnitude of the value determines the speed. When it is 0, the platform stops moving vertically. The proportional gain coefficient, representing the lifting control, is used to normalize the displacement signal output from the operating handle module. This coefficient, mapped to the range of effective control quantities required by the hydraulic valve or motor actuator, is determined through system commissioning. This represents the normalized displacement signal output by the operating handle module on the longitudinal axis, and its value range is typically set within... Positive values ​​typically represent pushing the handle forward (platform rises), while negative values ​​represent pulling the handle backward (platform falls). The magnitude of the value represents the displacement. This indicates the status of the enable signal output by the enable switch module. When it is 1, it means that the enable switch is activated and operation is allowed; when it is 0, it means that it is not activated and all lifting and lowering actions are prohibited.

[0070] Regarding platform travel and steering control, when the operator selects the platform travel sub-mode via the sub-mode selection switch on the platform control console, the ECU module begins processing the longitudinal normalized displacement signal from the platform operating handle module. Simultaneously, the ECU module monitors the turn button module (including the left and right turn buttons) and continuously detects the enable signal output by the enable switch module. .

[0071] When enable switch At that time, the ECU module uses the longitudinal normalized displacement signal output by the operating handle module. The direction and amplitude are determined, and control signals are generated and sent to the walking drive module (such as the driver of a hydraulic motor or electric wheel) to control the platform's forward or backward movement, for example, when... When the value is positive (handle pushed forward), the control signal drives the platform forward; when... When the value is negative (the handle is pulled back), the control signal drives the platform to move backward, and the platform's travel speed... and The amplitude is proportional to the speed, achieving stepless speed regulation. The control law is defined as follows:

[0072] ;

[0073] in: This indicates the platform's desired travel speed command. Its positive or negative value determines whether it moves forward or backward, and the magnitude of the value determines the speed. When it is 0, the platform stops moving. The proportional gain coefficient, representing the walking control, is used to normalize the displacement signal output from the control handle module. Within the range of effective control quantities required to map to the walking drive module, this coefficient is determined through system debugging; This represents the normalized displacement signal output by the operating handle module on the longitudinal axis, and its definition is the same as that in the platform lifting control. same.

[0074] While the platform is moving, the ECU module simultaneously detects the left turn button signal output by the turn button module. and the right turn button signal When the enable switch When any steering button is pressed, the ECU module generates and sends a steering angular velocity command to the steering actuation module (such as the steering cylinder or steering motor). Steering actions are typically performed at a preset maximum angular velocity, i.e., non-proportional control. The steering control law is defined as:

[0075] ;

[0076] in: This indicates the target steering angular velocity command from the steering execution module. Its positive or negative value determines whether to turn right or left, and the magnitude represents the angular velocity. When it is 0, steering stops. This represents the preset maximum steering angular velocity, a fixed value to ensure consistent steering response; This indicates the status of the right turn selection signal output by the turn button module 107 (1 for pressed, 0 for not pressed). This indicates the status of the left turn selection signal output by the turn button module (1 for pressed, 0 for not pressed).

[0077] Step S4 is a real-time safety status monitoring and fault handling mechanism executed by the ECU module (electronic control unit) that is independent of the operating mode and has the highest priority. This mechanism runs continuously throughout the entire operating cycle of the mobile aerial work platform and is designed to prevent and respond to potential safety risks. The ECU module receives signals from the tilt sensor module and the load sensor module in real time through a dedicated channel and performs high-speed data processing and safety logic judgment.

[0078] Safety status monitoring includes tilt protection and overload protection.

[0079] For tilt protection, the ECU module obtains the platform's current lateral tilt angle from the tilt sensor module in real time. and longitudinal tilt angle The tilt sensor module typically employs a high-precision MEMS inertial measurement unit, providing accurate tilt angle data of the platform in two orthogonal directions. The ECU module compares these real-time tilt angle values ​​with preset safety thresholds. When the real-time monitored platform tilt angle exceeds the maximum permissible tilt angle threshold, a tilt fault is determined to have occurred. The triggering condition is defined as:

[0080] ;

[0081] in: This indicates a tilt fault state. Its value is 1 (triggered) when the condition is met, and 0 (not triggered) otherwise. This indicates the real-time lateral tilt angle of the platform output by the tilt sensor module. The absolute value, in degrees; This indicates the real-time longitudinal tilt angle of the platform output by the tilt sensor module. The absolute value, in degrees; This indicates the maximum permissible lateral tilt angle threshold preset by the system. This value is determined based on factors such as the platform's design stability, maximum working height, and load. This indicates the system's preset maximum allowable longitudinal tilt angle threshold, which is also determined based on the platform's design characteristics. This represents the logical OR operator, meaning that a tilt fault is triggered when either the lateral tilt angle or the longitudinal tilt angle exceeds its corresponding threshold.

[0082] For overload protection, the ECU module obtains the current load on the platform from the load sensor module in real time. The load sensor module is typically mounted under the platform's load-bearing structure or on the hydraulic cylinder to measure the vertical force acting on the platform. The ECU module will then monitor the load in real time. With the preset maximum rated load The comparison is performed, and when the load on the platform exceeds the rated load, an overload fault is determined to have occurred. The triggering condition is defined as:

[0083] ;

[0084] in: This indicates an overload fault state. Its value is 1 (triggered) when the condition is met, and 0 (not triggered) otherwise. This indicates the real-time total load on the platform output by the load sensor module, in kilograms or Newtons. This indicates the platform's maximum rated load, which is the upper limit of the design determined based on the platform's structural strength and safety margin.

[0085] When the ECU module detects any safety fault being triggered, it immediately activates a unified fault handling mechanism. This mechanism has the highest priority and can cover all routine operating commands. The ECU module will quickly process all output signals to the hydraulic valve group module, the travel drive module, and the steering actuator module. Setting this to a safe value forces all ongoing platform actions to stop immediately.

[0086] Meanwhile, the ECU module displays the corresponding fault codes through the human-machine interface module. The fault code provides fault type identification information, and the system enters a locked state. In this state, any new operation input from the operator will be ignored by the ECU module to prevent further operation in the event of a fault. The system will remain in the fault-locked state until the condition causing the fault is eliminated, and the operator can perform a reset operation by pressing a specific reset button. The ECU module will then unlock and allow the system to resume normal operation.

Claims

1. A control method for a mobile aerial work platform, characterized in that, Includes the following steps: S1. Real-time reading of the key switch status to determine the current working mode; S2. When the key switch is in the outrigger control mode, the outrigger control operation is performed. The outrigger control operation includes: cyclically detecting the input of the outrigger selection button, the enable switch and the operating handle. When it is detected that a certain outrigger selection button is pressed and the enable switch is activated, the corresponding outrigger is controlled to extend or retract according to the input direction of the operating handle. S3. When the key switch is in the platform control mode, the platform control operation is executed. The platform control operation includes: cyclically detecting the input of the enable switch and the operating handle. When the enable switch is activated, the platform is controlled to perform lifting or walking actions according to the input direction of the operating handle. S4. While executing step S2 or S3, monitor the platform's safety status in real time. If any fault is detected, immediately stop all output.

2. The control method for a mobile aerial work platform according to claim 1, characterized in that, The outrigger control operation also includes: When the automatic leveling button is pressed and the enable switch is activated, the automatic leveling program is executed. The automatic leveling program coordinates the extension and retraction of the four outriggers according to a preset control strategy until the platform reaches a level state.

3. The control method for a mobile aerial work platform according to claim 2, characterized in that, The execution of the automatic leveling procedure specifically includes: Real-time acquisition of the platform's lateral and longitudinal tilt angles; Based on the obtained lateral tilt angle and longitudinal tilt angle, calculate the error between the current platform attitude and the preset horizontal target; Based on the error, the extension and retraction of each leg are synchronously adjusted through closed-loop feedback control until the error is less than a preset allowable horizontal error threshold.

4. The control method for a mobile aerial work platform according to claim 1, characterized in that, The platform control operations specifically include: Depending on the operator's sub-mode selection, either platform lifting control or platform walking control is executed.

5. The control method for a mobile aerial work platform according to claim 4, characterized in that, The platform lifting control is specifically as follows: When the enable switch is activated, the platform is raised or lowered according to the longitudinal displacement of the operating handle, and the platform's raising or lowering speed is proportional to the magnitude of the longitudinal displacement of the operating handle.

6. The control method for a mobile aerial work platform according to claim 4, characterized in that, The platform walking control specifically refers to: When the enable switch is activated, the platform moves forward or backward according to the longitudinal displacement of the operating handle, and the platform's speed is proportional to the magnitude of the longitudinal displacement of the operating handle.

7. The control method for a mobile aerial work platform according to claim 6, characterized in that, The platform walking control process also includes: The system detects the input of the left turn or right turn button in real time, and when either turn button is detected to be pressed, the control platform executes the corresponding steering action.

8. The control method for a mobile aerial work platform according to claim 1, characterized in that, The security status of the real-time monitoring platform includes at least the following: Monitor the tilt status and load status of the platform.

9. The control method for a mobile aerial work platform according to claim 8, characterized in that, The tilt state of the monitoring platform specifically includes: The platform tilt angle monitored in real time is compared with the preset maximum allowable tilt angle threshold. When the platform tilt angle exceeds the maximum allowable tilt angle threshold, it is determined that a tilt fault has occurred, and the action of stopping all outputs is triggered.

10. The control method for a mobile aerial work platform according to claim 8, characterized in that, The load status of the monitoring platform specifically includes: The platform load monitored in real time is compared with the preset maximum rated load. When the platform load exceeds the maximum rated load, it is determined that an overload fault has occurred, and the action of stopping all outputs is triggered.

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