Control method and device for aerial work equipment climbing ladder steps and storage medium

Abstract

The application provides a control method and device for a high-altitude operation equipment ladder step, a high-altitude operation equipment and a storage medium. The high-altitude operation equipment comprises a platform door, an extended platform and a ladder step extension device. The extended platform is provided with a signal emitting device, and the platform door is provided with a detection baffle for reflecting light emitted by the signal emitting device. The control method comprises the following steps: during the opening and closing of the platform door, if a first state notification sent by the signal emitting device is received, i.e. no light reflected by the detection baffle is received within a preset time period of the signal emitting device, it is determined that the platform door is in an open state, and at this time, the rotation of a motor of the ladder step extension device is controlled to make the foot pedal expand outward; if a second state notification is received, i.e. the reflected light is received within the preset time period of the signal emitting device, it is determined that the platform door is closed, and then the rotation of the motor is controlled again to retract the expanded foot pedal. The method realizes the automatic opening and closing of the foot pedal of the ladder step, and improves the safety and convenience of high-altitude operation.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a control method, device, aerial work equipment, and storage medium for climbing ladder steps of aerial work equipment. Background Technology

[0002] Aerial work platforms are widely used for aerial operations in construction, power, and municipal industries. Existing aerial work platforms typically have ladders installed below the work platform for workers to access it.

[0003] Currently, the ladders and steps of aerial work platforms typically use a fixed structure, meaning the foot pedals are fixed to the chassis and cannot be adjusted according to usage. In actual operation, when workers need to enter or leave the work platform, the fixed ladder steps are in a fixed position, requiring workers to rely on memory or visual location to find them. Especially at night or in poorly lit environments, workers have difficulty accurately identifying the steps, increasing the risk of missteps and falls, posing a significant safety hazard. Furthermore, the fixed ladder steps extend outwards even when not in use, increasing the overall length of the vehicle and potentially interfering with other equipment or structures in confined spaces, limiting the working area. In addition, existing aerial work platforms lack a mechanism to detect the status of the platform door. If the machine unexpectedly lifts or moves when a worker opens the door to leave the platform, the worker could fall from a height, posing a high safety risk. Summary of the Invention

[0004] The purpose of this application is to address the problems in the prior art where the ladder steps of aerial work equipment are fixed, making it difficult for workers to accurately identify the position of the steps in low light conditions and easily causing them to fall into the air; the steps extending outwards when not in use restricts the working space; and the lack of a platform door status detection mechanism poses safety hazards. The application provides a control method, device, aerial work equipment, and storage medium for the ladder steps of aerial work equipment.

[0005] To achieve the above objectives, the first aspect of this application provides a control method for the ladder steps of an aerial work platform. The aerial work platform includes a platform door, ladder step extension devices, and a platform door opening / closing detection device for detecting the opening / closing status of the platform door. The platform door opening / closing detection device includes a signal transmitting device and a detection baffle, the detection baffle being used to reflect light emitted by the signal transmitting device. The control method includes: During the opening and closing of the platform door, upon receiving a first status notification from the signal transmitting device, it is determined that the platform door is in the open state. The first status notification is sent by the signal transmitting device when it does not receive light returned by the detection baffle within a preset time period. During the opening and closing of the platform door, upon receiving a second status notification from the signal transmitting device, it is determined that the platform door is in a closed state. The second status notification is sent by the signal transmitting device when it receives the light returned by the detection baffle within a preset time period. The extension device of the ladder steps is controlled to unfold or retract according to the opening and closing status of the platform door, where the opening and closing status includes the open state and the closed state.

[0006] In this embodiment of the application, controlling the extension device of the ladder steps to unfold or retract according to the opening and closing state of the platform door includes: when it is determined that the platform door is in the open state, controlling the drive component in the extension device of the ladder steps to rotate to unfold the foot pedals outward; when it is determined that the platform door is in the closed state, controlling the drive component in the extension device of the ladder steps to rotate again to retract the unfolded foot pedals.

[0007] In this embodiment, the driving component is a motor, and the ladder step extension device also includes an encoder connected to the motor for detecting the angular position of the motor. The control method further includes: after receiving a first state notification or a second state notification, controlling the motor to rotate at a preset speed to drive the foot pedal to unfold or retract; when the aerial work equipment is powered off and then powered on again, detecting the current angular position of the motor through the encoder, and when detecting that the platform door is in a closed state, controlling the motor to rotate to the initial angular position to restore the foot pedal to the initial state, wherein the initial state is the retracted state.

[0008] In this embodiment of the application, the control method further includes, when it is determined that the platform door is in the open state, real-time detection of the status notification sent by the signal transmitting device; when the duration of continuously receiving the first status notification exceeds a first safety threshold, generating an audible and visual alarm signal and controlling the aerial work equipment to enter a safety restriction mode; wherein, the safety restriction mode includes at least one of restricting lifting action, restricting traveling action, and restricting platform rotation action.

[0009] In this embodiment of the application, the control method further includes: in the safety restriction mode, upon receiving a second status notification sent by the signal transmitting device, controlling the aerial work equipment to exit the safety restriction mode and restore the normal operating authority of the equipment.

[0010] In the embodiments of this application, the signal transmitting device of the control method for the ladder steps of any of the above-mentioned aerial work equipment is a diffuse reflection type photoelectric switch.

[0011] In this embodiment, the ladder step extension device further includes: a motor bracket, fixedly mounted on the chassis for supporting the motor; a first gear, fixedly connected to the output shaft of the motor; and a second gear, rotatably mounted on the chassis, wherein one end of the second gear is a gear portion that meshes with the first gear, and the other end is a shaft portion with a threaded hole on the end face of the shaft portion; wherein the foot pedal is fastened to the threaded hole of the second gear by bolts passing through the foot pedal, so that when the motor drives the second gear to rotate through the first gear, it drives the foot pedal to rotate synchronously to achieve unfolding or retraction.

[0012] A second aspect of this application provides a control device for the steps of a ladder used in aerial work equipment, the device comprising: The memory is configured to store instructions; and The processor is configured to execute a control method for climbing ladder steps of an aerial work platform according to any one of the above.

[0013] A third aspect of this application provides an aerial work platform, which includes the control device described above for the ladder steps of the aerial work platform.

[0014] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform a control method for climbing ladder steps of an aerial work platform according to any one of the preceding claims.

[0015] The above technical solution allows for automatic control of the ladder's steps, opening and closing based on the platform door's status. When the platform door is open, the foot pedals automatically deploy, providing clear step location markers for workers and preventing falls due to insufficient light or obstructed vision, significantly improving operational safety. When the platform door is closed, the foot pedals automatically retract, reducing the overall vehicle length and preventing interference with other equipment or buildings in confined spaces, thus increasing the working space and broadening the application scenarios for aerial work platforms. Furthermore, real-time monitoring of the platform door's status provides a foundation for subsequent safety response mechanisms, restricting machine lifting or movement when the platform door is open to prevent accidents caused by machine malfunctions when workers leave the work platform, further enhancing the equipment's safety performance.

[0016] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0017] 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 1A schematic flowchart illustrating a control method for climbing ladder steps of aerial work equipment according to an embodiment of this application is shown. Figure 2a This illustration schematically shows the state of the automatic extension system of the ladder steps when the platform door is opened according to an embodiment of this application; Figure 2b This illustration schematically shows the state of the automatic extension system of the ladder steps when the platform door is closed according to an embodiment of this application; Figure 3 A schematic diagram of an aerial work platform according to an embodiment of this application is shown. Figure 4 This illustration schematically shows an overall diagram of a platform door switch detection device according to an embodiment of this application; Figure 5a A schematic diagram of the overall extension device for the ladder steps according to an embodiment of this application is shown. Figure 5b An exploded view of the overall structure of the ladder step extension device according to an embodiment of this application is shown schematically. Figure 6 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0018] Explanation of reference numerals in the attached figures Aerial work equipment, 1-Platform door switch detection device, 2-Platform door, 3-Extension platform, 4-Chassis, 5-Extension device for ladder steps, 11-Signal transmitter, 12-Detection baffle, 13-Photoelectric switch bracket, 501-Motor, 502-Motor bracket, 503-First gear, 504-Second gear, 505-Bushing, 506-Frame, 507-Foot pedal, 508-Flat washer, 509-Spring washer, 510-Bolt. Detailed Implementation

[0019] 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.

[0020] It should be noted that 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. Furthermore, the technical solutions of the 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.

[0021] Figure 1 A schematic flowchart illustrating a control method for the ladder steps of an aerial work platform according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, a control method for the ladder steps of aerial work equipment is provided, including the following steps: Step 101: During the opening and closing of the platform door, upon receiving a first status notification sent by the signal transmitting device, it is determined that the platform door is in the open state. The first status notification is sent by the signal transmitting device when it does not receive light returned by the detection baffle within a preset time period.

[0022] Step 102: During the opening and closing of the platform door, upon receiving a second status notification from the signal transmitting device, it is determined that the platform door is in a closed state. The second status notification is sent by the signal transmitting device when it receives the light returned by the detection baffle within a preset time period.

[0023] In one embodiment, the aerial work platform includes a platform door, ladder step extension devices, and a platform door opening / closing detection device for detecting the platform door's opening / closing status. The platform door opening / closing detection device includes a signal transmitter and a detection baffle, the detection baffle reflecting light emitted by the signal transmitter.

[0024] It should be noted that the specific installation positions of the signal transmitter and the detection baffle can be flexibly set according to the structure of the aerial work platform, as long as they can cooperate to detect the opening and closing status of the platform door. For example, the signal transmitter can be installed on the platform door and the detection baffle can be installed on the fixed structure of the work platform, or the detection baffle can be installed on the platform door and the signal transmitter can be installed on the fixed structure of the work platform. Generally, the signal transmitter is installed on the guardrail of the fixed platform. If the aerial work platform has an extension platform and the platform door is located on the extension platform, then the signal transmitter is installed on the guardrail of the extension platform. The embodiments and accompanying drawings of this application are described using the case of having an extension platform as an example, but the scope of protection of this application is not limited thereto.

[0025] In one embodiment, the signal transmitting device continuously emits detection light at a fixed frequency. When the platform door is closed, the detection baffle is located within the detection area of ​​the signal transmitting device, reflecting the emitted light back to the device. Upon receiving the returned light, the signal transmitting device continuously sends a second status notification indicating that the platform door is closed. When the worker opens the platform door, the detection baffle rotates with the door and leaves the detection area of ​​the signal transmitting device. If the signal transmitting device cannot receive the returned light within a preset time, it determines that the platform door is open and sends a first status notification to the processor. The preset time is set to avoid misjudgments caused by momentary obstruction or ambient light interference, and is typically set to 100 to 500 milliseconds to ensure the stability and reliability of the detection.

[0026] When the worker finishes their work and closes the platform door, the detection baffle rotates with the platform door and re-enters the detection area of ​​the signal transmitter. The signal transmitter receives the returned light again. After confirming that the duration of continuous light reception has reached a preset threshold, it sends a second status notification to the processor, determining that the platform door is in a closed state. This preset threshold can be the same as the preset duration in step 101, or it can be set according to the closing speed and detection accuracy requirements of the platform door in actual working conditions.

[0027] Step 103: Control the extension device of the ladder steps to unfold or retract according to the opening and closing status of the platform door, wherein the opening and closing status includes the open state and the closed state.

[0028] In one embodiment, controlling the extension or retraction of the ladder step extension device according to the open / closed state of the platform door includes: when it is determined that the platform door is in the open state, controlling the drive component in the ladder step extension device to rotate to extend the foot pedal outward; when it is determined that the platform door is in the closed state, controlling the drive component in the ladder step extension device to rotate again to retract the extended foot pedal.

[0029] In one embodiment, the driving component is a motor, and the ladder step extension device further includes an encoder connected to the motor for detecting the angular position of the motor. The control method further includes: after receiving a first state notification or a second state notification, controlling the motor to rotate at a preset speed to drive the foot pedal to unfold or retract; when the aerial work equipment is powered off and then powered on again, detecting the current angular position of the motor through the encoder, and when detecting that the platform door is in a closed state, controlling the motor to rotate to the initial angular position to restore the foot pedal to the initial state, wherein the initial state is the retracted state.

[0030] In one embodiment, the ladder step extension device includes a drive component and an encoder. The drive component provides power to drive the foot pedals to unfold or retract. Optionally, the drive component is a motor. The encoder is connected to the motor drive and is used to detect the angular position of the motor in real time. The processor has preset initial angular position, rotation angle range, and rotation speed of the motor. The initial angular position corresponds to the initial state when the foot pedals are fully retracted, i.e., the retracted state. The rotation angle range is calibrated according to the stroke required for the foot pedals to unfold, and the rotation speed is set according to the requirements for unfolding smoothness and action response speed.

[0031] Upon receiving the first status notification that the platform door is open, confirming that the platform door is open, the processor controls the motor to rotate forward at a preset speed within a preset rotation angle range, driving the foot pedal to smoothly unfold outward. The encoder provides real-time feedback on the motor's angular position. When the motor reaches the upper limit of the angle range, the processor controls the motor to stop rotating, completing the foot pedal unfolding action. Upon receiving the second status notification that the platform door is closed, confirming that the platform door is closed, the processor controls the motor to rotate backward at a preset speed within a preset rotation angle range, driving the unfolded foot pedal to retract. The encoder provides real-time feedback on the motor's angular position. When the motor reaches the initial angular position, the processor controls the motor to stop rotating, completing the foot pedal retraction action.

[0032] In another embodiment of this application, for the case of power restoration after a power outage of the aerial work platform, the control method further includes a position initialization step. After the equipment is powered on again, the processor first reads the current angular position of the motor through the encoder to determine the actual position of the foot pedal. If the angular position fed back by the encoder deviates from the preset initial angular position, and the platform door is detected to be closed, the processor drives the motor to rotate, restoring the foot pedal to its initial vertical retracted state. This ensures that the foot pedal is not in an unexpected extended position when the equipment starts, avoiding collisions with obstacles during transportation or relocation. After initialization, the processor enters normal operating mode and waits for the platform door status detection signal.

[0033] In one embodiment, the ladder step extension device further includes: a motor bracket, fixedly mounted on the chassis for supporting the motor; a first gear, fixedly connected to the output shaft of the motor; and a second gear, rotatably mounted on the chassis, wherein one end of the second gear is a gear portion that meshes with the first gear, and the other end is a shaft portion with a threaded hole on the end face of the shaft portion; wherein the foot pedal is fastened to the threaded hole of the second gear by bolts passing through the foot pedal, so that when the motor drives the second gear to rotate through the first gear, it drives the foot pedal to rotate synchronously to achieve unfolding or retraction.

[0034] In another embodiment, after receiving the first status notification, the processor sends an unfolding command to the ladder step extension device. The motor drive circuit starts the motor according to preset speed parameters. The motor output shaft drives the first gear to rotate, and the first gear meshes with the second gear to transmit the rotational motion to the foot pedal mounting shaft, causing the foot pedal to rotate outward from the initial vertical retracted position to the horizontal use position. During the unfolding process, the encoder detects the angular position of the motor shaft in real time and transmits the angle feedback signal to the processor. The processor performs closed-loop control based on the difference between the current angle and the target unfolding angle to ensure that the foot pedal stops accurately in the horizontal unfolded position. The unfolding angle is usually 90 degrees, that is, the foot pedal rotates from a vertical state to a horizontal state.

[0035] After receiving the second status notification, the processor sends a retraction command to the ladder step extension device. The motor rotates in the opposite direction, driving the foot pedals to rotate inward from the horizontally extended position and retract to the initial vertical position via a gear transmission mechanism. During the retraction process, the encoder also provides angle position feedback. The processor monitors the motor rotation angle, and when it detects that the motor rotation angle has reached the upper limit of the preset retraction angle range, it controls the motor to stop rotating, ensuring that the foot pedals are stably in the vertical retracted state and avoiding interference with the surrounding components of the chassis.

[0036] In one embodiment, the control method further includes: when it is determined that the platform door is in the open state, detecting the status notification sent by the signal transmitting device in real time; when the duration of continuously receiving the first status notification exceeds a first safety threshold, generating an audible and visual alarm signal and controlling the aerial work equipment to enter a safety restriction mode; wherein the safety restriction mode includes at least one of restricting lifting action, restricting travel action, and restricting platform rotation action.

[0037] In this embodiment of the application, the control method further includes: in the safety restriction mode, upon receiving a second status notification sent by the signal transmitting device, controlling the aerial work equipment to exit the safety restriction mode and restore the normal operating authority of the equipment.

[0038] In one embodiment, the control method further includes a safety interlock control step. When the processor determines that the platform door is open via a first status notification, the processor simultaneously generates an audible and visual alarm signal and sends an action restriction command to the lifting system processor and / or travel system processor of the aerial work platform via a control output port, prohibiting at least one of the following: lifting arm movement, chassis movement, and platform rotation. The audible and visual alarm signal includes a continuous buzzer and a flashing warning light, alerting on-site personnel that the platform door is open. The first safety threshold is used to avoid excessive restriction due to brief door openings, such as when delivering tools. In this embodiment, the first safety threshold is set to 3 seconds, meaning that the safety restriction mode will only be triggered after the platform door has been continuously monitored in an open state for more than 3 seconds.

[0039] In safety-restricted mode, the processor continuously monitors status notifications sent by the signal transmitter. When it detects that the platform door is closed and receives a second status notification, the processor controls the aerial work platform to exit safety-restricted mode, releasing restrictions on lifting, traveling, and platform rotation. Simultaneously, the audible and visual alarm signals cease, and normal operating functions are restored. Lifting or traveling operations are only permitted after the platform door is closed and the foot pedals are fully retracted. This safety interlock mechanism effectively prevents falls from heights caused by operator error or equipment malfunction during climbing or leaving the ladder, significantly improving the equipment's safety performance.

[0040] In one embodiment, the signal transmitting device is a diffuse reflection type photoelectric switch.

[0041] Through the above technical solution, this application automatically controls the unfolding and retraction of the ladder steps based on the opening and closing status of the platform door. When the worker opens the platform door, if the signal transmitter does not receive light returned from the detection baffle within a preset time, it determines that the platform door is open. The control system automatically controls the motor to rotate and unfold the foot pedals outward, providing the worker with clear step position markings and effectively preventing falls due to insufficient light. Simultaneously, the status of the platform door is continuously monitored. When the opening time exceeds a first safety threshold, an audible and visual alarm signal is generated, and a safety restriction mode is entered, restricting lifting, travel, and platform rotation to prevent falls caused by equipment malfunctions during personnel climbing. When the platform door closes, the signal transmitter receives returned light, determining that the platform door is closed. The control system controls the motor to rotate in the opposite direction and retract the foot pedals, reducing the overall vehicle length and avoiding interference when working in confined spaces. Furthermore, this application uses an encoder to detect the motor angle position in real time, automatically resetting to the initial retracted state after a power outage and restart, ensuring system stability and reliability. This application achieves intelligent control of the ladder steps, improving operational safety while optimizing space utilization.

[0042] In one specific embodiment, such as Figure 2a As shown, the platform door opening and closing detection device detects the opening and closing of the platform door through a signal transmitter installed on the extension platform and a switch detection baffle installed on the platform door. When the worker opens the platform door, the switch detection baffle moves with the platform door, and the signal transmitter cannot detect that the baffle has been triggered. It then transmits a signal that the platform door has been opened to the control system. The control system controls the motor in the ladder step extension device to rotate, unfolding the foot pedals that were originally in the retracted state. The worker then enters the work platform through the unfolded foot pedals.

[0043] In another specific embodiment, such as Figure 2bAs shown, when a worker enters the work platform, the platform door closes, the signal transmitter detects the baffle again, and transmits a signal that the platform door is closed to the control system. The control system then controls the motor in the ladder step extension device to rotate again, retracting the foot pedals. When the worker finishes work and opens the platform door to leave, the automatic ladder step extension system is triggered again, automatically extending the foot pedals to allow the worker to accurately identify the position of the ladder steps and safely leave the work platform.

[0044] Figure 3 A schematic diagram of an aerial work platform according to an embodiment of this application is shown. Figure 3 As shown, the aerial work platform includes a chassis 4, a lifting arm mounted on the chassis 4, a work platform, and a ladder located below the work platform. The work platform includes a platform door 2 and an extension platform 3. A platform door opening / closing detection device 1 is installed on the extension platform 3 and the platform door 2 to detect the opening and closing status of the platform door 2. A ladder step extension device 5 is installed at the rear of the chassis 4, corresponding to the lower end of the ladder, and automatically deploys footboards when the platform door 2 is opened, providing foot support for workers.

[0045] Figure 4 A schematic diagram of the platform door opening / closing detection device according to an embodiment of this application is shown. Figure 4 As shown, the platform door opening / closing detection device 1 includes a signal transmitting device 11, a detection baffle 12, and a photoelectric switch bracket 13. The signal transmitting device 11 is a diffuse reflection type photoelectric switch, fixedly installed on the frame structure of the extension platform 3 via the photoelectric switch bracket 13, with its transmitting end facing the closed position of the platform door 2. The detection baffle 12 is a flat plate structure made of metal or plastic, fixedly installed on the edge of the platform door 2 frame by bolts. When the platform door 2 is closed, the detection baffle 12 faces the transmitting end face of the signal transmitting device 11, typically at a distance of 10 mm to 50 mm, ensuring that the intensity of the reflected signal meets the detection requirements. The detection distance and sensitivity of the diffuse reflection type photoelectric switch can be adjusted according to the actual installation position to adapt to the structural differences of different models of aerial work platforms.

[0046] Figure 5a This schematic diagram illustrates the overall structure of the ladder step extension device according to an embodiment of this application. Figure 5b An exploded view schematically illustrating the overall structure of the ladder step extension device according to an embodiment of this application. (In conjunction with...) Figure 5a and Figure 5bThe ladder step extension device 5 includes a motor 501, a motor bracket 502, a first gear 503, a second gear 504, a bushing 505, a frame 506, a foot pedal 507, a flat washer 508, a spring washer 509, and bolts 510. The motor 501 is a DC geared motor or a servo motor, selected according to the load torque and speed requirements, and is fixedly installed on the motor bracket 502. The motor bracket 502 is connected to the rear crossbeam of the chassis 4 by bolts 510. An encoder is coaxially installed at the rear end of the motor 501 and rotates synchronously with the motor 501's shaft. It is used to detect the rotation angle of the motor 501 in real time. The encoder can be an incremental photoelectric encoder or an absolute magnetic encoder, and the resolution is determined according to the angle control accuracy requirements, typically not less than 500 pulses / revolution.

[0047] The first gear 503 is fixed to the output shaft of the motor 501 via a key connection or interference fit. The second gear 504 is rotatably mounted on the frame 506 via a bearing assembly consisting of a bushing 505, a flat washer 508, and a spring washer 509. The second gear 504 is a one-piece stepped shaft, with one end being a gear section whose tooth profile matches that of the first gear 503. The module is typically 1.5 to 2.5, and the transmission ratio is determined by comprehensive optimization based on the motor output torque and the foot pedal deployment speed. The other end is a shaft section with a threaded hole machined on its end face. The foot pedal 507 is a stamped metal pedal with anti-slip texture on its surface. One end has a mounting through hole, which is fastened to the threaded hole on the end face of the shaft of the second gear 504 via bolts 510. The connecting surface has a positioning stop or pin hole to ensure accurate relative angular position between the foot pedal 507 and the second gear 504. The bushing 505 is made of wear-resistant copper alloy or engineering plastic and is installed between the shaft of the second gear 504 and the mounting hole of the frame 506 to provide support and reduce friction. The flat washer 508 and the spring washer 509 are sequentially fitted onto the shaft of the second gear 504 and cooperate with the bolt 510 to achieve axial positioning and prevent loosening.

[0048] When the motor 51 rotates, the power is transmitted to the second gear 504 via the first gear 503. The second gear 504 drives the foot pedal 507 to rotate around its axis, realizing the switching between the vertically retracted position and the horizontally extended position of the foot pedal 507. The gear transmission mechanism has a self-locking characteristic or is equipped with a mechanical limit structure to ensure that the foot pedal 507 can withstand the stepping load of the staff in the extended state without falling back, and remains stable and does not wobble in the retracted state.

[0049] In one embodiment, a control device for climbing ladder steps of aerial work equipment is provided, the device comprising: The memory is configured to store instructions; and The processor is configured to execute any of the above-described control methods for climbing ladder steps of aerial work equipment.

[0050] In another embodiment, an aerial work platform is provided, which includes the control device described above for the ladder steps of the aerial work platform.

[0051] In one embodiment, a machine-readable storage medium is provided, on which instructions are stored for causing a machine to perform any of the above-described control methods for climbing ladder steps of an aerial work platform.

[0052] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores platform door status data, motor angle position data, preset duration parameters, first safety threshold parameters, and equipment operation logs. The network interface A02 is used for communication with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for the ladder steps of an aerial work platform.

[0053] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0054] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0055] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of 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 computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0056] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0057] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0058] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0059] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0060] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0061] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0062] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for the ladder steps of aerial work equipment, characterized in that, The high-altitude work equipment includes a platform door, an extension device for the ladder steps, and a platform door opening / closing detection device for detecting the opening / closing status of the platform door. The platform door opening / closing detection device includes a signal transmitting device and a detection baffle, the detection baffle being used to reflect the light emitted by the signal transmitting device. The control method includes: During the opening and closing of the platform door, upon receiving a first status notification from the signal transmitting device, it is determined that the platform door is in an open state. The first status notification is sent by the signal transmitting device when it has not received light returned by the detection baffle within a preset time period. During the opening and closing of the platform door, upon receiving a second status notification from the signal transmitting device, it is determined that the platform door is in a closed state. The second status notification is sent by the signal transmitting device when it receives the light returned by the detection baffle within the preset time period. The extension device of the ladder steps is controlled to unfold or retract according to the opening and closing state of the platform door, wherein the opening and closing state includes the open state and the closed state.

2. The control method for the ladder steps of aerial work equipment according to claim 1, characterized in that, The step of controlling the extension or retraction of the ladder steps based on the opening and closing state of the platform door includes: When it is determined that the platform door is in the open state, the drive component in the ladder step extension device is controlled to rotate so as to unfold the foot pedals outward. If the platform door is determined to be closed, the drive component in the ladder step extension device is controlled to rotate again to retract the extended foot pedal.

3. The control method for the ladder steps of aerial work equipment according to claim 2, characterized in that, The driving component is a motor, and the ladder step extension device further includes an encoder connected to the motor for detecting the angular position of the motor. The control method further includes: Upon receiving the first status notification or the second status notification, the motor is controlled to rotate at a preset speed to drive the foot pedal to unfold or retract. When the aerial work platform is powered off and then powered on again, the encoder detects the current angular position of the motor, and when the platform door is detected to be closed, the motor is controlled to rotate to the initial angular position, so that the foot pedal is restored to the initial state, wherein the initial state is the retracted state.

4. The control method for the ladder steps of aerial work equipment according to claim 1, characterized in that, The control method further includes: When it is determined that the platform door is in the open state, the status notification sent by the signal transmitting device is detected in real time; If the duration of continuously receiving the first status notification exceeds the first safety threshold, an audible and visual alarm signal is generated, and the high-altitude work equipment is controlled to enter a safety restriction mode. The safety restriction mode includes at least one of restricting lifting motion, restricting traveling motion, and restricting platform rotation motion.

5. The control method for the ladder steps of aerial work equipment according to claim 4, characterized in that, The control method further includes: In the safety restriction mode, upon receiving a second status notification from the signal transmitting device, the aerial work equipment is controlled to exit the safety restriction mode and restore normal operating privileges.

6. The control method for the ladder steps of aerial work equipment according to any one of claims 1-5, characterized in that, The signal transmitting device is a diffuse reflection type photoelectric switch.

7. The control method for the ladder steps of aerial work equipment according to claim 3, characterized in that, The ladder step extension device also includes: A motor bracket, fixedly mounted on the chassis, is used to support the motor; The first gear is fixedly connected to the output shaft of the motor; The second gear is rotatably mounted on the chassis. One end of the second gear is a gear portion that meshes with the first gear, and the other end is a shaft portion. The end face of the shaft portion is provided with a threaded hole. The foot pedal is fastened to the threaded hole of the second gear by a bolt passing through it, so that when the motor drives the second gear to rotate through the first gear, it drives the foot pedal to rotate synchronously to achieve unfolding or retraction.

8. A control device for the ladder steps of aerial work equipment, characterized in that, The device includes: The memory is configured to store instructions; and A processor configured to execute a control method for climbing ladder steps of an aerial work platform according to any one of claims 1 to 7.

9. A high-altitude work equipment, characterized in that, The aerial work platform includes the control device for climbing ladders and steps as described in claim 8.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a control method for climbing ladder steps of an aerial work platform according to any one of claims 1 to 7.

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