Control method for high-altitude operation equipment and related equipment

Abstract

The invention relates to the technical field of safety control of high-altitude operation equipment, and discloses a control method for high-altitude operation equipment and related equipment.The control method comprises the steps that the extension state of an extension platform is determined based on state information of the extension platform in the high-altitude operation equipment, the state information is information collected by a plurality of sensing devices arranged on the extension platform; under the condition that the extension state is an abnormal state, the aerial work platform is forbidden to execute lifting or descending operation; under the condition that the extension state is a normal state, acquiring a collision signal of the extension platform in the process of executing lifting, descending or extension motion; and based on the collision signal, controlling the high-altitude operation equipment to execute corresponding safety response operation. The safety of the high-altitude operation equipment in the operation process can be improved.

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 equipment for aerial work equipment. Background Technology

[0002] Scissor lifts are widely used in high-altitude operations such as construction, factory maintenance, and equipment installation due to their stable lifting and large working range. To further expand the working range, these platforms are usually equipped with horizontally extendable extension platforms. However, after the platform is extended, its working area exceeds the projection range of the scissor chassis, forming a cantilever structure. This changes the overall center of gravity distribution of the machine, significantly increasing the risk of tipping over.

[0003] Currently, most scissor lift aerial work platforms on the market have significant shortcomings in safety protection for the extended platform. When extending, raising, or lowering the platform, operators primarily rely on their visual observation and operational experience to judge the safe distance between the platform and the surrounding environment. While some existing technologies employ a single sensor for status detection, this is a conventional mechanical collision avoidance method, extending four poles at the four corners of the guardrail, and only provides collision warnings during ascent. These solutions generally suffer from low detection accuracy and poor anti-interference capabilities. Furthermore, their collision detection is often limited to localized areas, failing to achieve comprehensive risk perception of the platform. This can easily damage collision avoidance devices or even trigger collision accidents, resulting in low safety for aerial work equipment during operation. Summary of the Invention

[0004] The purpose of this application is to provide a control method and related equipment for aerial work platforms, in order to solve the problem of low safety of aerial work platforms during operation in the prior art.

[0005] To achieve the above objectives, the first aspect of this application provides a control method for aerial work equipment, the method comprising: Based on the status information of the extension platform in the aerial work equipment, the extension status of the extension platform is determined. The status information is based on information collected by various sensing devices installed on the extension platform. When the extended state is abnormal, the aerial work platform is prohibited from performing lifting or lowering operations; When the extension state is in a normal state, acquire the collision signal of the extension platform during the lifting, lowering or extension movement; Based on the collision signal, the aerial work equipment is controlled to perform corresponding safety response operations.

[0006] A second aspect of this application provides a control device for aerial work equipment, the control device comprising: The determination module is used to determine the extension status of the extension platform based on the status information of the extension platform in the aerial work equipment. The status information is based on information collected by various sensing devices installed on the extension platform. The execution module is used to prevent the aerial work platform from performing lifting or lowering operations when the extension state is abnormal. The acquisition module is used to acquire collision signals of the extension platform during the lifting, lowering or extension movement when the extension state is in a normal state. The control module is used to control the aerial work equipment to perform corresponding safety response operations based on the collision signal.

[0007] A third aspect of this application provides an aerial work platform, including: an extension platform; A sensing device, disposed on the extended platform, is used to collect the status information of the extended platform; The main controller is communicatively connected to the sensing device and configured to perform the control method as described in any one of the first aspects.

[0008] 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.

[0009] 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.

[0010] This application first determines the platform's extension status by integrating information from multiple sensing devices, overcoming the low reliability and susceptibility to interference caused by relying on a single sensor or manual judgment, thus making the status assessment more comprehensive and accurate. Based on this, when an abnormal status is determined, dangerous operations such as lifting or lowering are directly prohibited, eliminating the risk of accidents caused by the platform's lack of readiness at the source. When a normal status is determined, collision signals are continuously acquired during subsequent movement, and corresponding safety response operations are executed, achieving continuous monitoring and real-time protection against potential collision risks during movement. This application significantly reduces the incidence of safety accidents caused by misjudgments of the platform's extension status or collisions during movement, improving the safety of aerial work platforms during operation.

[0011] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0012] 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 illustration shows a schematic flowchart of a control method for aerial work equipment according to an embodiment of this application; Figure 2 This illustration schematically shows a structural diagram of a control device for aerial work equipment according to another embodiment of this application; Figure 3 The schematic diagram illustrates the hardware structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] Figure 1 The illustration schematically shows a flow chart of a control method for aerial work equipment according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a control method for aerial work equipment, which may include the following steps.

[0019] Step 101: Based on the status information of the extension platform in the aerial work equipment, determine the extension status of the extension platform. The status information is based on information collected by various sensing devices installed on the extension platform. In this embodiment, various sensing devices include, but are not limited to: Limit switches / proximity switches are installed in the safe storage location of the extension platform to directly detect whether the platform is physically stored in place.

[0020] Weighing / pressure sensors are distributed at the bottom of the platform or on the supporting structure to detect changes in load distribution when the platform is extended or retracted, and to determine whether the platform is in a stable state.

[0021] Photoelectric sensors / ultrasonic sensors are used to detect the relative distance between the platform and surrounding fixed structures or obstacles to determine whether the platform is in a safe space.

[0022] The status information is data collected in real time by the aforementioned multiple sensing devices, which is then uploaded to the main controller after signal conditioning and preliminary processing. Determining the extension status refers to the main controller comprehensively evaluating the above information through a data fusion algorithm to determine whether the platform is currently in a normal state (i.e., in a safe space position) or an abnormal state (i.e., in an unsafe space position). It should be noted that the extension platform includes a fully retracted state and a partially retracted state. A fully retracted state refers to a safe physical state where the extension platform is completely retracted into the designated position within the scissor-lift main frame, and the bottom and periphery of the platform do not interfere with the main structure of the equipment. A partially retracted state refers to a situation where the platform has not reached the aforementioned mechanical limit, and part of the structure is still outside the projection of the main frame. If the platform is in a fully retracted state, its extension status can be directly determined as normal. If the platform is in a partially retracted state, it can be determined as abnormal; or, further, the distance between it and surrounding obstacles can be determined. Only when this distance is greater than or equal to the safe distance (i.e., in a safe space position) is its extension status determined as normal.

[0023] Step 102: If the extended state is abnormal, the aerial work platform is prohibited from performing lifting or lowering operations. In this embodiment, if the platform is determined to be in an abnormal state, the main controller immediately outputs control commands to the platform power system, locking the lifting and lowering functions, and only allowing the platform to perform the recovery action until it returns to a normal state.

[0024] Step 103: When the extension state is in a normal state, acquire the collision signal of the extension platform during the lifting, lowering or extension movement. In this embodiment, the collision signal is determined based on pressure change monitoring and distance change monitoring of the extension platform. Pressure change monitoring uses a high-sensitivity pressure sensor to monitor pressure fluctuations in the lifting and telescopic mechanism or platform support points in real time. When the platform comes into contact with an obstacle during movement, a characteristic pressure change occurs. Distance change monitoring uses an infrared ranging sensor, ultrasonic sensor, or lidar to scan the distance to obstacles along the platform's movement path in real time. When the distance is below a safe threshold, a collision risk is considered to exist.

[0025] Step 104: Based on the collision signal, control the aerial work equipment to perform the corresponding safety response operation.

[0026] In this embodiment, a matching graded safety response is executed based on the acquired collision signal. This response mechanism differentiates between collision risks based on their characteristics and severity: for low-risk signals, an audible and visual alarm is issued to the operator; for medium-risk signals, platform movement is intervened, such as limiting its speed or allowing it to move only in a safe direction; for high-risk or emergency collision signals, an emergency shutdown procedure is immediately triggered, cutting off power output and stopping the platform in all motion states, while simultaneously activating the highest level alarm.

[0027] In this embodiment, the platform's extension status is first determined by fusing information from multiple sensing devices. This overcomes the problems of low reliability and susceptibility to interference caused by relying on a single sensor or manual judgment, making the status assessment more comprehensive and accurate. Based on this, when an abnormal status is determined, dangerous operations such as lifting or lowering are directly prohibited, eliminating the risk of accidents caused by the platform not being ready at the source. When a normal status is determined, collision signals are continuously acquired during subsequent movement, and corresponding safety response operations are executed, achieving continuous monitoring and real-time protection against potential collision risks during movement. This significantly reduces the incidence of safety accidents caused by misjudgments of the platform's extension status or collisions during movement, improving the safety of aerial work platforms during operation.

[0028] In one embodiment of this application, determining the extension status of the extension platform based on the status information of the extension platform in the aerial work equipment includes: If the location status information indicates that the distance between the extension platform and surrounding obstacles is less than a preset distance, and the pressure status information indicates that the pressure change of the extension platform is within a preset range, then the extension state is determined to be a normal state.

[0029] In this embodiment, the status information includes location status information and pressure status information.

[0030] Position status information is used to characterize the real-time distance relationship between the extended platform and surrounding obstacles. When the distance between the platform and surrounding fixed structures or environmental obstacles is detected to be less than a preset distance, it indicates that there is no physical risk of collision between the platform and the surrounding obstacles. This preset distance is a threshold pre-calibrated based on the safety margin of the equipment's mechanical structure and the accuracy of the sensors.

[0031] Pressure status information is used to characterize the stress stability of the extension platform during storage or at rest. This information is primarily obtained through force sensing devices installed at the platform's support points or drive mechanisms, such as load cells or pressure sensors in hydraulic telescopic mechanisms. When the monitored pressure value or its dynamic changes remain within a preset range, it indicates that the platform is in a stable stress state, without abnormal load fluctuations caused by jamming or external collisions.

[0032] The extension platform is only considered to be in a normal state when both conditions are met simultaneously: "the distance is less than a preset distance" and "the pressure change is within a preset range". This dual verification mechanism greatly improves the reliability of the state determination.

[0033] In one embodiment of this application, acquiring a collision signal of the extension platform during lifting, lowering, or extending movements when the extension state is in a normal state includes: Distance change information is determined based on the location status information; Based on the pressure status information, pressure change information is determined; The collision signal is generated based on the relationship between the pressure change information and the preset pressure threshold, and / or the relationship between the distance change information and the preset distance threshold.

[0034] In this embodiment, determining distance change information based on the position status information is a dynamic monitoring of the spatial safety status during the extension platform's movement. The position status information originates from real-time distance data between the platform and surrounding obstacles collected by ultrasonic sensors, infrared sensors, and lidar. After acquiring this real-time distance data, the main controller continuously samples and calculates the distance change per unit time and the cumulative distance change value to form distance change information. For example, when the platform extends, the front-end ultrasonic sensor continuously collects the distance to the wall in front. If the distance rapidly decreases from 1.5m to 0.8m, and decreases by 0.3m per second, a distance change feature of "rapidly shortening distance" is generated. This information directly reflects the spatial positional relationship between the platform and the surrounding environment, and can predict in advance whether there is a risk of close-range collision. At the same time, the main controller performs real-time filtering on the distance change data to shield interference factors such as equipment vibration and changes in ambient light during movement, ensuring the authenticity and stability of the distance change information.

[0035] Pressure status information comes from distributed load cells (detecting forces in the vertical direction) and high-sensitivity pressure sensors on the telescopic mechanism (detecting forces in the forward and backward extension direction). The main controller generates pressure change information by tracking the fluctuation amplitude, peak value, and duration of pressure data in real time. For example, if the load cell detects a sudden spike in pressure from a stable 5000N to 10000N during platform lifting, and this spike continues for 0.2 seconds without returning to normal, or if the pressure on the telescopic mechanism spikes from 5MPa to 10MPa during extension, a pressure change characteristic of "abnormal pressure spike" is generated. This information can accurately reflect whether the platform has collided with obstacles above or below, or whether the extension mechanism has experienced abnormal loads due to jamming, or other mechanical anomalies. Similarly, the pressure change data is processed by an anti-interference algorithm to eliminate pressure fluctuations caused by non-collision factors such as motion inertia and hydraulic system fluctuations, ensuring accurate identification of mechanical anomalies caused by collisions.

[0036] Both the preset pressure threshold and the preset distance threshold are pre-calibrated, tiered thresholds based on equipment mechanical strength, operational environment safety redundancy, and sensor detection accuracy. These thresholds include normal fluctuation thresholds, warning thresholds, and emergency thresholds. During the judgment process, single-dimensional or dual-dimensional collaborative judgment can be flexibly adopted according to the actual collision scenario: if only the pressure change information exceeds the warning threshold (e.g., pressure suddenly jumps to the emergency threshold during lifting), a collision signal of the corresponding level will be generated even if the distance change information is normal; if only the distance change information reaches the warning threshold (e.g., distance shortens to the emergency threshold during extension), a collision signal will also be generated; if both exceed their respective thresholds, a more accurate collision signal will be generated by combining the degree of deviation between the two.

[0037] In this embodiment, the multi-dimensional judgment method ensures the comprehensiveness of collision detection and improves the reliability of collision signals through dual feature cross-validation, avoiding misjudgment or omission caused by single-dimensional detection.

[0038] In one embodiment of this application, controlling the aerial work platform to perform corresponding safety response operations based on the collision signal includes: The collision risk level is determined based on the degree of deviation between the pressure change information and the preset pressure threshold, and / or the degree of deviation between the distance change information and the preset distance threshold; The aerial work platform is controlled to perform a response operation corresponding to the collision risk level, the response operation including at least one of issuing a warning, limiting the speed or direction of movement, and immediately stopping the movement.

[0039] In this embodiment, firstly, the preset pressure threshold and the preset distance threshold are both graded numerical systems pre-calibrated based on factors such as the mechanical structure strength of the equipment, the safety redundancy space of the working environment, and the detection accuracy of the sensors. Specifically, they include three levels: "normal fluctuation threshold", "early warning threshold" and "emergency stop threshold". Each threshold can be dynamically adjusted according to different working scenarios (such as small indoor spaces or open outdoor areas).

[0040] The determination of the degree of deviation needs to be combined with signal characteristic analysis: For pressure change information, the degree of deviation is the percentage difference between the real-time pressure change and the preset pressure threshold (e.g., if the real-time pressure change exceeds the normal fluctuation threshold by 30% but does not reach the warning threshold, the degree of deviation is "mild"; if it exceeds the warning threshold by 50% but does not reach the emergency stop threshold, the degree of deviation is "moderate"; if it exceeds the emergency stop threshold, the degree of deviation is "severe"). For distance change information, the degree of deviation is the deviation between the real-time distance change rate, the cumulative change value and the preset distance threshold (e.g., if the distance shortening rate exceeds the safe rate threshold but the distance value is still greater than the warning distance, the degree of deviation is "mild"; if the distance value drops to between the warning distance and the emergency stop distance, the degree of deviation is "moderate"; if the distance value is less than the emergency stop distance, the degree of deviation is "severe").

[0041] In the actual judgment process, a single-dimensional or dual-dimensional collaborative judgment logic can be adopted: if only the pressure change information or the distance change information is deviated, the risk level is determined directly based on the degree of deviation of that dimension; if both are deviated, the risk level corresponding to the dimension with the more severe deviation is taken, or the combined judgment is made based on the superposition effect of the two-dimensional deviations.

[0042] The correspondence between risk levels and response actions is as follows: When the collision risk level is "mild," the response action primarily involves early warning prompts supplemented by minor interventions. The main controller controls the yellow warning light on the operation panel to flash, while simultaneously emitting intermittent buzzer alerts to remind operators to pay attention to the surrounding environment. Simultaneously, the equipment's movement speed is fine-tuned via the flow valve (reduced by 10%-20%) to allow operators sufficient reaction time. At this time, the direction of movement is not restricted to ensure operational continuity. When the collision risk level is "moderate," the response action upgrades to a dual protection of "early warning + restriction." The main controller continuously outputs audible and visual warnings, reduces the equipment's movement speed by 50%, and simultaneously restricts the dangerous movement direction based on the source of the deviation (e.g., due to delays). When a deviation in the extension direction triggers a moderate risk, the platform must not extend further; when a deviation in the lifting direction triggers a risk, the platform must not lift further. If the operator forcibly issues an operating command in the dangerous direction, the main controller will block the execution of the command and display a "Movement in this direction is prohibited" message on the operating panel to prevent the risk from escalating. When the collision risk level is "severe," the response operation focuses on emergency braking and safety warnings. The main controller immediately sends a stop signal to the lifting valve, lowering valve, extension valve, and power unit, cutting off the power supply to all moving mechanisms, causing the equipment to stop all movements instantly. At the same time, a high-decibel continuous buzzer alarm is activated and a red warning light remains on to remind the operator and surrounding personnel to avoid the risk.

[0043] In this embodiment, by setting different response operations, it is possible to ensure that the optimal protection strategy can be adopted under different collision risk scenarios, so as to minimize the probability of equipment damage and personal injury.

[0044] Figure 2 A schematic diagram of a control device for operating equipment according to another embodiment of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0045] Reference Figure 2 The control device 200 for the operating equipment may include: The determination module is used to determine the extension status of the extension platform based on the status information of the extension platform in the aerial work equipment. The status information is based on information collected by various sensing devices installed on the extension platform. The execution module is used to prevent the aerial work platform from performing lifting or lowering operations when the extension state is abnormal. The acquisition module is used to acquire collision signals of the extension platform during the lifting, lowering or extension movement when the extension state is in a normal state. The control module is used to control the aerial work equipment to perform corresponding safety response operations based on the collision signal.

[0046] Optionally, the determining module is specifically used for: If the location status information indicates that the distance between the extension platform and surrounding obstacles is less than a preset distance, and the pressure status information indicates that the pressure change of the extension platform is within a preset range, then the extension state is determined to be a normal state.

[0047] Optionally, the acquisition module includes: The first acquisition submodule is used to determine distance change information based on the location status information; The second acquisition submodule is used to determine pressure change information based on the pressure state information; A generation submodule is used to generate the collision signal based on the relationship between the pressure change information and a preset pressure threshold, and / or the relationship between the distance change information and a preset distance threshold.

[0048] Optionally, the control module includes: The determination submodule is used to determine the collision risk level based on the degree of deviation between the pressure change information and the preset pressure threshold, and / or the degree of deviation between the distance change information and the preset distance threshold; The control submodule is used to control the aerial work equipment to perform response operations corresponding to the collision risk level. The response operations include at least one of issuing a warning, limiting the speed or direction of movement, and immediately stopping the movement.

[0049] Figure 3 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.

[0050] The device may include a processor 301 and a memory 302 storing program instructions.

[0051] When processor 301 executes the program, it implements the steps in any of the above method embodiments.

[0052] For example, the program can be divided into one or more modules / units, one or more of which are stored in memory 302 and executed by processor 301 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.

[0053] Specifically, the processor 301 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.

[0054] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 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 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 302 is non-volatile solid-state memory.

[0055] 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.

[0056] The processor 301 implements any of the methods described above by reading and executing program instructions stored in the memory 302.

[0057] In one example, the electronic device may also include a communication interface 302 and a bus 310. The processor 301, memory 302, and communication interface 302 are connected via the bus 310 and communicate with each other.

[0058] The communication interface 302 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0059] Bus 310 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 310 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] This application provides an aerial work platform, including: a control device for aerial work platforms according to the above embodiments.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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 platforms, characterized in that, The control method includes: Based on the status information of the extension platform in the aerial work equipment, the extension status of the extension platform is determined. The status information is based on information collected by various sensing devices installed on the extension platform. When the extended state is abnormal, the aerial work platform is prohibited from performing lifting or lowering operations; When the extension state is in a normal state, acquire the collision signal of the extension platform during the lifting, lowering or extension movement; Based on the collision signal, the aerial work equipment is controlled to perform corresponding safety response operations.

2. The control method as described in claim 1, characterized in that, The status information includes location status information and pressure status information; Determining the extension status of the extension platform based on its status information includes: If the location status information indicates that the distance between the extension platform and surrounding obstacles is less than a preset distance, and the pressure status information indicates that the pressure change of the extension platform is within a preset range, then the extension state is determined to be a normal state.

3. The control method as described in claim 2, characterized in that, When the extension state is in a normal state, acquiring the collision signal of the extension platform during the lifting, lowering, or extension movement includes: Distance change information is determined based on the location status information; Based on the pressure status information, pressure change information is determined; The collision signal is generated based on the relationship between the pressure change information and the preset pressure threshold, and / or the relationship between the distance change information and the preset distance threshold.

4. The control method as described in claim 3, characterized in that, Based on the collision signal, controlling the aerial work equipment to perform corresponding safety response operations includes: The collision risk level is determined based on the degree of deviation between the pressure change information and the preset pressure threshold, and / or the degree of deviation between the distance change information and the preset distance threshold; The aerial work equipment is controlled to perform a response operation corresponding to the collision risk level, the response operation including at least one of issuing a warning, limiting the speed or direction of movement, and immediately stopping the movement.

5. A control device for aerial work equipment, characterized in that, The control device includes: The determination module is used to determine the extension status of the extension platform based on the status information of the extension platform in the aerial work equipment. The status information is based on information collected by various sensing devices installed on the extension platform. The execution module is used to prevent the aerial work platform from performing lifting or lowering operations when the extension state is abnormal. The acquisition module is used to acquire collision signals of the extension platform during the lifting, lowering or extension movement when the extension state is in a normal state. The control module is used to control the aerial work equipment to perform corresponding safety response operations based on the collision signal.

6. The control device as described in claim 5, characterized in that, The status information includes location status information and pressure status information; The determining module is specifically used for: If the location status information indicates that the distance between the extension platform and surrounding obstacles is less than a preset distance, and the pressure status information indicates that the pressure change of the extension platform is within a preset range, then the extension state is determined to be a normal state.

7. The control device as described in claim 6, characterized in that, The acquisition module includes: The first acquisition submodule is used to determine distance change information based on the location status information; The second acquisition submodule is used to determine pressure change information based on the pressure state information; A generation submodule is used to generate the collision signal based on the relationship between the pressure change information and a preset pressure threshold, and / or the relationship between the distance change information and a preset distance threshold.

8. The control device as described in claim 7, characterized in that, The control module includes: The determination submodule is used to determine the collision risk level based on the degree of deviation between the pressure change information and the preset pressure threshold, and / or the degree of deviation between the distance change information and the preset distance threshold; The control submodule is used to control the aerial work equipment to perform response operations corresponding to the collision risk level. The response operations include at least one of issuing a warning, limiting the speed or direction of movement, and immediately stopping the movement.

9. A high-altitude work equipment, characterized in that, include: Extended platform; A sensing device, disposed on the extended platform, is used to collect the status information of the extended platform; The main controller is communicatively connected to the sensing device and configured to perform the control method as described in any one of claims 1 to 4.

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 4.

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