Aerial work platform center of gravity adjusting method and device and aerial work platform

Abstract

The application discloses a kind of aerial work platform gravity adjusting method, equipment and aerial work platform, applied to aerial work platform gravity adjusting field, aerial work platform includes chassis assembly and truck assembly, and chassis assembly is equipped with medium counterweight adjusting device;Aerial work platform gravity adjusting method includes: obtaining the inclination angle of chassis assembly relative to ground;Obtain the attitude parameter of truck assembly under current posture;According to attitude parameter, the basic moment of truck assembly under horizontal working condition is calculated;According to attitude parameter and inclination angle, the additional moment of truck assembly under ramp working condition is calculated;According to inclination angle and attitude parameter, the superposition relationship of basic moment and additional moment is determined, and the total moment of truck assembly is obtained;According to total moment, the stability state of aerial work platform is determined, and based on stability state, the medium flow direction of medium counterweight adjusting device is controlled to adjust the gravity position of aerial work platform, and realize the stability self-adaptive compensation of whole machine under dynamic working condition.

Description

Technical Field

[0001] This invention relates to the field of aerial work platform center of gravity adjustment technology, and more specifically, to an aerial work platform center of gravity adjustment method, equipment and aerial work platform. Background Technology

[0002] Aerial work platforms are widely used in construction, municipal maintenance, power installation and industrial repair. During operation, it is necessary to ensure the stability of the entire machine to prevent overturning accidents. Therefore, stability is the core indicator of the safety of aerial work platforms.

[0003] In the existing technology, the overall stability calculation of aerial work platforms is mainly obtained by calculating the inherent mass, center of gravity position, lever arm length and torque parameters of each component. The attitude range, working amplitude limit of each structural component and the center of gravity position of each component are all fixed as static parameters in the product design stage. That is, the existing overall stability calculation can only complete the stability verification based on the static system.

[0004] However, in actual operation, the machine will show obvious center of gravity shift under dynamic conditions such as slopes, and the existing static calculation system cannot adapt to such dynamic changes.

[0005] Therefore, how to solve the technical problem that the existing static calculation system cannot adapt to dynamic working conditions such as ramps is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the purpose of this invention is to provide a method for adjusting the center of gravity of an aerial work platform, which can achieve adaptive dynamic compensation for the stability of the entire machine under dynamic working conditions such as slopes.

[0007] Another objective of this invention is to provide an aerial work platform for implementing the above-mentioned aerial work platform center of gravity adjustment method, which can achieve adaptive dynamic compensation for overall stability under dynamic working conditions such as slopes.

[0008] Another objective of this invention is to provide a center-of-gravity adjustment device for aerial work platforms that corresponds to the aforementioned method for adjusting the center of gravity of aerial work platforms, enabling adaptive dynamic compensation for overall stability under dynamic working conditions such as slopes.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] A method for adjusting the center of gravity of an aerial work platform is provided, applied to an aerial work platform, the aerial work platform including a chassis assembly and a vehicle assembly rotatably connected to the chassis assembly, the chassis assembly being provided with a medium counterweight adjustment device; the method for adjusting the center of gravity of the aerial work platform includes:

[0011] Obtain the tilt angle of the chassis assembly relative to the ground;

[0012] Obtain the attitude parameters of the upper assembly in the current attitude;

[0013] Based on the attitude parameters, calculate the basic torque of the upper assembly of the aerial work platform under horizontal working conditions;

[0014] Based on the attitude parameters and the tilt angle, calculate the additional torque of the upper vehicle assembly of the aerial work platform under slope conditions;

[0015] Based on the tilt angle and the attitude parameters, the superposition relationship between the basic torque and the additional torque is determined, and the total torque of the upper assembly is obtained.

[0016] Based on the total torque, the stability state of the aerial work platform is determined, and based on the stability state, the flow direction of the medium in the medium counterweight adjustment device is controlled to adjust the center of gravity of the entire aerial work platform.

[0017] Optionally, determining the superposition relationship between the basic torque and the additional torque based on the tilt angle and the attitude parameters includes:

[0018] Based on the tilt angle, determine the azimuth angle of the ramp under the ramp conditions;

[0019] Based on the attitude parameters, determine the azimuth angle of the upper vehicle assembly relative to the chassis assembly;

[0020] Based on the matching relationship between the vehicle azimuth angle and the ramp azimuth angle, the superposition relationship between the basic torque and the additional torque is determined.

[0021] Optionally, determining the azimuth angle of the ramp under the ramp conditions based on the tilt angle includes:

[0022] A chassis coordinate system is established with the rotation center of the chassis assembly as the origin O, the left-right direction of the chassis assembly as the X-axis, the front-back direction of the chassis assembly as the Y-axis, and the front direction of the chassis assembly as the positive direction of the Y-axis.

[0023] Obtain the X-axis tilt angle and Y-axis tilt angle of the chassis assembly relative to the ground;

[0024] Based on the X-axis tilt angle and the Y-axis tilt angle, calculate the azimuth angle of the component of the chassis assembly's gravity along the ramp direction relative to the OX axis, which is also known as the ramp azimuth angle.

[0025] Optionally, based on the matching relationship between the vehicle azimuth and the ramp azimuth, the superposition relationship between the basic torque and the additional torque is determined, including:

[0026] Based on the azimuth angle of the ramp, the area enclosed by rotating 90 degrees clockwise and 90 degrees counterclockwise is defined as the low slope area.

[0027] The area within the 360-degree range of the chassis assembly, excluding the low-slope area, is defined as the high-slope area.

[0028] Define the orientation determination coefficient as k, k∈{1,-1};

[0029] When the azimuth angle of the vehicle is within the low slope area, k=1, and the basic torque and the additional torque are additive.

[0030] When the azimuth angle of the vehicle is within the high slope area, k=-1, and the basic torque and the additional torque are subtractive from each other.

[0031] Optionally, based on the total torque, the stability state of the aerial work platform is determined, and based on the stability state, the medium flow direction of the medium counterweight adjustment device is controlled, including:

[0032] Determine whether the total torque is greater than zero;

[0033] If so, it indicates that the stability of the chassis assembly is insufficient, and the medium controlling the medium counterweight adjustment device flows to the opposite area on the side where the boom of the upper vehicle assembly is located;

[0034] If the total torque is less than zero, it indicates that the stability of the upper assembly side is insufficient, and the medium of the medium counterweight adjustment device is controlled to flow to the area where the boom of the upper assembly is located.

[0035] If the total torque is zero, it indicates that the stability of the chassis assembly and the upper vehicle assembly tends to be consistent, and the medium controlling the medium counterweight adjustment device flows towards the middle area of ​​the chassis assembly.

[0036] Optionally, after controlling the medium flow direction of the medium counterweight adjustment device based on the stability state, the method further includes:

[0037] After the medium of the medium counterweight adjustment device flows to the opposite area on the side where the boom of the upper vehicle assembly is located, the rated load of the working platform of the upper vehicle assembly is increased according to the preset step load to expand the upper limit of the working load.

[0038] After the medium of the medium counterweight adjustment device is controlled to flow to the area where the boom of the upper vehicle assembly is located, the boom luffing angle of the upper vehicle assembly is increased according to a preset step angle to expand the working range of the upper vehicle assembly.

[0039] Optionally, the medium counterweight adjustment device includes a plurality of counterweight containers distributed on the chassis assembly;

[0040] Based on the stability state, controlling the medium flow direction of the medium counterweight adjustment device includes:

[0041] Based on the attitude parameters, determine the azimuth angle of the upper vehicle assembly relative to the chassis assembly;

[0042] The azimuth angle of the vehicle is divided into N preset intervals, where N = 360° / the preset angle, and N is a positive integer.

[0043] Obtain the correspondence between each preset interval range and the counterweight area. Each preset interval range corresponds to two counterweight areas, and the two counterweight areas corresponding to the same preset interval range are diagonally arranged. Each counterweight area includes at least one counterweight container.

[0044] Determine the preset range within which the azimuth angle of the upper vehicle is located, and based on the stability state, control the medium flow of the medium counterweight adjustment device to one of the two counterweight regions corresponding to the preset range within which the azimuth angle of the upper vehicle is located.

[0045] Optionally, based on the attitude parameters, the basic torque of the upper assembly of the aerial work platform under horizontal conditions is calculated, including:

[0046] The total weight of the upper assembly and its load is obtained and denoted as Mg;

[0047] The Z-axis is a line passing through the rotation center of the upper vehicle assembly and perpendicular to the X-axis and Y-axis respectively. Based on the attitude parameters, the horizontal distance from the center of gravity of the upper vehicle assembly to the Z-axis under the current attitude and the horizontal working condition is obtained and denoted as Gi.

[0048] The basic torque, Mg×Gi, is obtained based on the total weight and the horizontal distance; and / or,

[0049] Based on the attitude parameters and the tilt angle, the additional torque of the upper vehicle assembly of the aerial work platform under slope conditions is calculated, including:

[0050] The total weight of the upper assembly and its load is obtained and denoted as Mg;

[0051] Obtain the first projection value Z1 of the center of gravity of the upper assembly on the Z-axis, the second projection value X1 on the X-axis, and the third projection value Y1 on the Y-axis;

[0052] Based on the first projection value Z1, the second projection value X1, and the X-direction tilt angle, the first change distance Bx of the center of gravity of the upper vehicle assembly in the XOZ plane is obtained;

[0053] Based on the first projection value Z1, the third projection value Y1, and the Y-axis tilt angle, the second variation distance By of the center of gravity of the upper vehicle assembly in the YOZ plane is obtained;

[0054] Based on the first change distance Bx and the second change distance By, the offset Bg of the center of gravity of the upper vehicle assembly relative to the horizontal working condition is obtained.

[0055] The additional torque, Mg×Bg, is obtained based on the total weight and the offset Bg.

[0056] An aerial work platform, comprising:

[0057] The chassis assembly is equipped with an acceleration tilt sensor and a medium counterweight adjustment device. The acceleration tilt sensor is used to detect the tilt angle of the chassis assembly relative to the ground, and the medium counterweight adjustment device includes several counterweight containers.

[0058] The upper vehicle assembly is rotatably connected to the chassis assembly. The upper vehicle assembly includes a turntable, a folding arm, a main arm, a telescopic arm, a flying arm, and a platform assembly. The turntable is equipped with an angle sensor. The folding arm, the main arm, and the flying arm are each equipped with an angle sensor. The telescopic arm is equipped with a length sensor. The platform assembly is equipped with a weighing sensor.

[0059] The control device is connected to the acceleration tilt sensor, the rotation angle sensor, each of the angle sensors, the weighing sensor, and the medium counterweight adjustment device, respectively, to implement any of the above-mentioned methods for adjusting the center of gravity of the aerial work platform.

[0060] A center-of-gravity adjustment device for aerial work platforms, comprising:

[0061] Memory, used to store computer programs;

[0062] A processor is used to implement the steps of any of the above-described methods for adjusting the center of gravity of an aerial work platform when executing the computer program.

[0063] The method for adjusting the center of gravity of an aerial work platform provided by this invention has at least the following beneficial effects:

[0064] By acquiring the attitudes of the chassis assembly and the upper vehicle assembly in real time, the additional torque generated by the shift in the center of gravity of the upper vehicle assembly due to the inclination of the slope is calculated. Based on the additional torque and the basic torque of the aerial work platform under horizontal conditions, the total torque of the upper vehicle assembly is determined. Finally, the stability of the entire aerial work platform is determined based on the total torque of the upper vehicle assembly, thus accurately reflecting the actual stability state of the aerial work platform under complex working conditions. Based on the stability state, the direction of center of gravity adjustment of the aerial work platform under slope conditions is determined, and the center of gravity position of the entire aerial work platform is adjusted by controlling the flow direction of the medium counterweight adjustment device, ensuring the overall stability of the aerial work platform under slope conditions. This achieves adaptive dynamic adjustment of the center of gravity of the aerial work platform under slope conditions, solving the problem that the static center of gravity calculation system in related technologies cannot adapt to the center of gravity shift under dynamic working conditions such as slopes, and improving the anti-tipping ability and operational safety of the aerial work platform. Furthermore, adjusting the overall center of gravity of the aerial work platform in real time according to dynamic working conditions such as slopes helps to avoid overly conservative parameter settings caused by static calculations in existing technologies. Therefore, under the premise of ensuring safety, it is beneficial to improve the working load capacity or expand the boom's working range, thereby improving the aerial work platform's adaptability and working efficiency in complex terrain environments and expanding the applicable scenarios of the aerial work platform.

[0065] The aerial work platform provided by this invention is used to implement the above-mentioned aerial work platform center of gravity adjustment method, and has at least the beneficial effects of the above-mentioned aerial work platform center of gravity adjustment method.

[0066] The aerial work platform center of gravity adjustment device provided by the present invention is used to implement the above-mentioned aerial work platform center of gravity adjustment method, and has at least the beneficial effects of the above-mentioned aerial work platform center of gravity adjustment method. Attached Figure Description

[0067] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0068] Figure 1 A flowchart illustrating a method for adjusting the center of gravity of an aerial work platform according to a specific embodiment of the present invention;

[0069] Figure 2 A schematic diagram of the structure of an aerial work platform to which the center of gravity adjustment method for aerial work platforms is applicable;

[0070] Figure 3 for Figure 2Enlarged partial schematic diagram of the mid-chassis assembly and turntable;

[0071] Figure 4 for Figure 2 A partially enlarged schematic diagram of the medium-length sensor, the telescopic arm, and the third angle sensor;

[0072] Figure 5 for Figure 2 A partially enlarged schematic diagram of the weighing sensor;

[0073] Figure 6 A flowchart illustrating a method for adjusting the center of gravity of an aerial work platform according to another specific embodiment of the present invention;

[0074] Figure 7 A schematic diagram showing the azimuth of the ramp and the low-slope and high-slope areas it defines;

[0075] Figure 8 This is a schematic diagram showing the vehicle's azimuth angle Q within the four quadrants determined by the chassis coordinate system.

[0076] Figure 9 A schematic diagram showing the relevant parameters of the basic torque of the upper assembly of the aerial work platform under horizontal working conditions;

[0077] Figure 10 This diagram illustrates the superposition of the basic torque and additional torque of the upper assembly of an aerial work platform under a slope condition.

[0078] Figure 11 This diagram illustrates the superposition of the basic torque and additional torque of the upper assembly of an aerial work platform under another slope condition.

[0079] Figure 12 This is a schematic diagram for calculating the center of gravity offset distance of the upper vehicle assembly due to the slope inclination.

[0080] Figure 13 This is a schematic diagram showing the distribution of the counterweight containers in the medium counterweight adjustment device.

[0081] Figure 14 This is a schematic diagram showing the correspondence between the preset ranges of the vehicle's azimuth angle and the counterweight area.

[0082] Figure 15 This is a structural block diagram of the center-of-gravity adjustment equipment for aerial work platforms;

[0083] Figure 16 This is a structural block diagram of the center of gravity adjustment device for aerial work platforms.

[0084] Figure label:

[0085] 1-Upper vehicle assembly; 2-Chassis assembly; 3-Medium counterweight adjustment device; 4-Acceleration tilt sensor; 5-Angle sensor; 6-Turntable; 7-First angle sensor; 8-Folding boom; 9-Second angle sensor; 10-Main boom; 11-Length sensor; 12-Telescopic boom; 13-Third angle sensor; 14-Flying boom; 15-Platform assembly; 16-Weighing sensor; 17-Electro-proportional control valve; 18-Pump motor; 19-Control device; 20-Low slope area; 21-High slope area;

[0086] 101 - Memory; 102 - Processor;

[0087] 201-Tilt angle acquisition module; 202-Attitude parameter acquisition module; 203-Basic torque calculation module; 204-Additional torque calculation module; 205-Torque superposition module; 206-Center of gravity adjustment module. Detailed Implementation

[0088] 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.

[0089] The core of this invention is to provide a method for adjusting the center of gravity of an aerial work platform, enabling adaptive dynamic compensation for overall stability under dynamic working conditions such as slopes. Another core aspect of this invention is to provide an aerial work platform for implementing the aforementioned method for adjusting the center of gravity, enabling adaptive dynamic compensation for overall stability under dynamic working conditions such as slopes. A further core aspect of this invention is to provide a center of gravity adjustment device for an aerial work platform corresponding to the aforementioned method, enabling adaptive dynamic compensation for overall stability under dynamic working conditions such as slopes.

[0090] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 This invention provides a method for adjusting the center of gravity of an aerial work platform. The aerial work platform includes a chassis assembly 2 and a rotatably connected upper vehicle assembly 1. The chassis assembly 2 is equipped with a medium counterweight adjustment device 3. It is understood that the upper vehicle assembly 1 is the work execution unit of the aerial work platform, and includes a turntable 6, a folding boom 8, a main boom 10, a telescopic boom 12, a flying boom 14, and a platform assembly 15.

[0091] The method for adjusting the center of gravity of the aerial work platform includes steps S1 to S6:

[0092] S1: Obtain the tilt angle of chassis assembly 2 relative to the ground.

[0093] It should be noted that the tilt angle of the chassis assembly 2 relative to the horizontal ground can be detected in real time by the acceleration tilt sensor 4 installed on the chassis assembly 2, and the attitude of the chassis assembly 2 can be determined based on the tilt angle.

[0094] S2: Obtain the attitude parameters of the upper assembly 1 in the current attitude.

[0095] It should be noted that the attitude parameters of the upper assembly 1 include, but are not limited to, the rotation angle of the turntable 6, the angle of the folding arm 8, the angle of the main boom 10, the angle of the flying boom 14, and the extension of the telescopic boom 12. These parameters can be monitored in real time by installing an angle sensor 5 on the turntable 6 to detect the rotation angle of the turntable 6, a first angle sensor 7 on the folding arm 8, a second angle sensor 9 on the main boom 10, and a third angle sensor 13 on the flying boom 14. A length sensor 11 on the telescopic boom 12 can be installed to monitor the actual extension of the telescopic boom 12 in real time. A weighing sensor 16 on the platform assembly 15 can be installed to monitor the actual load on the platform assembly 15 in real time to determine whether it meets the rated load requirements. It can be understood that the attitude of the upper assembly 1 can be determined based on the aforementioned attitude parameters.

[0096] S3: Based on the attitude parameters of the upper assembly 1, calculate the basic torque of the upper assembly 1 of the aerial work platform under horizontal working conditions.

[0097] It is understandable that when the aerial work platform is in a horizontal working condition, if the center of gravity of the upper assembly 1 is not on the rotation center line of the upper assembly 1 relative to the chassis assembly 2, the upper assembly 1 will generate a torque on the chassis assembly 2, i.e., a basic torque. In this case, the flow direction of the medium can be controlled by adjusting the medium counterweight adjustment device 3 to make the medium flow to the opposite area of ​​the upper assembly 1, thereby balancing the basic torque of the upper assembly 1 and ensuring the stability of the aerial work platform in a horizontal working condition. It is also understandable that the position of the center of gravity of the upper assembly 1 can be obtained based on the attitude parameters of the upper assembly 1, and thus the distance of the center of gravity of the upper assembly 1 relative to the rotation center line of the upper assembly 1 can be obtained. In addition, the total weight of the upper assembly 1 is known, so the basic torque of the upper assembly 1 in a horizontal working condition can be obtained according to the torque formula.

[0098] S4: Based on the attitude parameters of the upper assembly 1 and the tilt angle of the chassis assembly 2 relative to the ground, calculate the additional torque of the upper assembly 1 of the aerial work platform under the slope condition.

[0099] When the aerial work platform is operating on a slope, the inclination of the slope causes the center of gravity of the upper assembly 1 to shift relative to the horizontal condition. Consequently, the upper assembly 1 will generate an additional torque due to the shift in the center of gravity. This embodiment calculates the additional torque of the upper assembly 1 under slope conditions to accurately reflect the force situation of the aerial work platform in actual operation. It can be understood that, based on the attitude parameters of the upper assembly 1 and the tilt angle of the chassis assembly 2 relative to the ground, the distance of the center of gravity shift of the upper assembly 1 can be calculated. Then, based on the total weight of the upper assembly 1 and the distance of the center of gravity shift of the upper assembly 1, the additional torque of the upper assembly 1 under slope conditions can be obtained.

[0100] S5: Based on the tilt angle and attitude parameters, determine the superposition relationship between the basic torque and the additional torque of the upper assembly 1, and obtain the total torque of the upper assembly 1.

[0101] It is understandable that the relationship between the azimuth angle of the upper vehicle assembly 1 and the slope inclination determines the superposition relationship between the basic torque and the additional torque of the upper vehicle assembly 1, and thus the total torque of the upper vehicle assembly 1 relative to the chassis assembly 2 can be determined, thereby determining the adjustment direction of the center of gravity of the aerial work platform.

[0102] S6: Determine the stability state of the aerial work platform based on the total torque of the upper vehicle assembly 1, and control the medium flow direction of the medium counterweight adjustment device 3 based on the stability state to adjust the center of gravity position of the entire aerial work platform.

[0103] In other words, the total torque of the upper vehicle assembly 1 can be determined based on the superposition of the additional torque and the basic torque. The stability of the aerial work platform can then be determined based on the total torque. For example, if the torque on the upper vehicle assembly 1 side increases compared to the horizontal working condition, the stability of the upper vehicle assembly 1 side deteriorates. Based on this, the medium of the medium counterweight adjustment device 3 can be directed to flow to the opposite area of ​​the upper vehicle assembly 1 side. If the torque on the upper vehicle assembly 1 side decreases compared to the horizontal working condition, the torque of the chassis assembly 2 on the side away from the upper vehicle assembly 1 deteriorates. Based on this, the medium of the medium counterweight adjustment device 3 can be directed to flow to the upper vehicle assembly 1 side, thereby ensuring the overall stability of the aerial work platform under slope conditions.

[0104] As can be seen, this embodiment of the invention acquires the attitude of the chassis assembly 2 and the attitude of the upper vehicle assembly 1 in real time, calculates the additional torque caused by the shift of the center of gravity of the upper vehicle assembly 1 due to the inclination of the slope, and determines the total torque of the upper vehicle assembly 1 based on the additional torque and the basic torque of the aerial work platform under horizontal conditions. Finally, the stability of the entire aerial work platform is determined based on the total torque of the upper vehicle assembly 1, thereby accurately reflecting the actual stability state of the aerial work platform under complex working conditions. Based on the stability state, the direction of the center of gravity adjustment of the aerial work platform under slope conditions is determined, and the center of gravity position of the entire aerial work platform is adjusted by controlling the medium flow direction of the medium counterweight adjustment device 3, ensuring the overall stability of the aerial work platform under slope conditions. This realizes the adaptive dynamic adjustment of the center of gravity of the aerial work platform under slope conditions, solves the problem that the static center of gravity calculation system in related technologies cannot adapt to the center of gravity shift under dynamic working conditions such as slopes, and improves the anti-overturning ability and operational safety of the aerial work platform. Furthermore, adjusting the overall center of gravity of the aerial work platform in real time according to dynamic working conditions such as slopes helps to avoid overly conservative parameter settings caused by static calculations in existing technologies. Therefore, under the premise of ensuring safety, it is beneficial to improve the working load capacity or expand the boom's working range, thereby improving the aerial work platform's adaptability and working efficiency in complex terrain environments and expanding the applicable scenarios of the aerial work platform.

[0105] It should be noted that the above embodiments do not limit the specific method of determining the superposition relationship between the basic torque and the additional torque based on the tilt angle and attitude parameters, as long as it can be determined whether the additional torque is added to or subtracted from the basic torque.

[0106] Please refer to Figure 6 In some embodiments, the superposition relationship between the base torque and the additional torque is determined based on the tilt angle and attitude parameters, including:

[0107] S51: Determine the ramp azimuth P under ramp conditions based on the tilt angle of chassis assembly 2 relative to the ground.

[0108] S52: Based on the attitude parameters of the upper vehicle assembly 1, determine the upper vehicle azimuth angle Q of the upper vehicle assembly 1 relative to the chassis assembly 2;

[0109] Based on the matching relationship between the vehicle azimuth angle Q and the ramp azimuth angle P, the superposition relationship between the foundation torque and the additional torque is determined.

[0110] It should be noted that the ramp azimuth is used to characterize the spatial direction of the ramp where the aerial work platform is currently located, and it represents the direction of the lowest point of the ramp; the upper vehicle azimuth refers to the actual orientation of the boom of the upper vehicle assembly 1. The matching relationship between the upper vehicle azimuth and the ramp azimuth reflects the offset trend of the center of gravity of the upper vehicle assembly 1 relative to the ramp, so as to accurately determine the direction of the effect of the additional torque of the upper vehicle assembly 1 on the stability of the whole machine.

[0111] It should be noted that this embodiment does not limit the specific method of determining the azimuth angle of the ramp under the ramp condition based on the tilt angle, as long as the azimuth angle of the ramp can be obtained.

[0112] Please refer to Figure 7 In some embodiments, determining the azimuth angle of the ramp under ramp conditions based on the tilt angle includes:

[0113] A chassis coordinate system is established with the rotation center of chassis assembly 2 as the origin O, the left and right directions of chassis assembly 2 as the X-axis, the front and rear directions of chassis assembly 2 as the Y-axis, and the front direction of chassis assembly 2 as the positive direction of the Y-axis.

[0114] Obtain the X-axis tilt angle and Y-axis tilt angle of chassis assembly 2 relative to the ground;

[0115] Based on the X-axis tilt angle and the Y-axis tilt angle, calculate the azimuth angle of the component of the gravity of chassis assembly 2 along the ramp direction relative to the OX axis, which is the ramp azimuth angle, denoted as P.

[0116] In other words, in this embodiment, using the OX axis as the origin of the coordinate system and referring to the rules of the Cartesian coordinate system, the chassis assembly 2 is divided into four quadrants. The azimuth angle intervals corresponding to each quadrant are as follows: the azimuth angle interval of the first quadrant is [0°, 90°], the azimuth angle interval of the second quadrant is (90°, 180°], the azimuth angle interval of the third quadrant is (180°, 270°], and the azimuth angle interval of the fourth quadrant is (270°, 360°). The X-axis of the chassis assembly 2 relative to the ground is obtained. After determining the tilt angle and the Y-axis tilt angle, the component of gravity of chassis assembly 2 along the ramp direction, i.e., the gravitational acceleration component a, can be calculated based on the X-axis tilt angle and the Y-axis tilt angle. Its direction is fixed towards the lowest point of the ramp. Then, based on the X-axis tilt angle and the Y-axis tilt angle, using the inverse trigonometric function arctan(Y / X) and combining the positive and negative signs of the X-axis tilt angle and the Y-axis tilt angle, the azimuth angle of the gravitational acceleration component a relative to the original axis OX can be calculated. This azimuth angle is the ramp azimuth angle P.

[0117] Furthermore, such as Figure 6 , Figure 7 and Figure 8As shown, in some embodiments, the superposition relationship between the foundation moment and the additional moment is determined based on the matching relationship between the vehicle azimuth angle and the ramp azimuth angle, including:

[0118] S53: Based on the azimuth angle P of the ramp, the area enclosed by rotating 90 degrees clockwise and 90 degrees counterclockwise is designated as the low slope area 20.

[0119] S54: The area within the 360-degree range of the chassis assembly 2, excluding the low-slope area 20, is designated as the high-slope area 21;

[0120] S55: Define the orientation determination coefficient as k, k∈{1,-1};

[0121] S56: When the azimuth angle Q of the vehicle is within 20 degrees of the low slope area, k=1, and the basic torque and the additional torque are additive.

[0122] S57: When the azimuth angle Q of the vehicle is within the high slope area 21, k=-1, and the basic torque and the additional torque are subtractive from each other.

[0123] In other words, this embodiment divides the chassis assembly 2 into a low-slope region 20 and a high-slope region 21 based on the ramp azimuth angle P. The superposition relationship between the foundation torque and the additional torque is determined by judging whether the vehicle's azimuth angle Q is located in the low-slope region 20 or the high-slope region 21. Specifically, the area enclosed by the lowest point of the ramp at 90° clockwise and 90° counterclockwise is the low-slope region 20, and the remaining area is the high-slope region 21. For example, when P ∈ (270°, 360°], the low slope region 20 is: (P-90°, 360°] U (0°, P-270°], and the other regions are high slope regions 21; when P ∈ (0°, 90°], the low slope region 20 is: (270°+P, 360°] U (0°, P+90°], and the other regions are high slope regions 21; when P ∈ (90°, 270°], the low slope region 20 is (P-90°, P+90°], and the other regions are high slope regions 21.

[0124] Additionally, it should be noted that the coordinate system of the upper vehicle assembly 1 completely adopts the X and Y axis references of the chassis coordinate system, and the coordinate system of the upper vehicle assembly 1 and the chassis coordinate system are spatially synchronized to ensure the consistency of orientation determination. The azimuth angle Q of the upper vehicle assembly 1 can be obtained in real time through the angle sensor 5 mounted on the turntable 6 of the upper vehicle assembly 1. Based on the matching of the slope azimuth angle P and the upper vehicle azimuth angle Q, it can accurately determine whether the current orientation of the upper vehicle assembly 1 is in the low slope region 20 or the high slope region 21. When the upper vehicle azimuth angle Q is in the low slope region 20 based on the slope azimuth angle P, k is 1, and the basic torque and the additional torque are additive; when the upper vehicle azimuth angle Q is in the high slope region 21 based on the slope azimuth angle P, k is -1, and the basic torque and the additional torque are subtractive, providing a basis for the subsequent calculation of the total torque of the upper vehicle assembly 1.

[0125] It should be noted that the above embodiments do not limit the specific methods for calculating the basic torque and additional torque of the upper vehicle assembly 1, as long as the basic torque and additional torque of the upper vehicle assembly 1 can be obtained.

[0126] Please refer to Figure 9 In some embodiments, the basic moment of the aerial work platform's upper assembly 1 under horizontal conditions is calculated based on attitude parameters, including:

[0127] Obtain the total weight of the upper assembly 1 and its load, denoted as Mg;

[0128] Taking the line passing through the rotation center of the upper assembly 1 and perpendicular to the X-axis and Y-axis respectively as the Z-axis, according to the attitude parameters, the horizontal distance from the center of gravity of the upper assembly 1 to the Z-axis under the current attitude and horizontal working condition is obtained and denoted as Gi;

[0129] Based on the total weight Mg and the horizontal distance Gi, the basic torque is obtained as Mg×Gi.

[0130] It is understandable that the total weight of the upper assembly 1 and its load is the sum of the masses of the turntable 6, folding arm 8, main arm 10, telescopic arm 12, flying arm 14, platform assembly 15, and the load. Furthermore, it should be noted that the horizontal distance Gi from the center of gravity of the upper assembly 1 to the Z-axis can be calculated by substituting the attitude data collected in real time by the angle sensor 5 of the turntable 6, the angle sensors of the folding arm 8, the main arm 10, and the flying arm 14, and the length sensor 11 of the telescopic arm 12 into a two-dimensional rigid body kinematics fitting model. This fitting model can employ a polynomial fitting algorithm, using the angle and displacement parameters of each component as independent variables and the horizontal distance Gi as the dependent variable. Specific fitting methods can be found in relevant technologies and will not be elaborated upon here.

[0131] Further, please refer to Figure 10 , Figure 11 and Figure 12In some embodiments, the additional torque of the aerial work platform's upper assembly 1 under slope conditions is calculated based on attitude parameters and tilt angle, including:

[0132] Obtain the total weight of the upper assembly 1 and its load, denoted as Mg;

[0133] Obtain the first projection value Z1 of the center of gravity of the upper assembly 1 on the Z-axis, the second projection value X1 on the X-axis, and the third projection value Y1 on the Y-axis;

[0134] Based on the first projection value Z1, the second projection value X1, and the X-direction tilt angle, the first change distance Bx of the center of gravity of the upper vehicle assembly 1 in the XOZ plane is obtained;

[0135] Based on the first projection value Z1, the third projection value Y1, and the Y-axis tilt angle, the second variation distance By of the center of gravity of the upper vehicle assembly 1 in the YOZ plane is obtained;

[0136] Based on the first change distance Bx and the second change distance By, the offset Bg of the center of gravity of the upper assembly 1 relative to the horizontal working condition is obtained.

[0137] Based on the total weight and offset Bg, the additional torque is obtained as Mg×Bg.

[0138] In other words, this embodiment independently calculates the front-to-back offset By and the left-to-right offset Bx of the center of gravity of the upper vehicle assembly 1, and then calculates the overall offset Bg of the center of gravity of the upper vehicle assembly 1 based on the left-to-right offset Bx and the front-to-back offset By. Taking the XOZ plane as an example, let L1 be the length of the line connecting the center of gravity of the upper vehicle assembly 1 and the origin O in the XOZ plane, let t1 be the angle of the line connecting the center of gravity of the upper vehicle assembly 1 and the origin O relative to the Z-axis in the XOZ plane, and let α be the tilt angle in the X direction. , , Therefore, the first change distance is: Similarly, in the YOZ plane, let L2 be the length of the line connecting the center of gravity of the upper assembly 1 and the origin O in the YOZ plane, let t2 be the projection of the angle of the line connecting the center of gravity of the upper assembly 1 and the origin O relative to the Z-axis in the YOZ plane, and let β be the tilt angle in the Y direction. , , Therefore, the second change distance is: The offset of the center of gravity of the upper assembly 1 relative to the horizontal working condition is: .

[0139] Combining the basic torque Mg×Gi of the upper vehicle assembly 1 with the additional torque Mg×Bg of the ramp, and introducing the orientation judgment coefficient k, the total torque of the upper vehicle assembly 1 can be obtained as Mg×(Gi+k×Bg).

[0140] Furthermore, the above embodiments do not limit the specific method for determining the stability state of the aerial work platform based on the total torque, and for controlling the medium flow direction of the medium counterweight adjustment device 3 based on the stability state, as long as the adjustment of the center of gravity position of the entire aerial work platform can be achieved.

[0141] like Figure 6 As shown, in some embodiments, the stability state of the aerial work platform is determined based on the total torque, and the medium flow direction of the medium counterweight adjustment device 3 is controlled based on the stability state, including:

[0142] S61: Determine whether the total torque of the upper assembly 1 is greater than zero;

[0143] S62: If so, it indicates that the stability of the chassis assembly 2 is insufficient, and the medium of the control medium counterweight adjustment device 3 flows to the opposite area of ​​the boom of the upper vehicle assembly 1.

[0144] S63: If the total torque of the upper assembly 1 is less than zero, it indicates that the stability of the upper assembly 1 side is insufficient, and the medium of the control medium counterweight adjustment device 3 flows to the area where the boom of the upper assembly 1 is located.

[0145] S64: If the total torque of the upper vehicle assembly 1 is zero, it indicates that the stability of the chassis assembly 2 and the upper vehicle assembly 1 tends to be consistent, and the medium of the control medium counterweight adjustment device 3 flows towards the middle area of ​​the chassis assembly 2.

[0146] In other words, in this embodiment, by determining the sign of Mg×(Gi+k×Bg), it can be determined whether the center of gravity of the upper vehicle assembly 1 is located on the left or right side of the torque axis, thereby verifying the stability and overturning torque margin of the entire machine, providing a basis for the determination of the medium adjustment of the medium counterweight adjustment device 3. When Mg×(Gi+k×Bg) is positive, that is, greater than zero, it means that the torque of the upper vehicle assembly 1 relative to the chassis assembly 2 has increased compared to the horizontal working condition. At this time, it indicates that the stability of the chassis assembly 2 side is insufficient. The medium of the medium counterweight adjustment device 3 is controlled to flow to the opposite area of ​​the upper vehicle assembly 1 on the side where the boom is located, so as to balance the torque of the upper vehicle assembly 1 and improve the overall stability of the aerial work platform under the slope working condition. When Mg×(Gi+k×Bg) is negative, that is, the total force of the upper vehicle assembly 1 is negative, the center of gravity of the upper vehicle assembly 1 is negative. When the torque is less than zero, it means that the torque on the opposite side of the boom of the upper assembly 1 is large. At this time, it is necessary to control the medium of the medium counterweight adjustment device 3 to flow to the side where the boom of the upper assembly 1 is located. When Mg×(Gi+k×Bg) is zero, it indicates that the stability of the chassis assembly 2 and the upper assembly 1 tends to be consistent, and the whole machine is in the most stable state. At this time, the medium of the medium counterweight adjustment device 3 is controlled to flow to the middle area of ​​the chassis assembly 2, so that the medium of the medium counterweight adjustment device 3 is kept in a centrally symmetrical distribution to maintain torque balance. Understandably, when the aerial work platform is in a horizontal working condition, the upper vehicle assembly 1 generates a basic torque on the chassis assembly 2. At this time, the medium of the control medium counterweight adjustment device 3 flows to the opposite area of ​​the boom of the upper vehicle assembly 1 to balance the basic torque of the upper vehicle assembly 1 and ensure the stability of the entire aerial work platform in a horizontal working condition. Therefore, when the aerial work platform is in a slope working condition, and Mg×(Gi+k×Bg) is zero, it indicates that the additional torque generated by the shift of the center of gravity of the upper vehicle assembly 1 due to the slope tilt cancels out the basic torque of the upper vehicle assembly 1 in a horizontal working condition. Therefore, compared with the horizontal working condition, at this time, it is necessary to flow the medium of the control medium counterweight adjustment device 3 towards the middle area of ​​the chassis assembly 2 so that the medium of the medium counterweight adjustment device 3 is centrally and symmetrically distributed to maintain the torque balance in the slope working condition.

[0147] Furthermore, such as Figure 6 As shown, in some embodiments, after controlling the medium flow direction of the medium counterweight adjustment device 3 based on the stability state, the method further includes:

[0148] S7: After the medium of the control medium counterweight adjustment device 3 flows to the opposite area on the side where the boom of the upper vehicle assembly 1 is located, the rated load of the working platform of the upper vehicle assembly 1 is increased according to the preset step load to expand the upper limit of the working load.

[0149] S8: After the medium of the control medium counterweight adjustment device 3 flows to the area on the side where the boom of the upper vehicle assembly 1 is located, the luffing angle of the main boom 10 of the upper vehicle assembly 1 is increased according to the preset step angle to expand the working range of the upper vehicle assembly 1.

[0150] In other words, after controlling the flow direction of the medium in the medium counterweight adjustment device 3 based on stability, this embodiment can further expand the working capacity of the aerial work platform while ensuring stability. Specifically, this embodiment actively and dynamically adjusts the overall stability of the aerial work platform, further releasing the working load range and boom luffing space of the equipment based on dynamic counterweight compensation for stability. This avoids overly conservative parameter settings caused by static calculation systems in related technologies, thereby effectively expanding the upper limit of the working load and the boom luffing range of the aerial work platform while ensuring safety, thus improving the adaptability and efficiency of the aerial work platform. For example, after controlling the medium in the medium counterweight adjustment device 3 to flow to the opposite area of ​​the boom on the upper vehicle assembly 1, the rated load is adjusted in 5kg increments while ensuring stability, with a maximum lifting load not exceeding 30kg. After the medium of the control medium counterweight adjustment device 3 flows to the area on the side where the boom of the upper vehicle assembly 1 is located, under the premise of ensuring stability, the luffing angle of the main boom 10 is increased step by step in increments of 0.2°, with the maximum increase not exceeding 3°.

[0151] In addition, in some embodiments, the medium counterweight adjustment device 3 includes a plurality of counterweight containers distributed on the chassis assembly 2;

[0152] Based on the stability state, the medium flow direction of the medium counterweight adjustment device 3 is controlled, including:

[0153] Based on the attitude parameters, determine the azimuth angle of the upper vehicle assembly 1 relative to the chassis assembly 2.

[0154] The azimuth angle of boarding is divided into N preset intervals, where N = 360° / preset angle and N is a positive integer.

[0155] Obtain the correspondence between each preset interval range and the counterweight area. Each preset interval range corresponds to two counterweight areas, and the two counterweight areas corresponding to the same preset interval range are set diagonally. Each counterweight area includes at least one counterweight container.

[0156] Determine the preset range of the vehicle azimuth angle, and based on the stability status, control the medium flow of the medium counterweight adjustment device 3 to one of the two counterweight regions corresponding to the preset range of the vehicle azimuth angle.

[0157] In other words, this embodiment pre-sets the correspondence between the preset range of the upper vehicle azimuth angle and the counterweight area. By determining the preset range in which the upper vehicle azimuth angle falls, the medium flow of the medium counterweight adjustment device 3 is controlled to flow into one of the two counterweight areas corresponding to the preset range of the upper vehicle azimuth angle. It can be understood that one of the two counterweight areas corresponding to a single preset range is located on the side of the preset range, and the other is located on the opposite side of the preset range. When Mg×(Gi+k×Bg) is greater than zero, the medium flow of the medium counterweight adjustment device 3 is controlled to flow into the counterweight area corresponding to the preset range of the upper vehicle azimuth angle and located on the opposite side of the upper vehicle assembly 1 boom; when Mg×(Gi+k×Bg) is less than zero, the medium flow of the medium counterweight adjustment device 3 is controlled to flow into the counterweight area corresponding to the preset range of the upper vehicle azimuth angle and located on the side of the upper vehicle assembly 1 boom.

[0158] For example, such as Figure 13 and Figure 14 As shown, the preset angle is 45°, that is, the vehicle azimuth angle is divided into eight preset intervals of 45° each, namely (0°, 45°], (45°, 90°], (90°, 135°], (135°, 180°], (180°, 225°], (225°, 270°], (270°, 315°], and (315°, 360°). In addition, the medium counterweight adjustment device 3 includes eight counterweight containers. For example, a first counterweight container A is respectively set at the center position of both sides of the chassis assembly 2 along the width direction. For ease of description, the two first counterweight containers A are referred to as A1 and A2, respectively; chassis A second counterweight container B is provided at each end of the chassis assembly 2 along the front-rear direction. For ease of description, the two second counterweight containers B are referred to as B1 and B2, respectively. Two third counterweight containers C are provided between each end of the chassis assembly 2 along the front-rear direction and the center of the chassis assembly 2. For ease of description, the two third counterweight containers C between the front of the chassis assembly 2 and the center of the chassis assembly 2 are C1 and C2, respectively, and the two third counterweight containers C between the rear of the chassis assembly 2 and the center of the chassis assembly 2 are C3 and C4, respectively. C1 and C2 are symmetrically arranged about the centerline of the width direction of the chassis assembly 2, and C3 and C4 are symmetrically arranged about the centerline of the width direction of the chassis assembly 2. Please refer to [reference needed]. Figure 13 The eight counterweight containers of the chassis assembly 2 are evenly distributed along its left-right and front-back directions, including A1 located on the positive side of the X-axis, A2 located on the negative side of the X-axis, B2 located on the positive side of the Y-axis, B1 located on the negative side of the Y-axis, and C1, C2, C4, and C3 located in the first, second, third, and fourth quadrants, respectively.

[0159] Therefore, the eight counterweight containers constitute eight counterweight areas, from E1 to E8. Specifically, area E1 is located in the first quadrant, corresponding to counterweight containers A1 and C1; area E2 is located in the first quadrant, corresponding to counterweight containers B2 and C1; area E3 is located in the second quadrant, corresponding to counterweight containers B2 and C2; area E4 is located in the second quadrant, corresponding to counterweight containers A2 and C2; area E5 is located in the third quadrant, corresponding to counterweight containers A2 and C4; area E6 is located in the third quadrant, corresponding to counterweight containers B1 and C4; area E7 is located in the fourth quadrant, corresponding to counterweight containers B1 and C3; and area E8 is located in the fourth quadrant, corresponding to counterweight containers A1 and C3.

[0160] When the azimuth angle of the upper vehicle Q ∈ (0°, 45°], it corresponds to zones E1 and E5. Zone E1 is located on the same side of the upper vehicle assembly 1 boom, and zone E5 is located on the opposite side of the upper vehicle assembly 1 boom. When the azimuth angle of the upper vehicle Q ∈ (45°, 90°], it corresponds to zones E2 and E6. Zone E2 is located on the same side of the upper vehicle assembly 1 boom, and zone E6 is located on the opposite side of the upper vehicle assembly 1 boom. When the azimuth angle of the upper vehicle Q ∈ (90°, 135°], it corresponds to zones E3 and E7. Zone E3 is located on the same side of the upper vehicle assembly 1 boom, and zone E7 is located on the opposite side of the upper vehicle assembly 1 boom. When the azimuth angle of the upper vehicle Q ∈ (135°, 180°], it corresponds to zones E4 and E8. Zone E4 is located on the same side of the upper vehicle assembly 1 boom, and zone E8 is located on the opposite side of the upper vehicle assembly 1 boom. When the azimuth angle Q∈(180°, 225°], it corresponds to areas E5 and E1. Area E5 is located on the same side of the upper vehicle assembly 1 boom, and area E1 is located on the opposite side of the upper vehicle assembly 1 boom. When the upper vehicle azimuth angle Q∈(225°, 270°], it corresponds to areas E6 and E2. Area E6 is located on the same side of the upper vehicle assembly 1 boom, and area E2 is located on the opposite side of the upper vehicle assembly 1 boom. When the upper vehicle azimuth angle Q∈(270°, 315°], it corresponds to areas E7 and E3. Area E7 is located on the same side of the upper vehicle assembly 1 boom, and area E3 is located on the opposite side of the upper vehicle assembly 1 boom. When the upper vehicle azimuth angle Q∈(315°, 360°], it corresponds to areas E8 and E4. Area E8 is located on the same side of the upper vehicle assembly 1 boom, and area E4 is located on the opposite side of the upper vehicle assembly 1 boom.

[0161] In other words, when the vehicle azimuth angle Q∈(0°, 45°] and Mg×(Gi+k×Bg)>0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers A2 and C4 corresponding to area E5; when the vehicle azimuth angle Q∈(0°, 45°] and Mg×(Gi+k×Bg)<0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers A1 and C1 corresponding to area E1. When the vehicle azimuth angle Q∈(45°, 90°] and Mg×(Gi+k×Bg)>0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers B1 and C4 corresponding to area E6; when .... When the azimuth angle Q ∈ (90°, 135°) and Mg × (Gi + k × Bg) < 0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers B2 and C1 corresponding to area E2. When the azimuth angle Q ∈ (90°, 135°) and Mg × (Gi + k × Bg) > 0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers B1 and C3 corresponding to area E7; when the azimuth angle Q ∈ (90°, 135°) and Mg × (Gi + k × Bg) < 0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers B2 and C2 corresponding to area E3. When the azimuth angle Q ∈ (135°, 180°) and Mg × (Gi + k × Bg) > 0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers B2 and C2 corresponding to area E3. When the azimuth angle Q ∈ (135°, 180°) and Mg × (Gi + k × Bg) > 0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers A1 and C3 corresponding to area E8; when the azimuth angle Q ∈ (135°, 180°) and Mg × (Gi + k × Bg) < 0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers A1 and C1 corresponding to area E1; when the azimuth angle Q ∈ (180°, 225°) and Mg × (Gi + k × Bg) > 0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers A1 and C1 corresponding to area E1; when the azimuth angle Q ∈ (180°, 225°) and Mg × (Gi + k × Bg) < 0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers A2 and C4 corresponding to area E5. When the azimuth angle Q ∈ (225°, 27°) and Mg × (Gi + k × Bg) < 0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers A2 and C4 corresponding to area E5. When the azimuth angle Q ∈ (225°, 270°) and Mg×(Gi+k×Bg)>0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers B2 and C1 corresponding to area E2; when the azimuth angle Q ∈ (225°, 270°) and Mg×(Gi+k×Bg)<0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers B1 and C4 corresponding to area E6. When the azimuth angle Q ∈ (270°, 315°) and Mg×(Gi+k×Bg)>0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers B2 and C2 corresponding to area E3; when the azimuth angle Q ∈ (270°, 315°) and Mg×(Gi+k×Bg)<0, the medium flows through the control medium counterweight adjustment device 3 to the counterweight containers B1 and C3 corresponding to area E7.When the azimuth angle of the vehicle is Q∈(315°, 360°] and Mg×(Gi+k×Bg)>0, the medium flow of the control medium counterweight adjustment device 3 is directed to the counterweight containers A2 and C2 corresponding to area E4; when the azimuth angle of the vehicle is Q∈(315°, 360°] and Mg×(Gi+k×Bg)<0, the medium flow of the control medium counterweight adjustment device 3 is directed to the counterweight containers A1 and C3 corresponding to area E8.

[0162] Furthermore, in some embodiments, the eight counterweight containers are divided into three categories, A, B, and C, according to their volume, and are evenly distributed in the left-right and front-back directions of the chassis assembly 2 to achieve full-dimensional adjustment of the center of gravity of the whole machine. The volume ratio of the three types of counterweight containers is 1.5A=2.5B=4C.

[0163] In addition, in some embodiments, the medium counterweight adjustment device 3 also includes a pump motor 18 and an electro-proportional control valve 17. The chassis assembly 2 is provided with a control device 19, which controls the operation of the pump motor 18 and distributes the flow rate and direction of the liquid medium by means of the electro-proportional control valve 17, so that the liquid medium enters the pre-set counterweight container accurately and efficiently.

[0164] In addition to the above-mentioned method for adjusting the center of gravity of an aerial work platform, this embodiment of the invention also provides an aerial work platform, which includes a chassis assembly 2, a top vehicle assembly 1, and a control device 19. The chassis assembly 2 is equipped with an acceleration tilt sensor 4 and a medium counterweight adjustment device 3. The acceleration tilt sensor 4 is used to detect the tilt angle of the chassis assembly 2 relative to the ground. The medium counterweight adjustment device 3 includes several counterweight containers. The top vehicle assembly 1 is rotatably connected to the chassis assembly 2. The top vehicle assembly 1 includes a turntable 6, a folding boom 8, a main boom 10, a telescopic boom 12, a flying boom 14, and a platform assembly 15. The turntable 6 is equipped with a rotation angle sensor 5. The folding boom 8, the main boom 10, and the flying boom 14 are each equipped with an angle sensor. The telescopic boom 12 is equipped with a length sensor 11. The platform assembly 15 is equipped with a weighing sensor 16. The control device 19 is connected to the acceleration tilt sensor 4, the rotation angle sensor 5, each angle sensor, the weighing sensor 16, and the medium counterweight adjustment device 3, respectively, to implement the aerial work platform center of gravity adjustment method disclosed in any of the above embodiments.

[0165] It can be seen that the aerial work platform used to implement the aerial work platform center of gravity adjustment method disclosed in any of the above embodiments has at least the beneficial effects of the above aerial work platform center of gravity adjustment method, which will not be repeated here.

[0166] For the above embodiment of the method for adjusting the center of gravity of an aerial work platform, please refer to [link / reference]. Figure 15The above is a structural block diagram of the aerial work platform center of gravity adjustment device provided in an embodiment of the present invention. The aerial work platform center of gravity adjustment device includes a memory 101 and a processor 102. The memory 101 is used to store computer programs; the processor 102 is used to execute the computer programs to implement the steps of the aerial work platform center of gravity adjustment method disclosed in any of the above embodiments.

[0167] For a description of the aerial work platform center of gravity adjustment device provided by the present invention, please refer to the above-described embodiment of the aerial work platform center of gravity adjustment method. The present invention will not be described in detail here.

[0168] Corresponding to the above embodiment of the aerial work platform center of gravity adjustment method, this embodiment of the invention also provides an aerial work platform center of gravity adjustment device. The aerial work platform center of gravity adjustment device described below can be referred to in correspondence with the aerial work platform center of gravity adjustment method described above.

[0169] Please refer to Figure 16 This is a structural block diagram of the aerial work platform center of gravity adjustment device provided in a specific embodiment of the present invention. The aerial work platform center of gravity adjustment device is applied to an aerial work platform, which includes a chassis assembly 2 and an upper vehicle assembly 1 rotatably connected to the chassis assembly 2. The chassis assembly 2 is equipped with a medium counterweight adjustment device 3. The aerial work platform center of gravity adjustment device includes:

[0170] The tilt angle acquisition module 201 is used to acquire the tilt angle of the chassis assembly 2 relative to the ground;

[0171] The attitude parameter acquisition module 202 is used to acquire the attitude parameters of the upper assembly 1 in the current attitude.

[0172] The basic torque calculation module 203 is used to calculate the basic torque of the upper vehicle assembly 1 of the aerial work platform under horizontal working conditions based on the attitude parameters.

[0173] The additional torque calculation module 204 is used to calculate the additional torque of the aerial work platform on the upper vehicle assembly 1 under slope conditions based on the attitude parameters and tilt angle.

[0174] The torque superposition module 205 is used to determine the superposition relationship between the basic torque and the additional torque based on the tilt angle and attitude parameters, so as to obtain the total torque of the upper assembly 1.

[0175] The center of gravity adjustment module 206 is used to determine the stability state of the aerial work platform based on the total torque, and based on the stability state, control the medium flow direction of the medium counterweight adjustment device 3 to adjust the center of gravity position of the entire aerial work platform.

[0176] It can be seen that the aerial work platform center of gravity adjustment device is a virtual device corresponding to the aerial work platform center of gravity adjustment method disclosed in the above embodiments, and has at least the beneficial effects of the above aerial work platform center of gravity adjustment method, which will not be elaborated here.

[0177] Corresponding to the above embodiments of the aerial work platform center of gravity adjustment method, this embodiment of the invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the steps of the aerial work platform center of gravity adjustment method disclosed in any of the above embodiments.

[0178] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0179] For a description of the computer-readable storage medium provided by this invention, please refer to the above-described embodiment of the method for adjusting the center of gravity of an aerial work platform; the invention will not be described in detail here.

[0180] Corresponding to the above embodiments of the aerial work platform center of gravity adjustment method, this embodiment of the invention also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the aerial work platform center of gravity adjustment method disclosed in any of the above embodiments.

[0181] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0182] The above provides a detailed description of the aerial work platform center of gravity adjustment method, equipment, and aerial work platform provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of this invention.

Claims

1. A method for adjusting the center of gravity of an aerial work platform, characterized in that, The aerial work platform is applied to a high-altitude work platform, which includes a chassis assembly (2) and a vehicle assembly (1) rotatably connected to the chassis assembly (2). The chassis assembly (2) is provided with a medium counterweight adjustment device (3). The method for adjusting the center of gravity of the aerial work platform includes: Obtain the tilt angle of the chassis assembly (2) relative to the ground; Obtain the attitude parameters of the upper assembly (1) in the current attitude; Based on the attitude parameters, calculate the basic torque of the upper vehicle assembly (1) of the aerial work platform under horizontal working conditions; Based on the attitude parameters and the tilt angle, calculate the additional torque of the upper vehicle assembly (1) of the aerial work platform under the slope condition; Based on the tilt angle and the attitude parameters, the superposition relationship between the basic torque and the additional torque is determined, and the total torque of the upper assembly (1) is obtained; Based on the total torque, the stability state of the aerial work platform is determined, and based on the stability state, the medium flow direction of the medium counterweight adjustment device (3) is controlled to adjust the center of gravity position of the entire aerial work platform.

2. The method for adjusting the center of gravity of an aerial work platform according to claim 1, characterized in that, Based on the tilt angle and the attitude parameters, the superposition relationship between the basic torque and the additional torque is determined, including: Based on the tilt angle, determine the azimuth angle of the ramp under the ramp conditions; Based on the attitude parameters, determine the azimuth angle of the upper vehicle assembly (1) relative to the chassis assembly (2); Based on the matching relationship between the vehicle azimuth angle and the ramp azimuth angle, the superposition relationship between the basic torque and the additional torque is determined.

3. The method for adjusting the center of gravity of an aerial work platform according to claim 2, characterized in that, Determining the azimuth angle of the ramp under the aforementioned inclination angle includes: A chassis coordinate system is established with the rotation center of the chassis assembly (2) as the origin O, the left and right directions of the chassis assembly (2) as the X-axis, the front and rear directions of the chassis assembly (2) as the Y-axis, and the front direction of the chassis assembly (2) as the positive direction of the Y-axis. Obtain the X-axis tilt angle and Y-axis tilt angle of the chassis assembly (2) relative to the ground; Based on the X-axis tilt angle and the Y-axis tilt angle, calculate the azimuth angle of the component of the gravity of the chassis assembly (2) along the ramp direction relative to the OX axis, which is also the ramp azimuth angle.

4. The method for adjusting the center of gravity of an aerial work platform according to claim 3, characterized in that, Based on the matching relationship between the vehicle azimuth angle and the ramp azimuth angle, the superposition relationship between the basic torque and the additional torque is determined, including: Based on the azimuth angle of the ramp, the area enclosed by rotating 90 degrees clockwise and 90 degrees counterclockwise is defined as the low slope area (20). The area outside the low slope area (20) within the 360-degree range of the chassis assembly (2) is designated as the high slope area (21). Define the orientation determination coefficient as k, k∈{1,-1}; When the azimuth of the vehicle is within the low slope area (20), k=1, and the basic torque and the additional torque are additive. When the azimuth angle of the vehicle is within the high slope area (21), k=-1, and the basic torque and the additional torque are subtractive from each other.

5. The method for adjusting the center of gravity of an aerial work platform according to any one of claims 1-4, characterized in that, Based on the total torque, the stability state of the aerial work platform is determined, and based on the stability state, the medium flow direction of the medium counterweight adjustment device (3) is controlled, including: Determine whether the total torque is greater than zero; If so, it indicates that the stability of the chassis assembly (2) is insufficient, and the medium of the medium counterweight adjustment device (3) is controlled to flow to the opposite area of ​​the boom of the upper vehicle assembly (1); If the total torque is less than zero, it indicates that the stability of the upper vehicle assembly (1) is insufficient, and the medium of the medium counterweight adjustment device (3) is controlled to flow to the area where the boom of the upper vehicle assembly (1) is located. If the total torque is zero, it indicates that the stability of the chassis assembly (2) and the upper vehicle assembly (1) tends to be consistent, and the medium of the medium counterweight adjustment device (3) is controlled to flow to the middle area of ​​the chassis assembly (2).

6. The method for adjusting the center of gravity of an aerial work platform according to claim 5, characterized in that, After controlling the medium flow direction of the medium counterweight adjustment device (3) based on the stability state, the method further includes: After the medium of the medium counterweight adjustment device (3) is controlled to flow to the opposite area of ​​the boom of the upper vehicle assembly (1), the rated load of the working platform of the upper vehicle assembly (1) is increased according to the preset step load to expand the upper limit of the working load. After the medium controlled by the medium counterweight adjustment device (3) flows to the area on the side where the boom of the upper assembly (1) is located, the luffing angle of the main boom (10) of the upper assembly (1) is increased according to the preset step angle to expand the working range of the upper assembly (1).

7. The method for adjusting the center of gravity of an aerial work platform according to claim 5, characterized in that, The medium counterweight adjustment device (3) includes several counterweight containers distributed on the chassis assembly (2); Based on the stability state, controlling the medium flow direction of the medium counterweight adjustment device (3) includes: Based on the attitude parameters, determine the azimuth angle of the upper vehicle assembly (1) relative to the chassis assembly (2); The azimuth angle of the vehicle is divided into N preset intervals, where N = 360° / the preset angle, and N is a positive integer. Obtain the correspondence between each preset interval range and the counterweight area. Each preset interval range corresponds to two counterweight areas, and the two counterweight areas corresponding to the same preset interval range are diagonally arranged. Each counterweight area includes at least one counterweight container. Determine the preset range in which the azimuth angle of the vehicle is located, and based on the stability state, control the medium flow of the medium counterweight adjustment device (3) to one of the two counterweight regions corresponding to the preset range in which the azimuth angle of the vehicle is located.

8. The method for adjusting the center of gravity of an aerial work platform according to claim 3, characterized in that, Based on the attitude parameters, the basic torque of the upper vehicle assembly (1) of the aerial work platform under horizontal working conditions is calculated, including: Obtain the total weight of the upper assembly (1) and its load, denoted as Mg; The Z-axis is a line passing through the rotation center of the upper vehicle assembly (1) and perpendicular to the X-axis and the Y-axis respectively. Based on the attitude parameters, the horizontal distance from the center of gravity of the upper vehicle assembly (1) to the Z-axis under the current attitude and the horizontal working condition is obtained and denoted as Gi. The basic torque, Mg×Gi, is obtained based on the total weight and the horizontal distance; and / or, Based on the attitude parameters and the tilt angle, the additional torque of the upper vehicle assembly (1) of the aerial work platform under slope conditions is calculated, including: Obtain the total weight of the upper assembly (1) and its load, denoted as Mg; Obtain the first projection value Z1 of the center of gravity of the upper assembly (1) on the Z-axis, the second projection value X1 on the X-axis, and the third projection value Y1 on the Y-axis; Based on the first projection value Z1, the second projection value X1, and the X-direction tilt angle, the first change distance Bx of the center of gravity of the upper vehicle assembly (1) in the XOZ plane is obtained; Based on the first projection value Z1, the third projection value Y1, and the Y-direction tilt angle, the second variation distance By of the center of gravity of the upper vehicle assembly (1) in the YOZ plane is obtained; Based on the first change distance Bx and the second change distance By, the offset Bg of the center of gravity of the upper vehicle assembly (1) relative to the horizontal working condition is obtained; The additional torque, Mg×Bg, is obtained based on the total weight and the offset Bg.

9. An aerial work platform, characterized in that, include: The chassis assembly (2) is equipped with an acceleration tilt sensor (4) and a medium counterweight adjustment device (3). The acceleration tilt sensor (4) is used to detect the tilt angle of the chassis assembly (2) relative to the ground. The medium counterweight adjustment device (3) includes several counterweight containers. The upper vehicle assembly (1) is rotatably connected to the chassis assembly (2). The upper vehicle assembly (1) includes a turntable (6), a folding arm (8), a main arm (10), a telescopic arm (12), a flying arm (14), and a platform assembly (15). The turntable (6) is equipped with an angle sensor (5). The folding arm (8), the main arm (10), and the flying arm (14) are respectively equipped with angle sensors. The telescopic arm (12) is equipped with a length sensor (11). The platform assembly (15) is equipped with a weighing sensor (16). The control device (19) is connected to the acceleration tilt sensor (4), the rotation angle sensor (5), each of the angle sensors, the weighing sensor (16), and the medium counterweight adjustment device (3) respectively, and is used to implement the high-altitude work platform center of gravity adjustment method according to any one of claims 1-8.

10. A center-of-gravity adjustment device for an aerial work platform, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the aerial work platform center of gravity adjustment method as described in any one of claims 1 to 8.

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