Control method for high-altitude operation equipment and related device

Abstract

The invention discloses a control method for high-altitude operation equipment and a related device. The control method comprises the steps that the type of a road surface where the high-altitude operation equipment is located, chassis attitude parameters and equipment state parameters are obtained; based on at least one of the road surface type, the chassis attitude parameter and the equipment state parameter, selecting a target control mode from a plurality of preset chassis control modes; and according to the target control mode, torque distribution and / or rotating speeds of a plurality of driving units of the high-altitude operation equipment are / is adjusted. According to the invention, effective balance between good trafficability and efficient energy utilization can be realized.

Description

Technical Field

[0001] This application relates to the field of safety control technology for aerial work equipment, and specifically to a control method and related device for aerial work equipment. Background Technology

[0002] Aerial work equipment, such as boom lifts, is widely used in construction, municipal engineering, and disaster relief, often operating in unstructured environments including ice, snow, mud, gravel, and slopes. Traditional electric drive chassis mostly use fixed drive modes, which, while ensuring basic mobility to a certain extent, struggle to adapt to complex and changing road conditions, resulting in low energy efficiency and impacting equipment range and economy. Therefore, existing control methods often fail to achieve an effective balance between good mobility and efficient energy utilization. Summary of the Invention

[0003] The purpose of this application is to provide a control method and related device for aerial work equipment, in order to solve the problem that existing control methods are unable to achieve an effective balance between good maneuverability and efficient energy utilization.

[0004] To achieve the above objectives, the first aspect of this application provides a control method for aerial work equipment, the method comprising: Obtain the road surface type, chassis attitude parameters, and equipment status parameters of the aerial work platform. Based on at least one of the road surface type, the chassis attitude parameters, and the equipment status parameters, a target control mode is selected from a plurality of preset chassis control modes. According to the target control mode, the torque distribution and / or speed of multiple drive units of the aerial work platform are adjusted.

[0005] A second aspect of this application provides a control device for aerial work equipment, the control device comprising: The first acquisition module is used to acquire the road surface type, chassis attitude parameters, and equipment status parameters of the aerial work equipment. The selection module is used to select a target control mode from a plurality of preset chassis control modes based on at least one of the road surface type, the chassis attitude parameters and the equipment status parameters. An adjustment module is used to adjust the torque distribution and / or speed of multiple drive units of the aerial work platform according to the target control mode.

[0006] A third aspect of this application provides an aerial work platform, comprising: a chassis; an operating arm assembly and a working platform mounted on the chassis; a plurality of drive units distributed on the chassis; a sensing module for acquiring the road surface type where the aerial work platform is located and the attitude parameters of the chassis; and a controller connected to the sensing module and the plurality of drive units respectively, and configured to execute the control method as described in any one of the first aspects.

[0007] A fourth aspect of this application provides a machine-readable storage medium storing instructions that cause a machine to perform the control method according to the first aspect.

[0008] The fifth aspect of this application provides a computer program product in which the instructions are executed by the processor of an electronic device, causing the electronic device to perform the control method for high-altitude work equipment as described above.

[0009] In this application, by acquiring the road surface type, chassis attitude parameters, and equipment status parameters of the aerial work platform, a target control mode is selected from a preset chassis control mode based on at least one parameter. This allows for the adjustment of torque distribution and / or speed of multiple drive units, achieving adaptive adaptation of the drive mode. It can specifically address unstructured working surfaces such as ice, snow, mud, and slopes, overcoming the limitations of traditional fixed drive modes that are difficult to adjust flexibly. This improves the equipment's passability in complex environments and reduces energy waste by dynamically optimizing the torque and speed distribution of the drive units, thus increasing energy utilization efficiency. It effectively balances the equipment's passability with its range and economy, solving the problem of existing control methods struggling to achieve both.

[0010] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0011] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The schematic diagram illustrates a structural schematic of an aerial work platform according to an embodiment of this application; Figure 2 This illustration schematically shows a hardware architecture diagram of the walking mode of an aerial work platform according to an embodiment of this application; Figure 3 The illustration shows a schematic flowchart of a control method for aerial work equipment according to an embodiment of this application; Figure 4 A schematic diagram illustrating the logic for determining the target control mode is shown. Figure 5 This illustration schematically shows a structural diagram of a control device for aerial work equipment according to an embodiment of this application; Figure 6 A schematic diagram of the hardware structure of an aerial work platform according to an embodiment of this application is shown. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0013] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0014] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0015] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0016] It should be noted that the control method for aerial work equipment provided in the subsequent embodiments of this application can be applied to any work equipment. For the purpose of clearly illustrating the technical solution, the application of the control method to aerial work equipment is used as an example to illustrate the embodiments.

[0017] The aerial work equipment of this application is described below with reference to the accompanying drawings.

[0018] like Figures 1 to 2 As shown, this application provides an aerial work platform, including: a chassis 1; an operating arm assembly and a working platform 6 mounted on the chassis 1; multiple drive units distributed on the chassis 1; a sensing module for acquiring the road surface type where the aerial work platform is located and the attitude parameters of the chassis 1; and a controller connected to the sensing module and the multiple drive units respectively.

[0019] In this embodiment, chassis 1 serves as the foundation for the equipment, integrating multiple drive units (not individually labeled in the figure, but actually configured at the corresponding positions of the wheel sets on chassis 1) to provide power support for equipment movement; turntable 2 is positioned above chassis 1 and houses the equipment's power system, control components, and other core components; the working arm assembly includes a folding arm, a telescopic arm 3, and a flying arm 4, wherein: the folding arm is the base connecting section of the working arm, connecting to the main body; the telescopic arm 3 and the flying arm 4 are the end connecting arms of the working arm, and through the coordinated movement of multiple arm segments, the position and height of the end work platform 6 can be flexibly adjusted; turntable 2 is connected to the end of the working arm assembly and is used to carry operators and tools, while the operator's cab can control the equipment's operating actions.

[0020] In addition, the sensing module can be integrated into the corresponding area of ​​the turntable 2 or chassis 1, including the left front, right front, left rear and right rear positions. The sensing module can include a laser scanner and a chassis 1 tilt sensor. The laser scanner is used to collect road surface type, and the chassis 1 tilt sensor can be used to collect chassis 1 attitude parameters. The controller is set inside the turntable 2 and connected to the sensing module and each drive unit to execute the control method described later to realize the adaptive drive adjustment of the equipment under complex road surface conditions.

[0021] The drive unit includes a drive unit and a drive motor, arranged in a distributed layout and corresponding to the wheel sets on chassis 1, integrated and adapted to the load-bearing structure of chassis 1. The drive motor is directly connected to the transmission components of the corresponding wheel set, providing direct power output for the movement of the equipment. The drive unit is connected to each drive motor in a one-to-one correspondence, serving as a control execution component. Its core function is to receive control commands from the controller. The controller generates torque distribution and speed adjustment signals for the corresponding control mode based on the road surface type and chassis 1 attitude parameters collected by the sensing module. After receiving these signals, the drive unit can adjust the output torque and operating speed of the drive motor, thereby achieving independent and dynamic adaptation of the power to each wheel set to match the drive requirements under different operating scenarios.

[0022] Figure 3The illustration schematically shows a flow chart of a control method for aerial work equipment according to an embodiment of this application. Figure 3 As shown in the figure, this application provides a control method for aerial work equipment, which may include the following steps.

[0023] Step 301: Obtain the road surface type, chassis attitude parameters, and equipment status parameters of the aerial work platform. Road surface type is acquired by a laser scanner mounted at the front of the device. This sensor obtains multi-dimensional physical signals such as the road surface's geometric contour and reflectivity. These raw signals are transmitted to an intelligent processing system, where feature extraction algorithms analyze the road surface's texture, smoothness, and material properties. A pattern recognition algorithm then matches and compares the results with a pre-set database of typical road condition features (including hardened roads, icy roads, muddy roads, and gravel roads), ultimately outputting an accurate road surface type identification result. Chassis attitude parameters are acquired by a high-precision tilt sensor mounted on the chassis, which monitors and outputs the chassis's tilt angle and direction in real time. Equipment status parameters primarily include real-time battery power information, provided by the battery management system.

[0024] Step 302: Based on at least one of the road surface type, the chassis attitude parameters, and the equipment status parameters, select a target control mode from a plurality of preset chassis control modes; The system receives various parameters input in step 301 and processes them using a hybrid intelligent decision-making strategy combining Deep Q-Network (DQN) and a rule engine. The system presets multiple chassis control modes, including standard mode, low-adhesion mode, climbing mode, cross-slope compensation mode, traction control mode, and energy efficiency priority mode. The decision logic is as follows: The corresponding mode is triggered based on a single or combined input parameter. For example, when the road surface identification result is ice or mud, the low-adhesion mode is selected; when the chassis tilt angle continuously exceeds a threshold, the climbing or cross-slope compensation mode is selected; when an abnormal drive wheel slip ratio is detected, the traction control mode is selected; when the road surface is good and the battery level is low, the energy efficiency priority mode can be selected. If multiple mode conditions are met simultaneously, the system automatically selects the mode with the highest safety level as the final target control mode based on the preset safety level priority.

[0025] Step 303: Adjust the torque distribution and / or speed of multiple drive units of the aerial work platform according to the target control mode.

[0026] In this embodiment, the controller generates specific control commands based on the determined target control mode and sends them to the travel drivers that control multiple travel motors respectively. Different torque and speed adjustment strategies are employed for different modes: for example, in low traction mode, the total torque is limited and the speed of each wheel is finely matched to prevent slippage; in climbing mode, the torque distribution ratio of the rear axle drive unit is increased; in lateral slope compensation mode, the torque of the left and right drive units is dynamically adjusted to counteract lateral tilt; in obstacle avoidance mode, torque is suppressed on slipping wheels and torque is increased on other wheels; in energy efficiency priority mode, torque is reduced and speed is increased to keep the motors operating in the high-efficiency range. Through these independent yet coordinated controls, precise management of the equipment's walking posture and energy efficiency is achieved.

[0027] In this embodiment, by acquiring the road surface type, chassis attitude parameters, and equipment status parameters of the aerial work platform, a target control mode is selected from a preset chassis control mode based on at least one parameter. This allows for the adjustment of torque distribution and / or speed of multiple drive units, achieving adaptive adaptation of the drive mode. It can specifically address unstructured work surfaces such as ice, snow, mud, and slopes, overcoming the limitations of traditional fixed drive modes that are difficult to adjust flexibly. This improves the equipment's passability in complex environments and reduces energy waste by dynamically optimizing the torque and speed distribution of the drive units, thus increasing energy utilization efficiency. It effectively balances the equipment's passability with its range and economy, solving the problem of existing control methods struggling to achieve both.

[0028] In one embodiment of this application, obtaining the road surface type where the aerial work platform is located includes: Acquire the physical characteristic signals of the road surface where the aerial work equipment is located; The physical feature signal is matched with a preset road condition feature library to identify the road surface type. The preset road condition feature library includes road surface types corresponding to the physical feature signal.

[0029] In this embodiment, firstly, a laser scanner installed at the front of the device serves as the core sensing device, acquiring multi-dimensional physical feature signals of the road surface in real time along the device's travel direction. These signals include not only the geometric contour information of the road surface but also optical reflection characteristics, such as reflection intensity, thus forming comprehensive perception data of the road surface material and condition. Subsequently, digital signal processing and feature engineering algorithms can be used to extract key feature vectors that characterize the essential attributes of the road surface from the raw data stream, such as texture roughness, slope change rate, and material reflectivity. Finally, these extracted features are compared with a road condition feature database, which was established through extensive experimental data training and stores standard feature templates for various typical road surfaces (such as asphalt pavement, compacted snow, slippery mud, and loose gravel roads). The recognition module performs similarity matching and classification calculations between the real-time feature vectors and the templates in the feature database, ultimately outputting a definitive and standardized road surface type recognition result.

[0030] In practical applications, acquiring road surface physical feature signals is not limited to laser scanning technology. Those skilled in the art will understand that millimeter-wave radar can also be used to detect road surface micro-texture and water content by analyzing the frequency and phase of the echo; or machine vision sensors combined with image processing algorithms can be used to analyze road surface color, texture, and rut patterns. Furthermore, deep learning models can be used for end-to-end road surface type recognition. These models are trained on massive amounts of labeled road surface sensor data and can automatically learn and extract deep features, achieving more robust and accurate classification.

[0031] In this embodiment, the analysis and matching mechanism based on multi-dimensional features significantly improves the accuracy and reliability of environmental perception.

[0032] In one embodiment of this application, selecting a target control mode from a plurality of preset chassis control modes based on at least one of the road surface type, the chassis attitude parameters, and the equipment status parameters includes: When the road surface type is a first preset type, the target control mode is determined to be a low adhesion mode, where the first preset type includes icy or muddy roads. If the tilt angle remains greater than a first preset angle for a preset time, the target control mode is determined to be the climbing mode. If the tilt direction is continuously greater than the second preset angle for a preset time, the target control mode is determined to be the cross slope compensation mode, wherein the first preset angle is greater than the second preset angle. If the slip ratio of at least one drive unit exceeds a preset slip ratio threshold, the target control mode is determined to be an escape mode. When the road surface type is the second preset type and the battery power in the device status parameters is lower than the preset power threshold, the target control mode is determined to be the energy efficiency priority mode. The second preset type includes paved road surface or hardened road surface.

[0033] In this embodiment, as Figure 4 As shown, "when the road surface type is a first preset type, the target control mode is determined to be a low-adhesion mode, where the first preset type includes icy or muddy roads." The first preset type corresponds to unstructured working surfaces with weak adhesion, which are prone to causing the drive unit to slip. When the physical features of the road surface collected by the sensing module match icy or muddy roads, the controller will directly select the low-adhesion mode as the target control mode. This decision is based solely on the road surface type parameter, which can quickly respond to the power control needs of low-adhesion scenarios and avoid exacerbating the risk of slippage due to improper power output.

[0034] "When the tilt angle remains greater than a first preset angle for a preset time, the target control mode is determined to be the climbing mode." The preset time is to eliminate momentary tilt interference when the equipment traverses bumpy roads. The first preset angle is a threshold (e.g., 15°) set based on the equipment's climbing performance. When the chassis tilt angle continuously exceeds this threshold, it indicates that the equipment is in a continuous climbing condition. Selecting the climbing mode at this time allows for targeted adjustments to the power distribution to improve power output efficiency during climbing.

[0035] "When the tilt direction remains greater than the second preset angle for a preset time, the target control mode is determined to be the slope compensation mode, wherein the first preset angle is greater than the second preset angle." The tilt direction corresponds to the left-right tilt of the chassis (i.e., the slope scenario). The second preset angle (e.g., 5°) is smaller than the first preset angle because slope driving places higher demands on equipment stability, and compensation control is required even at a smaller tilt angle. When the left-right tilt continuously exceeds this threshold, the slope compensation mode is selected, and the stability of the equipment during slope driving can be maintained through torque distribution adjustment.

[0036] "If the slip ratio of at least one drive unit exceeds a preset slip ratio threshold, the target control mode is determined to be the escape mode." The slip ratio is a parameter calculated from the difference between the drive unit's rotational speed and the wheel speed. The preset slip ratio threshold is the critical value for determining whether a drive unit is slipping. When the slip ratio of a certain drive unit exceeds the limit, it indicates that the unit is slipping. At this time, selecting the escape mode can solve the slipping problem through power redistribution, helping the equipment to get out of trouble.

[0037] "When the road surface type is the second preset type and the battery power in the device status parameters is lower than the preset power threshold, the target control mode is determined to be the energy efficiency priority mode. The second preset type includes paved road surface or hardened road surface." The second preset type is a road surface with stable adhesion and low driving resistance. At this time, combined with the low battery power status parameters, the energy efficiency priority mode is selected, which can not only ensure the basic driving needs of the device on a smooth road surface, but also improve energy utilization efficiency by optimizing power output and alleviate the range pressure under low power conditions.

[0038] In addition to the specific control modes mentioned above, this control logic also includes a standard mode, which serves as the basic control mode under normal operating conditions of the equipment: when the road surface type where the equipment is located is neither the first preset type nor meets the combination condition of the second preset type + low battery, and the tilt angle of the chassis does not exceed the first preset angle, the tilt direction does not exceed the second preset angle, and the slip rate of each drive unit is within the preset slip rate threshold, that is, the equipment is in a normal stable operating environment, the controller will determine the target control mode as the standard mode.

[0039] In this embodiment, the specific types of chassis attitude parameters and the precise triggering conditions of each control mode are clearly defined, including the standard mode adapted to normal working conditions, to achieve targeted switching of control modes under different road surfaces, attitudes and equipment states, ensuring stability and passability in complex scenarios, while improving energy utilization efficiency.

[0040] In one embodiment of this application, adjusting the torque distribution and / or speed of multiple drive units of the aerial work platform according to the target control mode includes: When the target control mode is low adhesion mode, the total output torque is limited and the rotational speed of each drive unit is dynamically matched; When the target control mode is the climbing mode, increase the torque distribution ratio of the rear axle drive unit; When the target control mode is the slope compensation mode, the torque distribution ratio of one or more drive units on the higher side is increased, and the torque distribution ratio of one or more drive units on the lower side is decreased. When the target control mode is the escape mode, the torque of the drive unit identified as slipping is reduced, and the torque of the remaining drive units is increased. When the target control mode is the energy efficiency priority mode, the output torque of the multiple drive units is reduced and their operating speed is increased.

[0041] In this embodiment, under low-traction mode, the controller first calculates the upper limit of the total output torque within a safe range based on the rated output of the drive system and the estimated value of the current road surface adhesion coefficient. This upper limit is then sent to each drive unit via bus commands for global torque limitation. Simultaneously, the controller compares the wheel speed feedback of each drive unit in real time. If it detects an increasing trend in the difference in wheel speeds, it dynamically fine-tunes the torque setting or speed target value of the corresponding drive unit to synchronize the wheel speeds, thereby maintaining driving stability while limiting power.

[0042] In climbing mode, the controller distinguishes the drive units corresponding to the front and rear axles based on the vehicle coordinate system and chassis attitude. The system recalculates and distributes the target torque to the front and rear axle drive units according to a predetermined proportional strategy. Typically, the torque distribution ratio of the rear axle is increased to enhance rear wheel thrust and prevent the front wheels from lifting off or slipping during climbing.

[0043] In slope compensation mode, the controller uses the tilt direction provided by the chassis tilt sensor to determine which drive unit groups are on the higher or lower side of the slope. To counteract the roll tendency, it sends commands to one or more drive units on the higher side to increase their torque output; simultaneously, it symmetrically reduces the torque output of the drive units on the lower side. This active generation of yaw moment helps stabilize the vehicle body and counteract some of the sideslip tendency.

[0044] In traction control mode, the controller identifies "slipping" drive units with slip rates exceeding a threshold by using real-time wheel speed and vehicle speed information. The system quickly reduces the torque command of that unit to zero or an extremely low value to stop it from spinning freely. At the same time, based on the remaining capacity of the drive system, the target torque of the remaining non-slipping drive units is proportionally increased, allowing them to share the vehicle's driving force requirements and intelligently transfer power to the wheels with higher traction, thereby helping the vehicle get out of trouble.

[0045] In energy efficiency priority mode, the controller comprehensively considers the current vehicle speed requirement and the motor efficiency graph to calculate the torque-speed combination that allows the drive motor group to operate in a higher efficiency range. Typically, while meeting basic traction requirements, the system will appropriately reduce the output torque command of each drive unit and correspondingly increase its speed command, causing the motor to migrate from the high torque, low speed region to the high efficiency region of lower torque, higher speed, thereby achieving energy saving at the system level.

[0046] In addition, the standard mode, as the default basic mode, is usually activated when no other specific conditions are triggered. In this mode, the controller distributes basically equal torque commands to all drive units and controls their speed to remain synchronized to meet the requirements of smooth, straight-line driving on conventional paved roads. At the same time, the standard mode can also serve as the reference state for other special control modes. When subsequent changes in operating conditions meet the triggering conditions of any special mode, the controller can quickly switch from the standard mode to the corresponding adaptive mode.

[0047] In this embodiment, the torque distribution and / or speed of the drive unit are adjusted in a targeted manner for different target control modes to accurately adapt to different working conditions such as low adhesion, climbing, and cross slope. This not only effectively avoids problems such as slippage and instability, ensuring passability and stability in complex scenarios, but also optimizes energy utilization efficiency, takes into account the power adaptability of conventional and special working conditions, and improves the overall operational reliability and economy of the equipment.

[0048] In one embodiment of this application, the method further includes: The aerial work platform's onboard operating status parameters are obtained, including at least one of platform load, boom posture, and working height. The step of adjusting the torque distribution and / or speed of multiple drive units of the aerial work platform according to the target control mode includes: Based on the target control mode and the on-vehicle operation status parameters, adjust the torque distribution and / or speed of multiple drive units of the aerial work platform.

[0049] In this embodiment, while acquiring basic parameters such as road surface type, chassis attitude, and equipment status, the system also acquires on-vehicle operation status parameters in parallel through an additional sensing subsystem. These parameters reflect the real-time operating conditions of the aerial work platform's upper structure (i.e., the boom and work platform), specifically including: the platform load measured and calculated in real time by weighing sensors integrated into the work platform's leveling mechanism or suspension system; the boom attitude calculated in real time by angle sensors installed at each joint of the boom; and the working height calculated in real time based on the boom attitude geometric model and sensor data, or directly measured by height sensors installed on the platform.

[0050] After acquiring the aforementioned multi-dimensional parameters, the controller integrates the target control mode with the vehicle's operational status parameters. For example, after determining a target control mode, the controller further evaluates the current platform load and working height. If the load is large or the height is high, the system will add additional stability constraints or more conservative torque limits to the original basic torque distribution strategy of that mode, dynamically fine-tuning the final commands sent to each drive unit. Essentially, this incorporates the dynamic load and center of gravity changes of the superstructure as real-time variables into the closed-loop control of the chassis drive force, enabling the drive strategy to not only adapt to the road surface but also respond to changes in the equipment's own operational status, thereby achieving more refined and safer vehicle-wide coordinated control.

[0051] Specifically, in one embodiment, adjusting the distributed torque or speed of the plurality of drive units according to the target control mode and the on-board operation status parameters includes: When the target control mode requires the coordinated output of multiple drive units, and the working height exceeds a preset height threshold or the platform load exceeds a preset load threshold, differential coordinated control is performed on the multiple drive units.

[0052] In this embodiment, two levels of conditions are monitored and judged in real time: The first level is the control mode condition, that is, whether the currently executed target control mode is a mode that requires multiple drive units to work together to output power to ensure passability or stability, such as four-wheel drive mode, low-traction mode, or climbing mode. The second level is the safety status condition, that is, acquiring the vehicle's operating status parameters and continuously judging whether the working height exceeds a preset safety height threshold, such as 10 meters, and / or whether the platform load exceeds a preset rated load ratio threshold, such as 70%.

[0053] When the conditions at both levels mentioned above are met simultaneously, the equipment is determined to be in a high-risk operating condition. At this time, the controller not only sends unified torque and speed commands to each drive unit, but also actively adjusts the speed difference or torque difference between different drive units based on the real-time vehicle dynamics.

[0054] As an example, when the vehicle is turning, the system will actively apply a reasonable speed difference to the left and right drive units based on the steering angle and vehicle speed to reduce tire slippage and improve cornering stability. When the sensor detects that a drive unit is suspended or slipping due to uneven road surface, it will dynamically adjust the torque distribution between the units to distribute more power to the wheels with good traction.

[0055] In this embodiment, dynamic and differentiated adjustments based on real-time status can proactively compensate for changes in the vehicle's center of gravity, load transfer, and tilting trends caused by the large extension of the aerial work boom and heavy platform load. This significantly enhances the chassis stability and handling safety of the equipment when moving on complex road surfaces, preventing risks caused by dynamic instability.

[0056] In one embodiment of this application, selecting the target control mode from a plurality of preset chassis control modes further includes: When the triggering conditions of multiple chassis control modes are met simultaneously, the chassis control mode with the highest safety level is selected as the target control mode according to the preset priority order.

[0057] In this embodiment, a chassis control mode priority order table is preset in the controller. This order table defines the priority selection order among the modes when the trigger conditions of multiple modes are met simultaneously. The core principle is that the higher the safety level of the mode, the higher its priority. For example, a fixed priority order can be set as: get-out-of-trouble mode > slope compensation mode > climbing mode > low adhesion mode > energy efficiency priority mode > standard mode.

[0058] Within each control cycle, the trigger conditions of all preset modes are evaluated in parallel. If only one mode's trigger condition is found to be met, that mode is directly selected as the target control mode. If two or more modes' trigger conditions are found to be met simultaneously, the priority order table mentioned above is immediately queried, and the mode with the highest priority is selected from all triggered modes and determined as the final target control mode to be executed in the current cycle.

[0059] Those skilled in the art will understand that the above priority order is preset and static, and its specific order can be adjusted according to the safety design specifications and main operating scenarios of different equipment. The software architecture implementing this logic can be a rule-based state machine, or it can be accomplished by querying a predefined relation matrix. In addition, this priority logic can also be designed to be partially variable or have dynamic adjustment capabilities, for example, temporarily increasing the priority of a certain mode under a specific working height or load.

[0060] In this embodiment, this mechanism ensures that under complex and combined operating conditions, the control system can automatically ignore low-priority mode commands and always execute the most effective protection strategy against the current safety risks, thereby protecting the safety of equipment and personnel and avoiding operational confusion or response delays that may be caused by logical conflicts.

[0061] Figure 5 A schematic diagram of the structure of a control device provided in another embodiment of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0062] Reference Figure 5 The control device 500 may include: The first acquisition module 501 is used to acquire the road surface type, chassis attitude parameters and equipment status parameters of the aerial work equipment. Selection module 502 is used to select a target control mode from a plurality of preset chassis control modes based on at least one of the road surface type, the chassis attitude parameters and the equipment status parameters. The adjustment module 503 is used to adjust the torque distribution and / or speed of multiple drive units of the aerial work platform according to the target control mode.

[0063] Optionally, the first acquisition module 501 includes: The acquisition submodule is used to acquire the physical feature signals of the road surface where the aerial work equipment is located; The matching submodule is used to match the physical feature signal with a preset road condition feature library to identify the road surface type. The preset road condition feature library includes road surface types corresponding to the physical feature signal.

[0064] Optionally, module 502 includes: The first determining submodule is used to determine the target control mode as a low adhesion mode when the road surface type is a first preset type, wherein the first preset type includes icy or muddy road surfaces. The second determining submodule is used to determine that the target control mode is the climbing mode when the tilt angle is continuously greater than the first preset angle within a preset time. The third determining submodule is used to determine the target control mode as a cross slope compensation mode when the tilt direction is continuously greater than the second preset angle within a preset time, wherein the first preset angle is greater than the second preset angle. The fourth determining submodule is used to determine the target control mode as an escape mode when the slip rate of at least one drive unit exceeds a preset slip rate threshold. The fifth determining submodule is used to determine the target control mode as energy efficiency priority mode when the road surface type is the second preset type and the battery power in the device status parameters is lower than the preset power threshold. The second preset type includes paved road surface or hardened road surface.

[0065] Optionally, the adjustment module 503 includes: The limiting submodule is used to limit the total output torque and dynamically match the rotational speed of each drive unit when the target control mode is low adhesion mode; The first amplification submodule is used to increase the torque distribution ratio of the rear axle drive unit when the target control mode is the climbing mode. The second amplification submodule is used to increase the torque distribution ratio of one or more drive units on the higher side and decrease the torque distribution ratio of one or more drive units on the lower side when the target control mode is the slope compensation mode. The first reduction submodule is used to reduce the torque of the drive unit identified as slipping and increase the torque of the remaining drive units when the target control mode is the escape mode. The second reduction submodule is used to reduce the output torque of the plurality of drive units and increase their operating speed when the target control mode is the energy efficiency priority mode.

[0066] Optionally, the control device 500 further includes: The second acquisition module is used to acquire the upper vehicle operation status parameters of the aerial work equipment, the upper vehicle operation status parameters including at least one of platform load, boom posture and working height; The adjustment module 502 also includes: The adjustment submodule is used to adjust the torque distribution and / or speed of multiple drive units of the aerial work platform according to the target control mode and the on-board operation status parameters.

[0067] Optionally, the adjustment submodule is specifically used for: When the target control mode requires the coordinated output of multiple drive units, and the working height exceeds a preset height threshold or the platform load exceeds a preset load threshold, differential coordinated control is performed on the multiple drive units.

[0068] Optionally, module 502 is also specifically used for: When the triggering conditions of multiple chassis control modes are met simultaneously, the chassis control mode with the highest safety level is selected as the target control mode according to the preset priority order.

[0069] Figure 6 A schematic diagram of the hardware structure of the aerial work equipment provided in an embodiment of this application is shown.

[0070] The aerial work platform may include a processor 601 and a memory 602 storing program instructions.

[0071] When the processor 601 executes the program, it implements the steps in any of the above method embodiments.

[0072] For example, the program can be divided into one or more modules / units, one or more of which are stored in memory 602 and executed by processor 601 to complete this application. The one or more modules / units can be a series of program instruction segments capable of performing a specific function, which describe the execution process of the program in the device.

[0073] Specifically, the processor 601 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0074] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 602 is non-volatile solid-state memory.

[0075] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0076] The processor 601 implements any of the methods described in the above embodiments by reading and executing program instructions stored in the memory 602.

[0077] In one example, the aerial work platform may also include a communication interface 603 and a bus 610. The processor 601, memory 602, and communication interface 603 are connected via the bus 610 and communicate with each other.

[0078] The communication interface 603 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0079] Bus 610 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 610 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0080] Furthermore, in conjunction with the methods in the above embodiments, this application embodiment can provide a storage medium for implementation. This storage medium stores program instructions; when these program instructions are executed by a processor, they implement any of the methods in the above embodiments.

[0081] This application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0082] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0083] This application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above method embodiments and achieve the same technical effects. To avoid repetition, it will not be described again here.

[0084] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0085] The functional modules shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on machine-readable media or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer grids such as the Internet, intranets, etc.

[0086] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0087] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to create a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0088] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A control method for aerial work equipment, characterized in that the method... include: Obtain the road surface type, chassis attitude parameters, and equipment status parameters of the aerial work platform. Based on at least one of the road surface type, the chassis attitude parameters, and the equipment status parameters, a target control mode is selected from a plurality of preset chassis control modes. According to the target control mode, the torque distribution and / or speed of multiple drive units of the aerial work platform are adjusted.

2. The method as described in claim 1, characterized in that, Obtain the road surface type where the aerial work equipment is located, including: Acquire the physical characteristic signals of the road surface where the aerial work equipment is located; The physical feature signal is matched with a preset road condition feature library to identify the road surface type. The preset road condition feature library includes road surface types corresponding to the physical feature signal.

3. The method as described in claim 1, characterized in that, The chassis attitude parameters include the chassis tilt angle and tilt direction; The step of selecting a target control mode from a plurality of preset chassis control modes based on at least one of the road surface type, the chassis attitude parameters, and the equipment status parameters includes: When the road surface type is a first preset type, the target control mode is determined to be a low adhesion mode, where the first preset type includes icy or muddy roads. If the tilt angle remains greater than a first preset angle for a preset time, the target control mode is determined to be the climbing mode. If the tilt direction is continuously greater than the second preset angle for a preset time, the target control mode is determined to be the cross slope compensation mode, wherein the first preset angle is greater than the second preset angle. If the slip ratio of at least one drive unit exceeds a preset slip ratio threshold, the target control mode is determined to be an escape mode. When the road surface type is the second preset type and the battery power in the device status parameters is lower than the preset power threshold, the target control mode is determined to be the energy efficiency priority mode. The second preset type includes paved road surface or hardened road surface.

4. The method as described in claim 3, characterized in that, The step of adjusting the torque distribution and / or speed of multiple drive units of the aerial work platform according to the target control mode includes: When the target control mode is low adhesion mode, the total output torque is limited and the rotational speed of each drive unit is dynamically matched; When the target control mode is the climbing mode, increase the torque distribution ratio of the rear axle drive unit; When the target control mode is the slope compensation mode, the torque distribution ratio of one or more drive units on the higher side is increased, and the torque distribution ratio of one or more drive units on the lower side is decreased. When the target control mode is the escape mode, the torque of the drive unit identified as slipping is reduced, and the torque of the remaining drive units is increased. When the target control mode is the energy efficiency priority mode, the output torque of the multiple drive units is reduced and their operating speed is increased.

5. The method as described in claim 1, characterized in that, The method further includes: The aerial work platform's onboard operating status parameters are obtained, including at least one of platform load, boom posture, and working height. The step of adjusting the torque distribution and / or speed of multiple drive units of the aerial work platform according to the target control mode includes: Based on the target control mode and the on-vehicle operation status parameters, adjust the torque distribution and / or speed of multiple drive units of the aerial work platform.

6. The method as described in claim 5, characterized in that, The step of adjusting the distributed torque or speed of the multiple drive units according to the target control mode and the on-board operation status parameters includes: When the target control mode requires the coordinated output of multiple drive units, and the working height exceeds a preset height threshold or the platform load exceeds a preset load threshold, differential coordinated control is performed on the multiple drive units.

7. The method according to any one of claims 1-4, characterized in that, The step of selecting a target control mode from a plurality of preset chassis control modes further includes: When the triggering conditions of multiple chassis control modes are met simultaneously, the chassis control mode with the highest safety level is selected as the target control mode according to the preset priority order.

8. A control device for aerial work equipment, characterized in that, The device includes: The first acquisition module is used to acquire the road surface type, chassis attitude parameters, and equipment status parameters of the aerial work equipment. The selection module is used to select a target control mode from a plurality of preset chassis control modes based on at least one of the road surface type, the chassis attitude parameters and the equipment status parameters. An adjustment module is used to adjust the torque distribution and / or speed of multiple drive units of the aerial work platform according to the target control mode.

9. A high-altitude work equipment, characterized in that, include: Chassis; The boom assembly and work platform are mounted on the chassis; Multiple drive units are distributed on the chassis; The sensing module is used to obtain the road surface type where the aerial work equipment is located and the attitude parameters of the chassis; The controller is connected to the sensing module and the plurality of drive units respectively, and is configured to perform the control method as described in any one of claims 1 to 7.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the control method according to any one of claims 1 to 7.

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