A gravity center dynamic stability management system and method of an electric high-altitude cleaning trolley

Abstract

The application discloses a gravity dynamic stability management system and method of an electric high-altitude cleaning trolley, and belongs to the technical field of special operation vehicle control. The system comprises a sensing unit, a control unit, an execution unit and a man-machine interaction unit. The sensing unit collects parameters such as platform load, inclination angle, rotation angle, telescopic arm height and ground flatness. The control unit calculates a stability coefficient S in real time according to the above parameters and the inherent geometric parameters of the equipment, and performs multi-level safety judgment. The execution unit performs actions such as graded sound and light alarm, speed limit, steering lock, hydraulic speed reduction and emergency shutdown according to the safety level. The application introduces a ground flatness correction factor and a rotation travel interlocking logic, realizes safety upgrading from passive alarm to active prevention, and adopts an asymmetric power-off strategy to prioritize the descent function in an emergency state. The system has high integration and low modification cost, and is suitable for mobile industrial cleaning equipment equipped with lifting platforms and rotating mechanisms.

Description

Technical Field

[0001] This invention belongs to the field of special operation vehicle control technology, specifically relating to a dynamic stability management system and method for the center of gravity of an electric aerial cleaning vehicle, which is particularly suitable for mobile industrial cleaning equipment equipped with a lifting platform, a slewing mechanism and a telescopic arm. Background Technology

[0002] Existing electric aerial cleaning vehicles generally use hydraulically driven telescopic arms and rotating platform structures to clean dust accumulated at heights. However, as the platform rises and personnel and tools are loaded, the vehicle's center of gravity continuously shifts upwards and may deviate, especially when the platform is rotating or the ground is uneven, which can easily lead to the risk of tipping over.

[0003] Currently, common safety measures mainly include passive protection methods such as mechanical limit switches, overload switches, and tilt alarms. For example, some equipment only triggers audible and visual alarms when it detects a tilt angle exceeding a set value (e.g., 3°), by which time the danger is often imminent, lacking foresight and proactiveness. In addition, most systems cannot dynamically adjust safety thresholds and behavioral restrictions according to actual working conditions (e.g., height, angle, load distribution, ground flatness), making it difficult to balance safety and operational flexibility.

[0004] In particular, electric aerial cleaning vehicles have the following unique characteristics in their operating scenarios: First, they frequently move between different ground conditions (such as indoor floors, outdoor asphalt, and temporary paved roads), resulting in significant variations in ground flatness; second, they require frequent collaborative operations involving platform rotation and driving; and third, they are price-sensitive and cannot afford the complex active center of gravity adjustment mechanisms used in large-scale engineering machinery.

[0005] Therefore, there is an urgent need for an intelligent management system capable of real-time assessment of vehicle stability, early warning, and proactive intervention when necessary. Furthermore, the hardware modification costs of this system should be kept within a reasonable range to improve the inherent safety level of the equipment while maintaining economic efficiency. In light of this, in-depth research was conducted to address the aforementioned issues, leading to this case study. Summary of the Invention

[0006] The purpose of this invention is to provide a dynamic stability management system and method for an electric high-altitude cleaning vehicle. Based on multi-dimensional parameters such as platform height, rotation angle, load weight, and ground tilt angle, the system can calculate the stability margin of the equipment in real time, provide graded early warnings, and automatically implement corresponding action restriction strategies. This achieves a safety upgrade from "post-event alarm" to "pre-event prevention," effectively preventing overturning accidents.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A dynamic stability management system for the center of gravity of an electric aerial cleaning vehicle includes:

[0009] The sensing unit includes at least:

[0010] The load cells installed at the bottom of the lifting platform are used to monitor the load weight of the platform in real time.

[0011] The tilt sensor installed on the main body of the platform is used to detect the tilt angle of the platform relative to the horizontal plane;

[0012] An angle encoder installed on the slewing bearing is used to obtain the current slewing angle of the platform, with a monitoring range of ±90°.

[0013] Displacement sensor used to detect the height of telescopic boom;

[0014] A ground contact sensor array mounted on the chassis is used to determine the flatness of the ground.

[0015] The control unit, using a PLC or embedded controller, has a built-in stability calculation module and control logic module. Based on the data collected by the sensing unit, it dynamically calculates the equivalent center of gravity position and stability coefficient under the current working condition.

[0016] An execution unit, responding to commands from the control unit, includes at least:

[0017] Audible and visual alarm;

[0018] The vehicle control system interface is used to send interlocking control signals;

[0019] The human-machine interface unit includes an operation panel display screen and a wireless remote control, which are used to display real-time stability status and alarm information, and to receive confirmation and reset commands;

[0020] The control unit is configured to automatically prevent the trolley from entering high-speed driving mode when the rotation angle is not zero or the platform is not fully retracted to the lowest position. When the ground contact sensor array determines that the ground is uneven, the value of the safety torque is reduced or the weighting coefficient of the overturning torque is increased accordingly, and the stability status is displayed in real time on the "stability status indicator bar" of the operation panel.

[0021] Preferably, the control unit is further configured to: calculate the stability coefficient S in real time based on the current platform height, load weight, rotation angle, and inherent geometric parameters of the equipment, wherein:

[0022] S = (Safety torque) / (Overturning torque)

[0023] The overturning moment is determined by the product of the load weight and the horizontal distance of the center of gravity offset, and this offset distance increases with the increase of the rotation angle.

[0024] Preferably, the control unit is configured with multiple levels of safety thresholds, and makes judgments and outputs according to the following rules:

[0025] When S≥1.5, it is determined to be a safe state, and all functions are allowed to operate normally;

[0026] When 1.2≤S<1.5, it is determined to be a warning state, triggering a yellow audible and visual alarm to remind the operator to pay attention to the posture, and limiting the maximum speed of the trolley to within 2km / h;

[0027] When 1.0 ≤ S < 1.2, it is determined to be a dangerous state, triggering a red flashing audible and visual alarm, prohibiting the trolley from turning and moving, and reducing the hydraulic extension and rotation speed to 50% of the rated speed;

[0028] When S < 1.0 or the tilt sensor detects an instantaneous tilt angle greater than 3°, an emergency is declared. All hydraulic power supplies except for the descent function are immediately cut off, and an emergency stop alarm is activated to guide the operator to descend safely via the emergency valve.

[0029] Preferably, the interlocking control signals sent by the vehicle control system interface include:

[0030] Limit the speed of the car;

[0031] Lock the car's steering function;

[0032] Reduce the operating rate of the hydraulic system, including extension and rotation speeds;

[0033] In extremely dangerous situations, all non-emergency actions shall be forcibly suspended.

[0034] Preferably, the system automatically resets and resumes normal operation mode after the rotation angle returns to zero and the platform is fully retracted to its lowest position.

[0035] This invention also provides a method for managing the dynamic stability of the center of gravity of an electric high-altitude cleaning vehicle, applied to the system described in any of the above technical solutions, comprising the following steps:

[0036] Step 1: After the equipment is started, the system enters standby mode and continuously collects data on platform load, tilt angle, rotation angle, telescopic arm height and ground flatness from the sensor unit;

[0037] Step 2: Calculate the dynamic stability coefficient S under the current working conditions in real time. During the calculation process, if the ground contact sensor array detects uneven ground, the value of the safety torque will be reduced or the weighting coefficient of the overturning torque will be increased accordingly.

[0038] Step 3: Based on the value range of the stability coefficient S and the tilt sensor data, determine the current safety level as safe, warning, dangerous, or emergency.

[0039] Step 4: Execute alarms, driving restrictions, steering locks, hydraulic action restrictions, or emergency shut-off actions corresponding to the safety level;

[0040] Step 5: Once the platform has fully retracted to its lowest position and the rotation angle has returned to zero, the system will automatically reset and resume normal operation.

[0041] Preferably, in step three:

[0042] In warning mode, the system automatically limits the car's maximum speed to within 2 km / h;

[0043] In dangerous situations, the system prohibits the trolley from turning and moving, and reduces the hydraulic extension and rotation speed to 50% of the rated speed;

[0044] In an emergency, the system immediately cuts off power to all hydraulic actuators except for the descent function and activates the emergency stop alarm.

[0045] Preferably, when the rotation angle is not zero or the platform is not fully retracted to the lowest position, the system automatically prohibits the trolley from entering the high-speed driving mode until the rotation angle is zero and the platform is at the lowest position.

[0046] Preferably, in the dangerous or emergency situation, the system prioritizes maintaining the controllability of the platform descent function, and the operator can implement a safe descent through the emergency valve, and the descent action is not affected by the cutoff of the hydraulic power supply.

[0047] Preferably, the human-machine interaction unit displays the safety level corresponding to the current stability coefficient in real time on the operation panel display screen in the form of a "stability status indicator bar", and simultaneously sends alarm information via a wireless remote control; after the system receives the confirmation and reset command issued by the operator through the operation panel or wireless remote control, it unlocks the state provided that the safety conditions are met.

[0048] Compared with existing technologies, the dynamic stability management system and method for the center of gravity of this electric high-altitude cleaning vehicle have the following advantages:

[0049] 1. High safety: Through multi-parameter fusion calculation, especially by introducing ground flatness as a dynamic correction factor, it realizes the forward-looking prediction and hierarchical prevention and control of overturning risk, which is far superior to the traditional single threshold alarm.

[0050] 2. High intelligence: The system can adaptively adjust safety strategies according to different operation stages (such as high-altitude turning vs. ground driving), and establish "turning-driving" interlock logic to balance safety and efficiency.

[0051] 3. High integration and low cost: It makes full use of existing sensors and control systems (such as PLC and tilt sensors), and only requires minor upgrades (such as adding a ground contact sensor array). It does not require the use of complex active center of gravity adjustment mechanisms found in large engineering machinery, and is cost-effective.

[0052] 4. Asymmetric power-off strategy: In an emergency, only the power supply for non-descent actions is cut off, which ensures the safety of the whole machine while retaining the emergency descent capability, reflecting the refined safety design.

[0053] 5. Standardized Operation: Through clear visual and auditory feedback (including interface elements such as the "stability status indicator bar"), operators are helped to establish correct safe operating habits.

[0054] 6. Compliance with standards: The system design meets the stability verification requirements of international safety standards such as EN 280:2013 "Mobile lifting work platforms". Attached Figure Description

[0055] Figure 1 This is a block diagram of the overall structure of the system of the present invention.

[0056] Figure 2 This is a flowchart of the control logic of the method of the present invention.

[0057] Figure 3 This is a schematic diagram of the stability status indicator bar in a human-computer interaction unit. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] Please see Figure 1-3 The present invention provides the following technical solutions:

[0060] Example 1: Specific Implementation Method

[0061] This embodiment uses a certain type of electric high-altitude cleaning vehicle as a carrier to explain in detail the specific implementation of the present invention.

[0062] I. Configuration of the Sensing Unit

[0063] In this embodiment, the sensing unit is installed and configured in the following manner:

[0064] (1) Weighing sensor: A weighing sensor is installed at the bottom of the lifting platform to monitor the load weight of the platform in real time. The sensor can be a resistance strain gauge load cell, which is installed at the connection between the platform base plate and the lifting mechanism. The output signal of the sensor is connected to the analog input port of the control unit, and the system obtains the total load weight of the platform through signal processing.

[0065] (2) Tilt sensor: A tilt sensor (IMU) is installed on the rigid structural component of the platform body to detect the tilt angle of the platform relative to the horizontal plane. The sensor is fixed in a horizontal manner and can output the pitch and roll angle data of the platform in real time. The sampling frequency meets the real-time requirements of the system.

[0066] (3) Angle encoder: An angle encoder is installed at the slewing bearing to obtain the current slewing angle of the platform. The encoder's monitoring range is set to ±90°, which can cover typical slewing conditions in high-altitude cleaning operations. The encoder is connected to the control system through a communication interface, and the mechanical limit position when the system is powered on is used as the slewing zero point.

[0067] (4) Displacement sensor: Install a displacement sensor for detecting the height of the telescopic boom. The sensor can be a wire-type or laser-type displacement sensor, installed between the base of the telescopic boom and the boom head, and the platform height is indirectly obtained by measuring the extension length of the boom.

[0068] (5) Ground contact sensor array (optional configuration): A ground contact sensor array is installed under the chassis to determine the flatness of the ground. The array consists of multiple contact sensors distributed at appropriate locations on the front and rear axles of the chassis. The system determines whether the current ground is flat, slightly uneven, or severely uneven based on the number and distribution of the contact sensors in the open state. This signal is used as a ground condition correction factor in stability calculations.

[0069] II. Configuration of the control unit

[0070] The control unit uses a PLC or embedded controller, with a built-in stability calculation module and control logic module.

[0071] The control unit receives the following data collected by the sensing unit:

[0072] Platform load weight;

[0073] Platform tilt angle;

[0074] Rotation angle (within ±90°);

[0075] Telescopic boom height;

[0076] Ground flatness (optional).

[0077] The control unit pre-stores the inherent geometric parameters of the equipment, including but not limited to: chassis width, wheelbase, curb weight, unloaded center of gravity height, and safety torque reference value. These parameters are written into the controller during equipment commissioning.

[0078] The control unit performs the following functions:

[0079] Based on the current platform height, load weight, and rotation angle, combined with the inherent geometric parameters of the equipment, the equivalent center of gravity position and stability coefficient under the current working conditions are dynamically calculated.

[0080] Set multiple safety threshold levels, including normal, warning, and danger levels;

[0081] Based on the safety level determination result, output the corresponding control command.

[0082] The stability coefficient S is defined as follows:

[0083] S = (Safety torque) / (Overturning torque)

[0084] The overturning moment is determined by the product of the load weight and the horizontal distance of the center of gravity offset, which increases with the rotation angle. When the ground contact sensor array determines that the ground is uneven, the system correspondingly reduces the value of the safety moment or increases the weighting coefficient of the overturning moment, thereby obtaining a lower stability coefficient under the same load and angle, and achieving earlier warning.

[0085] III. Configuration of Execution Units

[0086] The execution unit responds to commands from the control unit and includes the following components:

[0087] (1) Audible and visual alarm: It emits different levels of alarm signals according to the safety level. In a safe state, it can display green or be off; in a warning state, it triggers a yellow audible and visual alarm; in a dangerous state, it triggers a red flashing alarm; in an emergency state, it triggers the highest level of audible and visual alarm.

[0088] (2) Vehicle control system interface: used to send interlocking control signals, including but not limited to:

[0089] Limit the speed of the car;

[0090] Lock the car's steering function;

[0091] Reduce the operating rate of the hydraulic system (such as extension speed and rotation speed);

[0092] In extremely dangerous situations, all non-emergency actions shall be forcibly suspended.

[0093] The aforementioned control signals are transmitted through the communication interface between the controller and the vehicle control system or via hard-wiring.

[0094] IV. Configuration of the Human-Computer Interaction Unit

[0095] The human-computer interaction unit includes an operation panel display screen and a wireless remote control.

[0096] The control panel display shows real-time stability status information, including the current stability coefficient, safety level, and alarm information. The display features a stability status indicator bar, using intuitive color-coded zones (such as green, yellow, and red) to indicate the current stability margin.

[0097] The wireless remote control and the control panel display the stability status and alarm information synchronously, and the operator can receive warnings and danger alerts through the remote control.

[0098] Both the control panel and the wireless remote control are equipped with confirmation and reset buttons to receive confirmation and reset commands from the operator.

[0099] Example 2: Specific Execution Flow of Control Logic

[0100] The following describes the specific execution flow of the dynamic stability management method of the present invention using a typical job cycle.

[0101] Initial state: The trolley is on a flat surface, the platform is fully retracted, the rotation angle is zero, and the platform is unloaded. After the system completes its power-on self-test, it enters standby mode and continuously collects data from various sensors. At this time, the stability coefficient is at a high value, the system is determined to be in a safe state, and all functions are allowed to operate normally.

[0102] Operation process: The operator controls the telescopic boom to extend, the platform rises to the working height, and the operator enters the platform, increasing the load weight. As the height and load increase, the system calculates the stability coefficient S in real time. When the platform rotates, the angle encoder detects an increase in the rotation angle, an increase in the horizontal distance of the center of gravity offset, an increase in the overturning moment, and a gradual decrease in the stability coefficient S.

[0103] When S drops to the warning threshold range (e.g., 1.2 ≤ S < 1.5), the system determines that a warning state has been entered and performs the following operations:

[0104] A yellow audible and visual alarm is triggered to alert the operator to their current posture.

[0105] Automatically limit the maximum speed of the car to a low value (such as within 2km / h);

[0106] Warning information is displayed on the control panel and wireless remote control.

[0107] If the operator continues to rotate the platform to a greater angle or further increases the load, and S continues to drop to the danger threshold range (e.g., 1.0 ≤ S < 1.2), the system determines it to be in a dangerous state and executes more stringent intervention measures:

[0108] Triggers a red flashing audible and visual alarm;

[0109] The vehicle is prohibited from turning or moving;

[0110] Reduce the hydraulic extension and rotation speed to a certain percentage (e.g., 50%) of the rated speed.

[0111] When S further decreases to the emergency threshold (S < 1.0) or the tilt sensor detects an instantaneous tilt angle exceeding the set value (e.g., greater than 3°), the system determines an emergency state and immediately executes the following:

[0112] Cut off the power supply to all hydraulic actuators except the descent function;

[0113] Activate emergency stop alarm;

[0114] The operator is guided via the control panel to safely descend through the emergency valve;

[0115] The descent function remains controllable, ensuring that operators can safely return to the ground.

[0116] Reset Process: Once the operator has fully retracted the platform to its lowest position and the rotation angle has returned to zero, the system automatically resets and resumes normal operation. All restrictions are lifted, and the vehicle can be driven and operated normally.

[0117] Example 3: Specific Implementation of Ground Flatness Correction Function

[0118] In this embodiment, the system uses a ground contact sensor array to dynamically correct the stability coefficient calculation.

[0119] When the ground contact sensor array detects uneven ground, the control unit determines that the current ground conditions are worse than standard flat ground and adjusts the stringency of the stability determination accordingly.

[0120] Specifically, the control unit executes one or a combination of the following correction strategies:

[0121] Reduce the value of the safety torque: Under uneven ground conditions, the system uses a smaller safety torque than the standard value in the stability coefficient calculation, which reduces the stability coefficient under the same load and angle, thereby triggering the warning or dangerous state earlier.

[0122] Increase the weighting coefficient of the overturning moment: Under uneven ground conditions, the system multiplies the calculated overturning moment by a coefficient greater than 1, which is equivalent to increasing the influence of the overturning moment and can also achieve earlier intervention.

[0123] Through the above modifications, the system can adaptively adjust its safety strategy under different ground conditions: maintaining high operational efficiency on flat ground and increasing safety redundancy on uneven ground, effectively avoiding the risk of overturning due to deteriorating ground conditions.

[0124] Example 4: Specific Implementation of Asymmetric Power-Off Strategy

[0125] This embodiment details the specific implementation method of "cutting off the power supply to all hydraulic actions except the descent function" in an emergency.

[0126] The power source for the hydraulic system is controlled by a controller. In an emergency, the controller issues a command to cut off the power to most hydraulic actions, but the hydraulic circuit corresponding to the descent function remains independently powered or remains controllable.

[0127] Specifically, in a state of emergency:

[0128] The hydraulic power supply for non-emergency actions such as lifting, telescopic, and rotation is cut off, and these actions stop immediately.

[0129] The hydraulic power supply for the descent function remains on, and the operator can implement a safe descent via the emergency valve;

[0130] The descent is unaffected by a power outage, ensuring that personnel can safely return to the ground in any emergency.

[0131] This asymmetric power-off design embodies the refined safety concept of this invention: in extremely dangerous situations, the system prioritizes ensuring the safety of personnel during descent, while actively prohibiting other actions that may exacerbate the danger, thus achieving the design goal of "preserving emergency response capabilities while ensuring safety".

[0132] In another embodiment of the invention, the control system supports the storage and selection of parameters for different machine models. When the system is installed on electric aerial cleaning trolleys of different specifications, the corresponding inherent geometric parameters of the equipment (such as chassis width, center of gravity reference position, etc.) can be input or selected through the operation panel, and the system adjusts the stability calculation model accordingly. This variant enables the invention to be adapted to various models of equipment, exhibiting good versatility.

[0133] In another embodiment of the invention, the control unit is equipped with a data storage function, capable of recording changes in key parameters during the operation process, including stability coefficients, safety levels, alarm trigger records, operator operation records, etc. This data can be exported via a data interface for post-event analysis, safety audits, or operator training.

[0134] The proposed invention provides a dynamic stability management system and method for the center of gravity of an electric aerial cleaning vehicle. This system can calculate the stability margin of the equipment in real time based on multi-dimensional parameters such as platform height, rotation angle, load weight, and ground tilt angle, providing graded early warnings and automatically implementing corresponding action restriction strategies. The system makes full use of existing sensor and control system resources, requiring only minor upgrades, resulting in good cost-effectiveness. It is suitable for various mobile industrial cleaning equipment equipped with lifting platforms and rotation mechanisms, and has clear industrial practical value.

[0135] Contents not described in detail in this specification are prior art known to those skilled in the art. Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A center of gravity dynamic stability management system for an electric aerial cleaning trolley, characterized in that, include: The sensing unit includes at least: The load cells installed at the bottom of the lifting platform are used to monitor the load weight of the platform in real time. The tilt sensor installed on the main body of the platform is used to detect the tilt angle of the platform relative to the horizontal plane; An angle encoder installed on the slewing bearing is used to obtain the current slewing angle of the platform, with a monitoring range of ±90°. Displacement sensor used to detect the height of telescopic boom; A ground contact sensor array mounted on the chassis is used to determine the flatness of the ground. The control unit, using a PLC or embedded controller, has a built-in stability calculation module and control logic module. Based on the data collected by the sensing unit, it dynamically calculates the equivalent center of gravity position and stability coefficient under the current working condition. An execution unit, responding to commands from the control unit, includes at least: Audible and visual alarm; The vehicle control system interface is used to send interlocking control signals; The human-machine interface unit includes an operation panel display screen and a wireless remote control, which are used to display real-time stability status and alarm information, and to receive confirmation and reset commands; The control unit is configured to automatically prevent the trolley from entering high-speed driving mode when the rotation angle is not zero or the platform is not fully retracted to the lowest position. When the ground contact sensor array determines that the ground is uneven, the value of the safety torque is reduced or the weighting coefficient of the overturning torque is increased accordingly, and the stability status is displayed in real time on the "stability status indicator bar" of the operation panel.

2. The gravity dynamic stability management system of an electrically powered aerial cleaning trolley according to claim 1, wherein: The control unit is further configured to: calculate the stability coefficient S in real time based on the current platform height, load weight, rotation angle, and inherent geometric parameters of the equipment, wherein: S = (Safety torque) / (Overturning torque) The overturning moment is determined by the product of the load weight and the horizontal distance of the center of gravity offset, and this offset distance increases with the increase of the rotation angle.

3. The dynamic stability management system for the center of gravity of an electric high-altitude cleaning vehicle according to claim 2, characterized in that: The control unit is configured with multiple levels of safety thresholds and makes judgments and outputs according to the following rules: When S≥1.5, it is determined to be a safe state, and all functions are allowed to operate normally; When 1.2≤S<1.5, it is determined to be a warning state, triggering a yellow audible and visual alarm to remind the operator to pay attention to the posture, and limiting the maximum speed of the trolley to within 2km / h; When 1.0 ≤ S < 1.2, it is determined to be a dangerous state, triggering a red flashing audible and visual alarm, prohibiting the trolley from turning and moving, and reducing the hydraulic extension and rotation speed to 50% of the rated speed; When S < 1.0 or the tilt sensor detects an instantaneous tilt angle greater than 3°, an emergency is declared. All hydraulic power supplies except for the descent function are immediately cut off, and an emergency stop alarm is activated to guide the operator to descend safely via the emergency valve.

4. The dynamic stability management system for the center of gravity of an electric high-altitude cleaning vehicle according to claim 1, characterized in that: The interlocking control signals sent by the vehicle control system interface include: Limit the speed of the car; Lock the car's steering function; Reduce the operating rate of the hydraulic system, including extension and rotation speeds; In extremely dangerous situations, all non-emergency actions shall be forcibly suspended.

5. The dynamic stability management system for the center of gravity of an electric high-altitude cleaning vehicle according to claim 1, characterized in that: After the rotation angle returns to zero and the platform is fully retracted to its lowest position, the system automatically resets and resumes normal operation.

6. A method for managing the dynamic stability of the center of gravity of an electric aerial cleaning vehicle, applied to the system described in any one of claims 1 to 5, characterized in that, Includes the following steps: Step 1: After the equipment is started, the system enters standby mode and continuously collects data on platform load, tilt angle, rotation angle, telescopic arm height and ground flatness from the sensor unit; Step 2: Calculate the dynamic stability coefficient S under the current working conditions in real time. During the calculation process, if the ground contact sensor array detects uneven ground, the value of the safety torque will be reduced or the weighting coefficient of the overturning torque will be increased accordingly. Step 3: Based on the value range of the stability coefficient S and the tilt sensor data, determine the current safety level as safe, warning, dangerous, or emergency. Step 4: Execute alarms, driving restrictions, steering locks, hydraulic action restrictions, or emergency shut-off actions corresponding to the safety level; Step 5: Once the platform has fully retracted to its lowest position and the rotation angle has returned to zero, the system will automatically reset and resume normal operation.

7. The method for managing the dynamic stability of the center of gravity of an electric high-altitude cleaning vehicle according to claim 6, characterized in that: In step three: In warning mode, the system automatically limits the car's maximum speed to within 2 km / h; In dangerous situations, the system prohibits the trolley from turning and moving, and reduces the hydraulic extension and rotation speed to 50% of the rated speed; In an emergency, the system immediately cuts off power to all hydraulic actuators except for the descent function and activates the emergency stop alarm.

8. The method for managing the dynamic stability of the center of gravity of an electric high-altitude cleaning vehicle according to claim 6, characterized in that: When the rotation angle is not zero or the platform is not fully retracted to the lowest position, the system automatically prohibits the trolley from entering the high-speed driving mode until the rotation angle is zero and the platform is at the lowest position.

9. The method for managing the dynamic stability of the center of gravity of an electric high-altitude cleaning vehicle according to claim 6, characterized in that: In the aforementioned dangerous or emergency situations, the system prioritizes maintaining the controllability of the platform descent function. The operator can implement a safe descent through the emergency valve, and the descent action is not affected by the disconnection of the hydraulic power supply.

10. The method for managing the dynamic stability of the center of gravity of an electric high-altitude cleaning vehicle according to claim 6, characterized in that: The human-machine interface unit displays the safety level corresponding to the current stability coefficient in real time on the operation panel display screen in the form of a "stability status indicator bar", and simultaneously sends alarm information via wireless remote control; after the system receives the confirmation and reset command issued by the operator through the operation panel or wireless remote control, it unlocks the state provided that the safety conditions are met.

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