Aerial work platform, and method and apparatus for safety control of aerial work platform

Abstract

An aerial work platform, and a method and apparatus for safety control of an aerial work platform, said method comprising: determining whether a work platform (100) is located at an upper limit position or a lower limit position; acquiring a first angle value of a scissor frame (200) corresponding to the upper limit position, and using the first angle value as an upper limit calibration value; or acquiring a second angle value of the scissor frame (200) corresponding to the lower limit position, and using the second angle value as a lower limit calibration value; acquiring a current angle value of the scissor frame (200) and a current inclination angle value of a chassis (300); and, on the basis of the current angle value of the scissor frame (200) and the current inclination angle value of the chassis (300), determining an angle compensation value for the work platform (100), and, on the basis of the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value, determining a limit position of the work platform (100). Thus, a limiting structure or a limiting switch can be replaced for limiting, operation is intelligent, the reliability is high, and fault alarms caused by a stroke switch being stuck can be prevented, so as to save operation costs.

Description

Aerial work platform, safety control method and device for aerial work platform

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311723806.9, filed on December 14, 2023, entitled “Aerial work platform, safety control method and device for aerial work platform”, which is incorporated herein by reference in its entirety. Technical Field

[0003] The present application relates to the technical field of control systems, and in particular to an aerial work platform, and a safety control method and device for the aerial work platform. Background Art

[0004] Aerial work platforms are mobile aerial work platforms that serve various industries, including aerial work, equipment installation, and maintenance. They primarily include scissor-type aerial work platforms, trailer-type aerial work platforms, articulated boom aerial work platforms, straight boom aerial work platforms, aluminum alloy aerial work platforms, cylinder-type aerial work platforms, and spider-type aerial work platforms. Scissor-type aerial work platforms are the most versatile and specialized equipment for aerial work. Their scissor-type mechanical structure provides greater stability after lifting, a wide working platform, and a high load capacity, enabling a wider range of aerial work, higher efficiency, and greater safety.

[0005] Summary of the Invention

[0006] The first aspect of the present application provides a safety control method for an aerial work platform to solve the poor reliability of the upper and lower limit switches in the prior art. By setting a tilt sensor and an angle sensor to cooperate for soft limiting, instead of limiting the limit structure or limit switch, the operation is more intelligent and the reliability is higher. It can prevent the travel switch from getting stuck and causing a fault alarm, thereby saving operating costs.

[0007] A second aspect of the present application provides a safety control device for an aerial work platform.

[0008] A third aspect of the present application provides an aerial work platform.

[0009] The present application provides a safety control method for an aerial work platform, comprising:

[0010] Determining whether the work platform is at an upper limit position or a lower limit position;

[0011] Obtain a first angle value corresponding to the fork frame at the upper limit position, and use the first angle value as the upper limit calibration value; or obtain a second angle value corresponding to the fork frame at the lower limit position, and use the second angle value as the lower limit calibration value;

[0012] Get the current angle value of the fork frame and the current inclination value of the chassis;

[0013] The angle compensation value of the working platform is determined according to the current angle value of the fork frame and the current inclination value of the chassis, and the limit position of the working platform is determined according to the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value.

[0014] According to the safety control method for an aerial work platform provided in this application, determining that the work platform is in an upper limit position or a lower limit position includes:

[0015] The height of the working platform is detected by a laser rangefinder to determine whether the working platform is at an upper limit position or a lower limit position.

[0016] According to the safety control method for an aerial work platform provided in the present application, obtaining the first angle value corresponding to the fork frame at the upper limit position, or obtaining the second angle value corresponding to the fork frame at the lower limit position, includes:

[0017] Obtaining a first voltage value output by an angle sensor of the fork frame, determining a corresponding first analog acquisition value based on the first voltage value, and determining a first angle value corresponding to the upper limit position based on the first analog acquisition value; or

[0018] A second voltage value output by the angle sensor of the fork is obtained, a corresponding second analog acquisition value is determined according to the second voltage value, and a second angle value corresponding to the upper limit position is determined according to the second analog acquisition value.

[0019] According to the safety control method for the aerial work platform provided in this application, obtaining the current angle value of the fork frame includes:

[0020] A third voltage value output by the angle sensor of the fork is obtained, a corresponding third analog acquisition value is determined according to the third voltage value, and a current angle value of the fork is determined according to the third analog acquisition value.

[0021] According to the safety control method for an aerial work platform provided in this application, obtaining the current inclination angle value of the chassis includes:

[0022] A current value output by a chassis inclination sensor is obtained, a corresponding analog acquisition value is determined according to the current value, and a current inclination value of the chassis is determined according to the analog acquisition value.

[0023] According to the safety control method for an aerial work platform provided in the present application, determining an angle compensation value of the work platform based on a current angle value of the fork frame and a current inclination value of the chassis, and determining a limit position of the work platform based on a difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value includes:

[0024] If the angle compensation value count of the current position is greater than 6 times, the fork frame returns to the current upper limit position; if the angle compensation value count of the current position is less than 6 times, the fork frame returns to the upper limit position before comparison.

[0025] The present application also provides a safety control device for an aerial work platform, comprising:

[0026] A position determination unit, configured to determine whether the work platform is at an upper limit position or a lower limit position;

[0027] an angle sensor, configured to obtain a first angle value corresponding to the fork frame at the upper limit position and use the first angle value as the upper limit calibration value; or to obtain a second angle value corresponding to the fork frame at the lower limit position and use the second angle value as the lower limit calibration value; and to obtain a current angle value of the fork frame;

[0028] Inclination sensor, used to obtain the current inclination value of the chassis;

[0029] The controller is used to determine the angle compensation value of the working platform according to the current angle value of the fork frame and the current inclination value of the chassis, and determine the limit position of the working platform according to the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value.

[0030] The present application also provides an aerial work platform, including a chassis, a fork frame, a work platform and the safety control device of the aerial work platform, wherein the fork frame is connected between the chassis and the work platform, and the corresponding components of the safety control device of the aerial work platform are respectively arranged on the chassis and the fork frame.

[0031] The present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the safety control method for an aerial work platform as described above are implemented.

[0032] The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which implements the steps of the safety control method for the aerial work platform when the computer program is executed by a processor.

[0033] The safety control method for an aerial work platform provided in this application first calibrates a first angle value corresponding to an upper limit position and a second angle value corresponding to a lower limit position on a horizontal road surface, and records the first angle value as the upper limit calibration value and the second angle value as the lower limit calibration value. By acquiring the current angle value of the fork frame and the current inclination value of the chassis in real time, an angle compensation value for the work platform is determined based on the current angle value of the fork frame and the current inclination value of the chassis, and the limit position of the work platform is determined based on the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value. For example, when the angle compensation value is less than the upper limit calibration value, the work platform is below the upper limit position and can continue to rise until it reaches the upper limit position. When the angle compensation value is greater than the upper limit calibration value, the work platform is below the upper limit position and needs to be stopped in a limit state in advance. By setting up the inclination sensor and the angle sensor to cooperate with each other for soft limit, instead of the limit structure or limit switch for limit, the operation is more intelligent and the reliability is higher. It can prevent the travel switch from getting stuck and causing fault alarm, thus saving operating costs.

[0034] The aerial work platform provided in the embodiments of the present application eliminates the upper and lower limit structures and replaces them with two sensors for position limiting. One sensor is mounted below the fork frame and moves with the fork frame to measure the lifting angle of the work platform. The other sensor is mounted on the chassis and measures the tilt angle of the work platform. The lifting angle and tilt angle of the work platform are combined to calculate the lifting angle of the scissor structure, which reflects the height of the work platform's rise. This makes the aerial work platform more intelligent during operation, avoids fault alarms caused by travel switch jamming, reduces the possibility of component damage, and optimizes production and use costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] FIG1 is a schematic flow chart of a safety control method for an aerial work platform provided in an embodiment of the present application;

[0037] FIG2 is a schematic diagram of the logic control of slope compensation in the safety control method for an aerial work platform provided by the present application (taking the comparison of the angle calibration value and the upper limit calibration value as an example);

[0038] FIG3 is a schematic diagram of the logic control of the upper limit angle of the safety control method for the aerial work platform provided in this application;

[0039] FIG4 is a schematic diagram of the logic control of the lower limit angle of the safety control method for the aerial work platform provided in this application;

[0040] FIG5 is a schematic structural diagram of an electronic device provided by the present application;

[0041] FIG6 is a schematic structural diagram of the aerial work platform provided in this application;

[0042] FIG7 is a schematic diagram of the partial structure of the aerial work platform provided in this application.

[0043] Reference numerals: 100 , working platform; 200 , fork frame; 210 , lifting drive member; 300 , chassis; 400 , angle sensor; 500 , inclination sensor; 600 , controller. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0045] In the description of the invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integrated connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium, or they can refer to internal connections between two components. "First," "second," "third," and "fourth" do not represent any sequential relationship, but are merely distinctions made for the convenience of description. Those skilled in the art can understand the specific meanings of the above terms in the invention based on the specific circumstances.

[0046] In related technologies, scissor-type aerial work platforms use limit devices or limit switches to control the platform's extreme positions during operation. For example, during ascent, the scissor-type aerial work platform uses an upper limit switch to limit the maximum operating height; during descent, the scissor-type aerial work platform uses a lower limit switch to limit the minimum operating height to prevent hand pinching and ensure worker safety. Because upper and lower limit switches are easily damaged by collision, wear, or environmental influences during operation, they have poor reliability and high operational risks.

[0047] The embodiments of the present application are described below with reference to Figures 1 to 7. It should be understood that the following description is merely an illustrative embodiment of the present application and does not constitute any limitation to the present application.

[0048] 1 to 3 , an embodiment of the present application provides a safety control method for an aerial work platform 100 , wherein a horizontal road surface is selected as a calibration road surface, including:

[0049] Step 110: Determine whether the work platform 100 is lifted to the upper limit position or the lower limit position.

[0050] It is understood that the work platform 100 may be a scissor-type aerial work platform, and the upper limit position is the maximum height that the scissor-type aerial work platform 100 can lift when working on a horizontal surface. The lower limit position is the lowest height that the scissor-type aerial work platform 100 can reach after retracting when working on a horizontal surface.

[0051] Since different height specifications of the scissor-type aerial work platform 100 correspond to corresponding upper limit heights or lower limit heights, the height of the work platform can be detected by a laser rangefinder to determine whether the work platform is at the upper limit position or the lower limit position.

[0052] Specifically, when the scissor-type structure is deployed and the work platform 100 is raised to its upper limit, the angle corresponding to the angle sensor 400 mounted on the fork frame 200 is recorded, and the position of the work platform 100 at this point is used as the upper limit calibration value. Alternatively, the upper limit position of the work platform 100 can be determined using a position detection sensor. Specifically, when the scissor-type structure is fully deployed and the work platform 100 is raised to its maximum height, the position detection sensor is used to record the current position of the work platform 100.

[0053] Specifically, when the scissor-type structure retracts and lowers the work platform 100 to its lower limit height, the angle corresponding to the angle sensor 400 mounted on the fork frame 200 is recorded, and the position of the work platform 100 at this point is used as the lower limit calibration value. Alternatively, the lower limit position of the work platform 100 can be determined using a position detection sensor. Specifically, the scissor-type structure is fully retracted, lowering the work platform 100 to its lowest height (at which the fork frame 200 does not pinch your hands), and the current position of the work platform 100 is recorded using the position detection sensor.

[0054] Step 120: Obtain a first angle value corresponding to the fork frame 200 at the upper limit position, and use the first angle value as the upper limit calibration value; or obtain a second angle value corresponding to the fork frame 200 at the lower limit position, and use the second angle value as the lower limit calibration value.

[0055] It is understood that when the fork frame 200 rises to the upper limit position, the first angle value corresponding to the angle sensor 400 mounted on the fork frame 200 is collected and used as the upper limit calibration value. When the fork frame 200 retracts to the lower limit position, the second angle value corresponding to the angle sensor 400 mounted on the fork frame 200 is collected and used as the lower limit calibration value.

[0056] Step 130 : Acquire the current angle value of the fork frame 200 and the current inclination value of the chassis 300 .

[0057] It is understood that the aerial work platform 100 provided in the embodiments of the present application can be used on both horizontal roads and slopes with a gradient. For example, when the aerial work platform 100 is used on a slope with a gradient, the inclination sensor 500 mounted on the chassis 300 compensates for the error between the angle measured on the slope by the angle sensor 400 mounted on the fork frame 200 and the angle measured on the horizontal road surface, allowing the aerial work platform 100 to compensate for the slope range and provide higher reliability.

[0058] Step 140: Determine the angle compensation value of the work platform 100 based on the current angle value of the fork frame 200 and the current inclination value of the chassis 300, and determine the limit position of the work platform 100 based on the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value.

[0059] It can be understood that when the angle compensation value is less than the upper limit calibration value, the work platform 100 is below the upper limit and the work platform 100 can continue to be lifted upward until the work platform 100 reaches the upper limit position; when the angle compensation value is greater than the upper limit calibration value, the work platform 100 is below the upper limit and the work platform 100 needs to stop in the limit state in advance to avoid over-limit operation and damage to the aerial work platform.

[0060] It is understood that the safety control method for the aerial work platform 100 provided in the embodiment of the present application first calibrates a first angle value corresponding to the upper limit position and a second angle value corresponding to the lower limit position on a horizontal road surface, and records the first angle value as the upper limit calibration value and the second angle value as the lower limit calibration value. The method then obtains the current angle value of the fork frame 200 and the current inclination value of the chassis 300 in real time, determines an angle compensation value for the work platform based on the current angle value of the fork frame 200 and the current inclination value of the chassis 300, and determines the limit position of the work platform 100 based on the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value. For example, when the angle compensation value is less than the upper limit calibration value, the work platform 100 is below the upper limit and can continue to be lifted until it reaches the upper limit position. When the angle compensation value is greater than the upper limit calibration value, the work platform 100 is below the upper limit and needs to be stopped in the limit state in advance to avoid over-limit operation and damage to the aerial work platform. By setting the inclination sensor 500 and the angle sensor 400 to cooperate with each other for soft limit, instead of limiting the limit structure or limit switch, the operation is more intelligent and reliable, and the travel switch can be prevented from being stuck and causing fault alarms, thereby saving operating costs.

[0061] In some embodiments of the present application, obtaining a first angle value corresponding to the fork frame 200 being at the upper limit position, or obtaining a second angle value corresponding to the fork frame 200 being at the lower limit position, includes:

[0062] A first voltage value output by the angle sensor 400 of the fork frame 200 is obtained, a corresponding first analog acquisition value is determined according to the first voltage value, and a first angle value corresponding to the upper limit position is determined according to the first analog acquisition value.

[0063] It is understood that the output voltage of the angle sensor 400 mounted on the fork 200 is 0-5V, corresponding to a software simulated sampling value of 0-1023, and corresponding to a sampling angle of ±45° for the angle sensor 400. When the angle of the angle sensor 400 is 0 degrees, the output voltage of the angle sensor 400 is 2.5V, and the corresponding software simulated sampling value is 512. If the real-time angle value of the angle sensor 400 mounted on the fork 200 is set to y1, and the corresponding software simulated sampling value is x1, the real-time angle of the angle sensor 400 mounted on the fork 200 can be calculated as follows: y1 = (x1 - 512) / 11.37, where 11.37 can be considered a constant obtained through multiple experiments.

[0064] A second voltage value output by the angle sensor 400 of the fork frame 200 is obtained, a corresponding second analog acquisition value is determined according to the second voltage value, and a second angle value corresponding to the upper limit position is determined according to the second analog acquisition value.

[0065] It can be understood that the method for obtaining the second angle value corresponding to the lower limit position of the working platform 100 is the same as the method for obtaining the first angle value corresponding to the upper limit position of the working platform 100. Therefore, you can refer to the above-mentioned method for obtaining the first angle value in detail and will not go into details here.

[0066] In some embodiments of the present application, obtaining the current angle value of the fork frame 200 includes:

[0067] A third voltage value output by the angle sensor of the fork 200 is obtained, a corresponding third analog acquisition value is determined according to the third voltage value, and a current angle value of the fork is determined according to the third analog acquisition value.

[0068] It will be appreciated that the method for obtaining the current angle value of the fork frame 200 is the same as the method for obtaining the first angle value corresponding to the fork frame 200 at the upper limit position described above. Specifically, the output voltage of the angle sensor 400 mounted on the fork frame 200 is 0-5V, corresponding to a software simulated sampling value of 0-1023, and corresponding to a sampling angle of the angle sensor 400 of ±45°. When the angle of the angle sensor 400 is 0 degrees, the output voltage of the angle sensor 400 is 2.5V, corresponding to a software simulated sampling value of 512. If the real-time angle value of the angle sensor 400 mounted on the fork frame 200 is set to y1, and the corresponding software simulated sampling value is x1, then the real-time angle of the angle sensor 400 mounted on the fork frame 200 can be calculated as follows: y1 = (x1 - 512) / 11.37, where 11.37 can be considered a constant obtained through multiple experiments.

[0069] In some embodiments of the present application, obtaining the current tilt angle value of the chassis 300 includes:

[0070] The current value output by the tilt sensor 500 of the chassis 300 is obtained, a corresponding analog acquisition value is determined according to the current value, and the current tilt value of the chassis is determined according to the analog acquisition value.

[0071] It can be understood that the output current of the inclination sensor 500 mounted on the chassis 300 on the Y-axis is 4mA to 20mA. After hardware sampling, the corresponding voltage at the microcontroller unit (MCU) interface is 0.813V to 4.064V, and the corresponding software analog sampling value is 166 to 832, corresponding to the angle range of the inclination sensor 500: ±20°. For example, on a level road, the output current of the inclination sensor 500 is 12mA, the corresponding software analog sampling value is 499, and the angle of the inclination sensor 500 is 0 degrees. If the real-time angle value of the inclination sensor 500 is set to y2, and the corresponding software analog sampling value is x2, the real-time angle value of the inclination sensor 500 can be calculated as: y2 = (x2 - 499) / 16.65, where 16.65 is a constant.

[0072] If the angle of the angle sensor 400 mounted on the fork 200 is the same as the Y-axis mounting direction of the chassis 300, the angle compensation value between the fork 200 and the chassis 300 is y, y=y1-y2=(x1-512) / 11.37-(x2-499) / 16.65.

[0073] 4 , in some embodiments of the present application, an angle compensation value of the work platform 100 is determined based on the current angle value of the fork frame 200 and the current inclination value of the chassis 300 . The limit position of the work platform is determined based on the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value, including:

[0074] If the angle compensation value count at the current position is greater than 6 times, the fork frame returns to the current upper limit position. If the angle compensation value count at the current position is less than 6 times, the fork frame returns to the upper limit position before comparison.

[0075] The polarity of the angle sensor 400 can be determined based on the installation position of the angle sensor 400. For example, if the angle sensor 400 is installed on the left side of the fork frame 200, the angle sensor 400 is determined to be positive. In this case, the current angle value of the fork frame 200 and the current inclination value of the chassis 300 are obtained, and the difference between the current angle value and the current inclination value is used as the angle compensation value. When the angle compensation value is less than the upper limit calibration value, the work platform 100 is below the upper limit and the work platform 100 can continue to rise until it reaches the upper limit. When the angle compensation value is greater than the upper limit calibration value, the work platform 100 is above the upper limit and the work platform 100 needs to be stopped in the limit state in advance.

[0076] When the angle sensor 400 is mounted on the right side of the fork frame 200, it is determined to be negative polarity. The current angle value of the fork frame 200 and the current inclination value of the chassis 300 are then acquired. The difference between the current angle value and the current inclination value is used as the angle compensation value. If the angle compensation value is greater than the upper limit calibration value, the current limit position is below the upper limit position. If the angle compensation value is less than the upper limit calibration value, the work platform 100 is above the upper limit position and needs to be stopped in the limit position in advance.

[0077] The calibration process in the embodiment of the present application is as follows:

[0078] Select a level road surface before calibration. If the upper and lower limit calibration values ​​are not calibrated, the ECU will report fault 11, but this will not affect the vehicle's movement.

[0079] Set the ascending and descending speeds corresponding to different vehicle models and turn on the anti-pinch function;

[0080] Calibrate the horizontal angles of the X-axis and Y-axis of the tilt sensor 500;

[0081] In the upper limit calibration interface, calibrate the upper limit height, record and save the first angle value A, and use the first angle value A as the upper limit calibration value;

[0082] Return to the power-on interface, control the work platform to lift again until the upper limit calibration value is triggered, record the actual angle value at this time, that is, the current angle value B, then the upper limit angle compensation value C = BA, enter the compensation interface to save the compensation value;

[0083] In the lower limit calibration interface, calibrate the lower limit height, record and save the second angle value D, and use the second angle value D as the lower limit calibration value;

[0084] Restore to the power-on interface, control the work platform to descend again until the lower limit calibration value is triggered, record the actual angle value at this time, that is, the current angle value E, then the lower limit angle compensation value F = ED, enter the compensation interface to save the compensation value.

[0085] It should be noted that in the software, compare the upper limit calibration value with the lower limit calibration value to confirm that the upper and lower limits are not marked inversely. After confirmation, exit the calibration program, otherwise the calibration will be displayed as invalid.

[0086] 5 to 7 , an embodiment of the present application provides a safety control device for an aerial work platform 100 , including: a position determination unit, an angle sensor 400 , an inclination sensor 500 , and a controller 600 .

[0087] The position determination unit is used to determine whether the working platform 100 is at the upper limit position or the lower limit position.

[0088] The angle sensor 400 is used to obtain a first angle value corresponding to the fork frame 200 at the upper limit position, and use the first angle value as the upper limit calibration value; or obtain a second angle value corresponding to the fork frame 200 at the lower limit position, and use the second angle value as the lower limit calibration value; the angle sensor 400 is also used to obtain the current angle value of the fork frame 200.

[0089] The inclination sensor 500 is used to obtain the current inclination value of the chassis 300 .

[0090] The controller 600 is used to determine the angle compensation value of the work platform 100 based on the current angle value of the fork frame 200 and the current inclination value of the chassis 300, and to determine the limit position of the work platform 100 based on the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value.

[0091] In some embodiments of the present application, the output voltage of the angle sensor 400 mounted on the fork 200 is 0-5V, the corresponding software simulated sampling value is 0-1023, and the corresponding sampling angle of the angle sensor 400 is ±45°. When the angle of the angle sensor 400 is 0 degrees, the output voltage of the angle sensor 400 is 2.5V, and the corresponding software simulated sampling value is 512. If the real-time angle value of the angle sensor 400 mounted on the fork 200 is set to y1 and the corresponding software simulated sampling value is x1, the real-time angle of the angle sensor 400 mounted on the fork 200 can be calculated as follows:

[0092] y1=(x1-512) / 11.37, where 11.37 is a constant.

[0093] In some embodiments of the present application, the method used by the angle sensor 400 to obtain the second angle value and the current angle value is the same as the method for obtaining the first angle value described above, and is not described in detail here.

[0094] In some embodiments of the present application, the output current of the inclination sensor 500 mounted on the chassis 300 on the Y-axis is 4mA to 20mA. After hardware sampling, the corresponding voltage at the microcontroller unit (MCU) interface is 0.813V to 4.064V, and the corresponding software analog sampling value is 166 to 832, corresponding to the angle range of the inclination sensor 500: ±20°. For example, on a level road, the output current of the inclination sensor 500 is 12mA, the corresponding software analog sampling value is 499, and the angle of the inclination sensor 500 is 0 degrees. If the real-time angle value of the inclination sensor 500 is set to y2, and the corresponding software analog sampling value is x2, then the real-time angle value of the inclination sensor 500 can be calculated as: y2 = (x2 - 499) / 16.65, where 16.65 is a constant.

[0095] If the angle of the angle sensor 400 mounted on the fork 200 is the same as the Y-axis mounting direction of the chassis 300, the angle compensation value between the fork 200 and the chassis 300 is y, y=y1-y2=(x1-512) / 11.37-(x2-499) / 16.65.

[0096] The present application also provides an aerial work platform 100, which includes a chassis 300, a fork frame 200, a work platform 100 and the above-mentioned safety control device of the aerial work platform 100. The fork frame 200 is connected between the chassis 300 and the work platform 100, and the fork frame 200 is driven by a lifting drive member 210 (such as a cylinder or a hydraulic cylinder). The corresponding components of the safety control device of the aerial work platform 100 are respectively arranged on the chassis 300 and the fork frame 200.

[0097] Furthermore, the working machine provided in the present application also has the various advantages as described above because it is equipped with the safety control device of the aerial work platform 100 as described above.

[0098] The electronic device and storage medium provided in this application are described below. The electronic device and storage medium described below can be referenced to each other with the safety control method of the aerial work platform 100 described above.

[0099] FIG5 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG5 , the electronic device may include: a processor, a communications interface, a memory, and a communication bus. The processor, the communications interface, and the memory communicate with each other via the communication bus. The processor may call logic instructions in the memory to execute a safety control method for an aerial work platform 100. The method includes:

[0100] Step 110: Determine whether the work platform 100 is lifted to the upper limit position or the lower limit position;

[0101] Step 120: Obtain a first angle value corresponding to the fork frame 200 at the upper limit position, and use the first angle value as the upper limit calibration value; or obtain a second angle value corresponding to the fork frame 200 at the lower limit position, and use the second angle value as the lower limit calibration value;

[0102] Step 130: Obtain the current angle value of the fork frame 200 and the current inclination value of the chassis 300;

[0103] Step 140: Determine the angle compensation value of the work platform 100 based on the current angle value of the fork frame 200 and the current inclination value of the chassis 300, and determine the limit position of the work platform 100 based on the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value.

[0104] In addition, the logical instructions in the above-mentioned memory can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0105] On the other hand, the present application further provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions. When the program instructions are executed by a computer, the computer can perform the safety control method of the aerial work platform 100 provided by the above methods, the method including:

[0106] Step 110: Determine whether the work platform 100 is lifted to the upper limit position or the lower limit position;

[0107] Step 120: Obtain a first angle value corresponding to the fork frame 200 at the upper limit position, and use the first angle value as the upper limit calibration value; or obtain a second angle value corresponding to the fork frame 200 at the lower limit position, and use the second angle value as the lower limit calibration value;

[0108] Step 130: Obtain the current angle value of the fork frame 200 and the current inclination value of the chassis 300;

[0109] Step 140: Determine the angle compensation value of the work platform 100 based on the current angle value of the fork frame 200 and the current inclination value of the chassis 300, and determine the limit position of the work platform 100 based on the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value.

[0110] In another aspect, the present application further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the computer program is implemented to perform the safety control method of the aerial work platform 100 provided above, the method comprising:

[0111] Step 110: Determine whether the work platform 100 is lifted to the upper limit position or the lower limit position;

[0112] Step 120: Obtain a first angle value corresponding to the fork frame 200 at the upper limit position, and use the first angle value as the upper limit calibration value; or obtain a second angle value corresponding to the fork frame 200 at the lower limit position, and use the second angle value as the lower limit calibration value;

[0113] Step 130: Obtain the current angle value of the fork frame 200 and the current inclination value of the chassis 300;

[0114] Step 140: Determine the angle compensation value of the work platform 100 based on the current angle value of the fork frame 200 and the current inclination value of the chassis 300, and determine the limit position of the work platform 100 based on the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value.

[0115] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0116] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0117] It should be noted that the technical solutions in the various embodiments of the present application can be combined with each other, but the basis for the mutual combination is that it can be implemented by ordinary technicians in this field; when the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist, that is, it does not fall within the scope of protection of this application.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A safety control method for an aerial work platform, characterized in that: include: Determining that the working platform is at an upper limit position or a lower limit position; Acquire a first angle value corresponding to the fork frame at the upper limit position, and use the first angle value as the upper limit calibration value; or obtaining a second angle value corresponding to the fork frame at the lower limit position, and using the second angle value as the lower limit calibration value; Get the current angle value of the fork frame and the current inclination value of the chassis; The angle compensation value of the working platform is determined according to the current angle value of the fork frame and the current inclination value of the chassis, and the limit position of the working platform is determined according to the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value.

2. The safety control method for an aerial work platform according to claim 1, characterized in that: The step of determining that the working platform is at an upper limit position or a lower limit position includes: The height of the working platform is detected by a laser rangefinder to determine whether the working platform is at an upper limit position or a lower limit position.

3. The safety control method for an aerial work platform according to claim 1, characterized in that: The step of obtaining a first angle value corresponding to the fork frame being at the upper limit position, or obtaining a second angle value corresponding to the fork frame being at the lower limit position, comprises: Obtaining a first voltage value output by an angle sensor of the fork frame, determining a corresponding first analog acquisition value according to the first voltage value, and determining a first angle value corresponding to the upper limit position according to the first analog acquisition value; or A second voltage value output by the angle sensor of the fork frame is obtained, a corresponding second analog acquisition value is determined according to the second voltage value, and a second angle value corresponding to the upper limit position is determined according to the second analog acquisition value.

4. The safety control method for an aerial work platform according to claim 1, characterized in that: The step of obtaining the current angle value of the fork frame includes: A third voltage value output by the angle sensor of the fork is obtained, a corresponding third analog acquisition value is determined according to the third voltage value, and a current angle value of the fork is determined according to the third analog acquisition value.

5. The safety control method for an aerial work platform according to claim 1, characterized in that: The obtaining of the current inclination angle value of the chassis includes: The current value output by the inclination sensor of the chassis is obtained, a corresponding analog acquisition value is determined according to the current value, and a current inclination value of the chassis is determined according to the analog acquisition value.

6. The safety control method for an aerial work platform according to claim 1, characterized in that: The step of determining the angle compensation value of the working platform according to the current angle value of the fork frame and the current inclination value of the chassis, and determining the limit position of the working platform according to the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value, comprises: If the count of the angle compensation value at the current position is greater than 6 times, the fork frame returns to the current upper limit position; if the count of the angle compensation value at the current position is less than 6 times, the fork frame returns to the upper limit position before comparison.

7. A safety control device for an aerial work platform, characterized in that: include: A position determination unit, used to determine whether the working platform is at an upper limit position or a lower limit position; An angle sensor, used to obtain a first angle value corresponding to the fork frame at the upper limit position, and use the first angle value as the upper limit calibration value; or used to obtain a second angle value corresponding to the fork frame at the lower limit position, and use the second angle value as the lower limit calibration value; And used to obtain the current angle value of the fork; The inclination sensor is used to obtain the current inclination value of the chassis; The controller is used to determine the angle compensation value of the working platform according to the current angle value of the fork frame and the current inclination value of the chassis, and determine the limit position of the working platform according to the difference between the angle compensation value and the upper limit calibration value or the lower limit calibration value.

8. An aerial work platform, characterized in that: It comprises a chassis, a fork frame, a work platform and the safety control device for the aerial work platform as claimed in claim 7, wherein the fork frame is connected between the chassis and the work platform, and the corresponding components of the safety control device for the aerial work platform are respectively arranged on the chassis and the fork frame.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the safety control method for the aerial work platform as described in any one of claims 1 to 6 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the safety control method for an aerial work platform as claimed in any one of claims 1 to 6 are implemented.

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