Automatic leveling method and apparatus for aerial work platform, and aerial work platform

Abstract

Provided in the present application are an automatic leveling method and apparatus for an aerial work platform, and an aerial work platform. The aerial work platform comprises a base, a main arm rotatably connected to the base, and a work platform rotatably connected to a tail end of the main arm. The automatic leveling method comprises: acquiring the tilt angle between a work platform and a horizontal plane; and generating control logic on the basis of the tilt angle, and controlling and adjusting a leveling oil cylinder on the basis of the control logic, wherein the leveling oil cylinder is in transmission connection with the work platform and is used for leveling the work platform. In the automatic leveling method and apparatus for an aerial work platform, and the aerial work platform provided in the present application, the action of controlling the leveling oil cylinder is used to realize the leveling of the work platform, thereby ensuring the personal safety of a person, and providing a good usage experience to a user.

Description

Automatic leveling method and device for aerial work platform and aerial work platform

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311692757.7, filed on December 11, 2023, entitled “Automatic leveling method, device and aerial work platform for aerial work platforms,” which is incorporated herein by reference in its entirety. Technical Field

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

[0004] In related technology, an aerial work platform (AWP) is a type of construction machinery used to transport construction workers to a designated height and location for construction work. A typical AWP consists of a base, a main boom rotatably connected to the base, and a work platform rotatably connected to the end of the main boom. The main boom pivots relative to the base to raise the work platform and the workers aboard it into the air. With the booming aerial work industry, AWPs are becoming an increasingly indispensable auxiliary tool for construction, shipbuilding, and cleaning.

[0005] Summary of the Invention

[0006] The present application provides an automatic leveling method, device and aerial work platform for an aerial work platform, which are used to solve the defects existing in the existing technology and achieve the following technical effects: the leveling of the work platform is achieved by controlling the action of the leveling cylinder, ensuring the personal safety of personnel and bringing a good user experience.

[0007] According to an automatic leveling method for an aerial work platform according to an embodiment of the first aspect of the present application, the aerial work platform includes a base, a main arm rotatably connected to the base, and a work platform rotatably connected to the end of the main arm. The automatic leveling method includes:

[0008] Obtaining an inclination angle between the work platform and a horizontal plane;

[0009] generating a control logic according to the tilt angle, and controlling and adjusting the leveling cylinder according to the control logic;

[0010] Wherein, the leveling cylinder is transmission-connected to the working platform and is used to achieve leveling of the working platform.

[0011] According to one embodiment of the present application, the step of generating control logic according to the tilt angle and controlling and adjusting the leveling cylinder according to the control logic specifically includes:

[0012] According to the range of the tilt angle, the working parameters of the leveling cylinder are controlled and adjusted.

[0013] According to one embodiment of the present application, the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle specifically includes:

[0014] According to the tilt angle being greater than the preset upper limit angle, the maximum current is output to the leveling cylinder and the leveling cylinder is controlled to perform downward leveling.

[0015] According to an embodiment of the present application, the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle further includes:

[0016] According to the tilt angle being greater than zero and less than the preset upper limit angle, outputting a first preset current to the leveling cylinder and controlling the leveling cylinder to perform downward leveling;

[0017] The first preset current is calculated based on the tilt angle and the specifications of the leveling cylinder.

[0018] According to one embodiment of the present application, in the step of outputting a first preset current to the leveling cylinder and controlling the leveling cylinder to perform downward leveling based on the tilt angle being greater than zero and less than the preset upper limit angle, the calculation formula of the first preset current C1 is as follows:

[0019] C1=C min +(C max -C min )×(1-cos(α / γ))

[0020] Among them, C min is the minimum current required for the lower leveling valve of the leveling cylinder to open, C max To meet the maximum current required for downward leveling, α is the tilt angle, and γ is the preset upper limit angle.

[0021] According to one embodiment of the present application, the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle specifically includes:

[0022] According to the tilt angle being smaller than the preset lower limit angle, the maximum current is output to the leveling cylinder and the leveling cylinder is controlled to perform upward leveling.

[0023] According to an embodiment of the present application, the step of controlling and adjusting the working parameters of the leveling cylinder according to the range of the tilt angle further includes:

[0024] According to the tilt angle being greater than a preset lower limit angle and less than zero, outputting a second preset current to the leveling cylinder and controlling the leveling cylinder to perform upward leveling;

[0025] The second preset current is calculated based on the tilt angle and the specifications of the leveling cylinder.

[0026] According to one embodiment of the present application, in the step of outputting a second preset current to the leveling cylinder and controlling the leveling cylinder to perform upward leveling based on the tilt angle being greater than a preset lower limit angle and less than zero, the calculation formula of the second preset current C2 is as follows:

[0027] C2=C min +(C max -C min )×(1-cos(α / γ'))

[0028] Among them, C min is the minimum current required for the upper leveling valve of the leveling cylinder to open, C max To meet the maximum current required for upward leveling, α is the tilt angle, and γ' is the preset lower limit angle.

[0029] According to one embodiment of the present application, the automatic leveling method of the aerial work platform further includes:

[0030] In each control cycle, the latest current value C output to the leveling cylinder is controlled within this control cycle. new Compared with the old current value C output by the leveling cylinder in the previous control cycle last The relationship between |C new -C last |<δ;

[0031] δ is the maximum value of the output current allowed to change within each preset control cycle.

[0032] According to an automatic leveling device for an aerial work platform according to an embodiment of the second aspect of the present application, the aerial work platform includes a base, a main arm rotatably connected to the base, and a work platform rotatably connected to the end of the main arm, and the automatic leveling device includes:

[0033] An acquisition module, configured to acquire an inclination angle between the work platform and a horizontal plane;

[0034] A control module, configured to generate control logic according to the tilt angle, and control and adjust the leveling cylinder according to the control logic;

[0035] Wherein, the leveling cylinder is transmission-connected to the working platform and is used to achieve leveling of the working platform.

[0036] According to an embodiment of the third aspect of the present application, an aerial work platform includes a base, a main arm rotatably connected to the base, and a work platform rotatably connected to a distal end of the main arm;

[0037] It also includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the automatic leveling method for the aerial work platform as described in the embodiment of the first aspect of the present application is implemented.

[0038] In summary, in order to solve the technical defects existing in the relevant technology, the present application provides an automatic leveling method for an aerial work platform, obtains the inclination angle between the work platform and the horizontal plane, generates control logic according to the inclination angle, and controls and adjusts the leveling cylinder according to the control logic. In this way, the present application simplifies the leveling algorithm for the boom platform leveling problem, adopts the nonlinear forward transfer method to design an automatic leveling algorithm, reduces system parameters, and can quickly respond to leveling deviations. In addition, it also avoids the leveling oscillation problem caused by linear control. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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.

[0040] FIG1 is a schematic flow chart of an automatic leveling method for an aerial work platform provided in the present application;

[0041] FIG2 is a schematic structural diagram of an automatic leveling device for an aerial work platform provided in the present application;

[0042] FIG3 is a schematic structural diagram of the aerial work platform provided in this application;

[0043] FIG4 is a schematic structural diagram of the electronic device provided in this application.

[0044] Reference numerals:

[0045] 1. Working platform; 11. Leveling cylinder; 2. Main arm; 3. Base. DETAILED DESCRIPTION

[0046] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of 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 of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0047] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0048] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0049] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0050] The following describes the automatic leveling method, automatic leveling device and aerial work platform of the aerial work platform proposed in this application with reference to the accompanying drawings. Before describing the embodiments of the present application in detail, the entire application scenario is first described. The automatic leveling method, automatic leveling device, electronic device and computer-readable storage medium of the aerial work platform of the embodiment of the present application can be applied to air conditioners locally, cloud platforms in the Internet field, or other types of cloud platforms in the Internet field, or can also be applied to third-party devices. Among them, third-party devices may include various types such as mobile phones, tablet computers, notebooks, car computers and other smart terminals.

[0051] The following description will only use the automatic leveling method applicable to an aerial work platform as an example. It should be understood that the control method of the embodiment of the present application can also be applied to cloud platforms and third-party devices. In addition, before introducing the automatic leveling method of the aerial work platform of the present application, the structural basis on which the automatic leveling method is based, that is, the aerial work platform, will be roughly described:

[0052] This patent application mainly takes the straight-arm aerial work platform as the research object. The straight-arm aerial work platform mainly has the following actions: turntable rotation, main arm amplitude change, main arm extension and retraction, flying arm amplitude change, platform leveling, platform swinging, etc. Specifically, the aerial work platform includes a base 3, a main arm 2 rotatably connected to the base 3, and a work platform 1 rotatably connected to the end of the main arm 2. An inclination sensor is installed on the work platform 1 to obtain the angle α between the work platform 1 and the horizontal plane. When the main arm 2 is in the process of lifting or lowering, it is necessary to adjust the extension and retraction of the leveling cylinder 11 so that the work platform 1 remains level with the ground. During the movement of the main arm 2, the work platform 1 will move with the main arm 2, resulting in tilting. The inclination sensor obtains the angle α, and the system controls the extension and retraction of the leveling cylinder 11 according to the angle α to achieve leveling.

[0053] As shown in FIG1 , the automatic leveling method of an aerial work platform according to the first embodiment of the present application includes:

[0054] Step S1, obtaining the tilt angle between the working platform 1 and the horizontal plane;

[0055] Step S2: generating control logic according to the tilt angle, and controlling and adjusting the leveling cylinder 11 according to the control logic.

[0056] According to the automatic leveling method of the aerial work platform in the embodiment of the present application, the leveling operation of the work platform 1 relative to the horizontal can be realized, and the specific working process is as follows: Since the work platform 1 is connected to the main arm 2 and is lifted and lowered through the main arm 2, the work platform 1 will move with the main arm 2 during the movement of the main arm 2. At this time, the above movement process may cause the work platform 1 to tilt. When the work platform 1 tilts relative to the horizontal plane, the inclination sensor obtains the inclination angle α between the work platform 1 and the horizontal plane. Furthermore, the controller receives the signal of the inclination angle transmitted by the inclination sensor and analyzes the inclination angle, thereby generating a control logic according to the inclination angle, and controlling and adjusting the leveling cylinder 11 according to the control logic, and finally utilizing the action of controlling the leveling cylinder 11 to realize the leveling of the work platform 1, thereby ensuring the personal safety of personnel and bringing a good user experience to users.

[0057] In related technology, an aerial work platform (AWP) is a type of construction machinery used to transport construction workers to a designated height and location for construction work. A typical AWP consists of a base, a main boom rotatably connected to the base, and a work platform rotatably connected to the end of the main boom. The main boom pivots relative to the base to raise the work platform and the workers aboard it into the air. With the booming aerial work industry, AWPs are becoming an increasingly indispensable auxiliary tool for construction, shipbuilding, and cleaning.

[0058] Aerial work platforms are mainly divided into scissor-type, articulated-arm, and straight-arm types. This patent application focuses on straight-arm aerial work platforms. Straight-arm aerial work platforms mainly perform turntable rotation, main boom luffing, main boom extension and retraction, fly boom luffing, platform leveling, and platform swinging. When the main boom is luffed upward or downward, the work platform will tilt, and the work platform cannot remain level.

[0059] In the related technology, the automatic leveling function of the boom truck currently relies mainly on the inclination sensor located on the platform as the input unit. The controller will monitor the inclination angle of the platform and realize the platform leveling function by means of PID algorithm or feedforward + feedback proportional control method.

[0060] However, the above technical solution has the following two problems:

[0061] (1) PID parameters are difficult to adjust and if the PID parameters are not selected properly, oscillation will occur. This will cause the platform to vibrate during the leveling process, reducing the leveling comfort and causing leveling lag.

[0062] (2) Although the feedforward + feedback proportional control method can effectively solve the problem of leveling lag during component replacement, proportional linear control will cause oscillation during the control process, resulting in leveling jitter.

[0063] In summary, in order to solve the technical defects existing in the above-mentioned related technologies, the present application provides an automatic leveling method for an aerial work platform, obtains the inclination angle between the work platform 1 and the horizontal plane, generates control logic according to the inclination angle, and controls and adjusts the leveling cylinder 11 according to the control logic. In this way, the present application simplifies the leveling algorithm for the leveling problem of the boom platform, adopts the nonlinear forward transfer method to design an automatic leveling algorithm, reduces the system parameters, and can quickly respond to leveling deviations. In addition, it also avoids the leveling oscillation problem caused by linear control.

[0064] According to some embodiments of the present application, in the automatic leveling method of the aerial work platform, step S2 of generating control logic according to the tilt angle and controlling and adjusting the leveling cylinder 11 according to the control logic specifically includes:

[0065] According to the range of the tilt angle, the working parameters of the leveling cylinder 11 are controlled and adjusted.

[0066] In this embodiment, this method can determine the current tilt state of the work platform 1 by further analyzing the range of the tilt angle, so that the working parameters of the leveling cylinder 11 can be adjusted in a targeted manner, so that the work platform 1 can be restored to a horizontal state, avoiding threats to the personal safety of personnel and bringing a good user experience.

[0067] According to some specific embodiments of the present application, in the automatic leveling method of the aerial work platform, the step of controlling and adjusting the working parameters of the leveling cylinder 11 according to the range of the tilt angle specifically includes:

[0068] When the tilt angle is greater than the preset upper limit angle, the maximum current is output to the leveling cylinder 11 and the leveling cylinder 11 is controlled to perform downward leveling.

[0069] It can be understood that when the tilt angle is greater than the preset upper limit angle, it means that the inclination of the working platform 1 relative to the horizontal plane is large. Therefore, the system needs to output the maximum current to the leveling cylinder 11 to control the leveling cylinder 11 to level downward, so that the working platform 1 can be adjusted to a horizontal state.

[0070] According to some specific embodiments of the present application, in the automatic leveling method of the aerial work platform, the step of controlling and adjusting the working parameters of the leveling cylinder 11 according to the range of the tilt angle includes:

[0071] According to the tilt angle being greater than zero and less than the preset upper limit angle, the first preset current is output to the leveling cylinder 11 and the leveling cylinder 11 is controlled to perform downward leveling;

[0072] The first preset current is calculated according to the tilt angle and the specifications of the leveling cylinder 11 .

[0073] It can be understood that when the tilt angle is greater than zero and less than the preset upper limit angle, it means that although the working platform 1 is tilted relative to the horizontal plane, its inclination is small. Therefore, the system does not need to output the maximum current at this time, but can calculate the first preset current suitable for the current situation based on the tilt angle and the specifications of the leveling cylinder 11. The system then outputs the first preset current to the leveling cylinder 11 to control the leveling cylinder 11 to level downward, so that the working platform 1 can be adjusted to a horizontal state.

[0074] Furthermore, for the automatic leveling method of the aerial work platform, in the step of outputting a first preset current to the leveling cylinder 11 and controlling the leveling cylinder 11 to perform downward leveling based on the tilt angle being greater than zero and less than a preset upper limit angle, the calculation formula of the first preset current C1 is as follows:

[0075] C1=C min +(C max -C min )×(1-cos(α / γ))

[0076] Among them, C min C is the minimum current required for the lower leveling valve of the leveling cylinder 11 to open. max To meet the maximum current required for downward leveling, α is the tilt angle, and γ is the preset upper limit angle.

[0077] In this way, the specific size of the first preset current can be calculated through the above calculation formula. It can be understood that since the first preset current is calculated based on the current tilt angle and the specifications of the leveling cylinder 11, the system can process the current situation in a targeted manner by outputting the first preset current, avoiding the waste of excess power, which is in line with the current actual usage scenario.

[0078] According to some specific embodiments of the present application, in the automatic leveling method of the aerial work platform, the step of controlling and adjusting the working parameters of the leveling cylinder 11 according to the range of the tilt angle specifically includes:

[0079] When the tilt angle is less than the preset lower limit angle, the maximum current is output to the leveling cylinder 11 and the leveling cylinder 11 is controlled to perform upward leveling.

[0080] It can be understood that when the tilt angle is less than the preset lower limit angle, it also means that the inclination of the working platform 1 relative to the horizontal plane is large. Therefore, the system needs to output the maximum current to the leveling cylinder 11 to control the leveling cylinder 11 to level up, so that the working platform 1 can be adjusted to a horizontal state.

[0081] According to some specific embodiments of the present application, in the automatic leveling method of the aerial work platform, the step of controlling and adjusting the working parameters of the leveling cylinder 11 according to the range of the tilt angle includes:

[0082] According to the tilt angle being greater than the preset lower limit angle and less than zero, the second preset current is output to the leveling cylinder 11 and the leveling cylinder 11 is controlled to perform upward leveling;

[0083] The second preset current is calculated according to the tilt angle and the specifications of the leveling cylinder 11 .

[0084] It can be understood that when the tilt angle is greater than the preset lower limit angle and less than zero, it means that although the working platform 1 is tilted relative to the horizontal plane, its inclination is small. Therefore, the system does not need to output the maximum current at this time, but can calculate the second preset current suitable for the current situation based on the tilt angle and the specifications of the leveling cylinder 11. The system then outputs the second preset current to the leveling cylinder 11 to control the leveling cylinder 11 to level up, so that the working platform 1 can be adjusted to a horizontal state.

[0085] Furthermore, for the automatic leveling method of the aerial work platform, in the step of outputting a second preset current to the leveling cylinder 11 and controlling the leveling cylinder 11 to perform upward leveling based on the tilt angle being greater than the preset lower limit angle and less than zero, the calculation formula of the second preset current C2 is as follows:

[0086] C2=C min +(C max -C min )×(1-cos(α / γ'))

[0087] Among them, C min C is the minimum current required for the upper leveling valve of the leveling cylinder 11 to open. max To meet the maximum current required for upward leveling, α is the tilt angle, and γ' is the preset lower limit angle.

[0088] In this way, the specific size of the second preset current can be calculated through the above calculation formula. It can be understood that since the second preset current is calculated based on the current tilt angle and the specifications of the leveling cylinder 11, the system can process the current situation in a targeted manner by outputting the second preset current, avoiding the waste of excess power, which is in line with the current actual usage scenario.

[0089] According to some embodiments of the present application, the automatic leveling method of the aerial work platform further includes:

[0090] In each control cycle, the latest current value C output to the leveling cylinder 11 in this control cycle is controlled. newCompared with the old current value C output by the leveling cylinder 11 in the previous control cycle last The relationship between |C new -C last |<δ.

[0091] δ is the maximum value of the output current allowed to change within each preset control cycle.

[0092] In this way, by limiting the current increment, sudden increase or decrease in current can be avoided, ensuring system stability.

[0093] A specific embodiment of the automatic leveling method for the aerial work platform of the present application is described below.

[0094] As shown in Figure 3, an inclination sensor is installed on the work platform 1 to obtain the angle between the work platform 1 and the horizontal plane. When the main arm 2 is raised or lowered, the extension and contraction of the leveling cylinder 11 needs to be adjusted to keep the work platform 1 level with the ground.

[0095] During the movement of the main arm 2, the work platform 1 will move along with the main arm 2, resulting in tilt. The inclination sensor obtains the angle α. The system controls the leveling cylinder 11 to extend and retract according to the angle α. The control process is as follows:

[0096] When α>the preset upper limit angle γ, the controller outputs the maximum current to control the leveling cylinder 11 to perform downward leveling;

[0097] When 0<α<γ, the controller performs downward leveling according to the following formula:

[0098] C1=C min +(C max -C min )×(1-cos(α / γ))

[0099] Among them, C1 is the lower level control current, C min is the minimum current for opening the lower leveling valve, C max To meet the maximum current required for down-leveling;

[0100] When α<the preset lower limit angle γ', the controller outputs the maximum current to control the leveling cylinder 11 to perform upward leveling;

[0101] When γ'<α<0, the controller performs upward leveling according to the following formula:

[0102] C2=C min +(C max -C min )×(1-cos(α / γ'))

[0103] Among them, C2 is the lower level control current, Cmin is the minimum current for opening the upper leveling valve, C max To meet the maximum current required for upper leveling.

[0104] In order to avoid sudden increase or decrease in current, the controller limits the current increment. In each control cycle, the latest control current and the control current of the previous cycle must meet the requirements of |C new -C last |<δ.

[0105] δ is the maximum value of the output current allowed to change within each preset control cycle.

[0106] The automatic leveling device for the aerial work platform provided in the present application is described below. The automatic leveling device for the aerial work platform described below and the automatic leveling method for the aerial work platform described above can be referred to in correspondence with each other.

[0107] As shown in FIG2 , an automatic leveling device for an aerial work platform according to an embodiment of the second aspect of the present application includes a base 3, a main arm 2 rotatably connected to the base 3, and a work platform 1 rotatably connected to the end of the main arm 2. The automatic leveling device includes:

[0108] An acquisition module 110 is used to acquire an inclination angle between the work platform 1 and a horizontal plane;

[0109] The control module 120 is used to generate control logic according to the tilt angle, and control and adjust the leveling cylinder 11 according to the control logic.

[0110] The leveling cylinder 11 is in transmission connection with the working platform 1 and is used to achieve leveling of the working platform 1 .

[0111] According to the embodiment of the third aspect of the present application, the aerial work platform includes a base 3, a main arm 2 rotatably connected to the base 3, and a work platform 1 rotatably connected to the end of the main arm 2; it also includes a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the program, it implements the automatic leveling method of the aerial work platform as in the embodiment of the first aspect of the present application.

[0112] According to the aerial work platform and automatic leveling device thereof of the embodiment of the present application, the leveling algorithm is simplified to solve the leveling problem of the boom platform, and the automatic leveling algorithm is designed using a nonlinear forward transfer method, which reduces system parameters and can quickly respond to leveling deviations. In addition, the leveling oscillation problem caused by linear control is avoided.

[0113] FIG4 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG4 , the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communications bus 840. The processor 810, the communications interface 820, and the memory 830 communicate with each other via the communications bus 840. The processor 810 may invoke logic instructions in the memory 830 to execute an automatic leveling method, including: obtaining the tilt angle between the work platform 1 and the horizontal plane; generating control logic based on the tilt angle; and controlling and adjusting the leveling cylinder 11 based on the control logic.

[0114] In addition, the logic instructions in the above-mentioned memory 830 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 various embodiments 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.

[0115] On the other hand, the present application also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the automatic leveling method provided by the above methods, including: obtaining the inclination angle between the working platform 1 and the horizontal plane; generating control logic according to the inclination angle, and controlling and adjusting the leveling cylinder 11 according to the control logic.

[0116] On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the automatic leveling method provided by the above methods, including: obtaining the inclination angle between the working platform 1 and the horizontal plane; generating control logic according to the inclination angle, and controlling and adjusting the leveling cylinder 11 according to the control logic.

[0117] 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. That is, they may be located in one place 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.

[0118] 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 the 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 causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or certain parts of the embodiment.

[0119] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0120] 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. An automatic leveling method for an aerial work platform, the aerial work platform comprising a base, a main arm rotatably connected to the base, and a work platform rotatably connected to the end of the main arm, characterized in that: The automatic leveling method comprises: Obtaining an inclination angle between the working platform and a horizontal plane; Generate control logic according to the tilt angle, and control and adjust the leveling cylinder according to the control logic; Wherein, the leveling cylinder is transmission-connected to the working platform and is used to achieve the leveling of the working platform.

2. The automatic leveling method for an aerial work platform according to claim 1, characterized in that: The step of generating control logic according to the tilt angle and controlling and adjusting the leveling cylinder according to the control logic specifically includes: According to the interval range of the tilt angle, the working parameters of the leveling cylinder are controlled and adjusted.

3. The automatic leveling method for an aerial work platform according to claim 2, characterized in that: The step of controlling and adjusting the working parameters of the leveling cylinder according to the interval range of the tilt angle specifically includes: According to the tilt angle being greater than the preset upper limit angle, the maximum current is output to the leveling cylinder and the leveling cylinder is controlled to perform downward leveling.

4. The automatic leveling method for an aerial work platform according to claim 3, characterized in that: The step of controlling and adjusting the working parameters of the leveling cylinder according to the interval range of the tilt angle specifically includes: According to the tilt angle being greater than zero and less than the preset upper limit angle, a first preset current is output to the leveling cylinder and the leveling cylinder is controlled to perform downward leveling; The first preset current is calculated according to the tilt angle and the specifications of the leveling cylinder.

5. The automatic leveling method for an aerial work platform according to claim 4, characterized in that: In the step of outputting a first preset current to the leveling cylinder and controlling the leveling cylinder to perform downward leveling according to the tilt angle being greater than zero and less than the preset upper limit angle, the calculation formula of the first preset current C1 is as follows: C1=C min +(C max -C min )×(1-cos(α / γ)) Among them, C min is the minimum current required for the lower leveling valve of the leveling cylinder to open, C max To meet the maximum current required for downward leveling, α is the tilt angle, and γ is the preset upper limit angle.

6. The automatic leveling method for an aerial work platform according to claim 2, characterized in that: The step of controlling and adjusting the working parameters of the leveling cylinder according to the interval range of the tilt angle specifically includes: According to the tilt angle being less than the preset lower limit angle, the maximum current is output to the leveling cylinder and the leveling cylinder is controlled to perform upward leveling.

7. The automatic leveling method for an aerial work platform according to claim 6, characterized in that: The step of controlling and adjusting the working parameters of the leveling cylinder according to the interval range of the tilt angle specifically includes: According to the tilt angle being greater than a preset lower limit angle and less than zero, a second preset current is output to the leveling cylinder and the leveling cylinder is controlled to perform upward leveling; The second preset current is calculated based on the tilt angle and the specifications of the leveling cylinder.

8. The automatic leveling method for an aerial work platform according to claim 7, characterized in that: In the step of outputting a second preset current to the leveling cylinder and controlling the leveling cylinder to perform upward leveling according to the tilt angle being greater than the preset lower limit angle and less than zero, the calculation formula of the second preset current C2 is as follows: C2=C min +(C max -C min )×(1-cos(α / γ')) Among them, C min is the minimum current required for the upper leveling valve of the leveling cylinder to open, C max To meet the maximum current required for upward leveling, α is the tilt angle, and γ' is the preset lower limit angle.

9. The automatic leveling method for an aerial work platform according to any one of claims 1 to 8, characterized in that: Also includes: In each control cycle, the latest current value C output to the leveling cylinder in this control cycle is controlled new Compared with the old current value C output by the leveling cylinder in the previous control cycle last The relationship between |C new -C last |<δ; δ is the maximum value of the output current allowed to change in each preset control cycle.

10. An automatic leveling device for an aerial work platform, the aerial work platform comprising a base, a main arm rotatably connected to the base, and a work platform rotatably connected to the end of the main arm, characterized in that: The automatic leveling device comprises: An acquisition module, used for acquiring an inclination angle between the working platform and a horizontal plane; A control module, used to generate control logic according to the tilt angle, and control and adjust the leveling cylinder according to the control logic; Wherein, the leveling cylinder is transmission-connected to the working platform and is used to achieve the leveling of the working platform.

11. An aerial work platform, characterized in that: It includes a base, a main arm rotatably connected to the base, and a working platform rotatably connected to the end of the main arm; It also includes 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 automatic leveling method for the aerial work platform as described in any one of claims 1 to 9 is implemented.

Images