Floating safety control method and apparatus, and device, medium and aerial work platform

Abstract

Disclosed in the present application are a floating safety control method and apparatus, and a device, a medium and an aerial work platform. The floating safety control method comprises: acquiring a first tilt angle, wherein the first tilt angle is a tilt angle of a vehicle frame when a vehicle has not fallen into a pit; acquiring a second tilt angle, wherein the second tilt angle is a tilt angle of the vehicle frame after the vehicle falls into the pit; acquiring a first change angle, wherein the first change angle is the difference between the first tilt angle and the second tilt angle; and on the basis of the first change angle, executing a floating action or executing a safety control action, wherein the floating action is used for controlling, after the vehicle falls into the pit, a single-side floating oil cylinder corresponding to a triggered corresponding single-side floating switch to act, and the safety control action is used for restricting the floating oil cylinder from acting. By means of the present application, safety control for the action of a floating oil cylinder by an aerial work platform can be realized, thereby facilitating the safe work and stable operation of the aerial work platform.

Description

Floating safety control method, device, equipment, medium and aerial work platform

[0001] Cross-reference to related applications

[0002] The present application is based on the Chinese patent application No. 202411353881.5, filed on September 26, 2024, and claims priority to the Chinese patent application, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the field of aerial work platforms, in particular to a floating safety control method, device, equipment, medium and aerial work platform. BACKGROUND

[0004] The operation safety of the off-road scissor self-propelled platform needs to be fully guaranteed when walking at high altitude, and the floating function is a very important control protection function. The floating function is that when the front wheel of the off-road scissor self-propelled platform falls into a pit during the running process after the working platform is lifted, the swing shaft, i.e. the floating oil cylinder, can perform a floating action according to the control logic, so that the front wheel immediately contacts the ground, ensuring that the whole vehicle will not tip over, thereby ensuring the safety and stability of the working platform under this working condition. However, when the equipment fails, the floating action is performed incorrectly, which will seriously affect the safety and stability of the current working platform, and may cause the whole vehicle to tip over and other serious safety accidents, which seriously threatens the safety of the equipment and the lives of the workers on the equipment. SUMMARY

[0005] The present application aims to provide a floating safety control method, device, equipment, medium and aerial work platform, which can realize the safety control of the floating oil cylinder action of the aerial work platform, and is helpful for the safe operation and stable operation of the aerial work platform.

[0006] The floating safety control method according to the first aspect of the present application comprises:

[0007] Obtaining a first inclination angle, the first inclination angle being an inclination angle of a vehicle frame when the vehicle is not falling into a pit;

[0008] Obtaining a second inclination angle, the second inclination angle being an inclination angle of the vehicle frame after the vehicle falls into the pit; wherein a corresponding unilateral floating switch is triggered after the vehicle falls into the pit, the unilateral floating switch comprising a left floating switch and a right floating switch;

[0009] Obtaining a first change angle, the first change angle being a difference between the first inclination angle and the second inclination angle;

[0010] perform a floating action or perform a safety control action according to the first change angle; the floating action is used for controlling a single-side floating oil cylinder action corresponding to a triggered corresponding single-side floating switch after the vehicle falls into a pit, and the safety control action is used for limiting the floating oil cylinder action.

[0011] According to some embodiments of the present application, performing a floating action or performing a safety control action according to the first change angle comprises:

[0012] Determining a wheel falling state of the vehicle according to the first change angle and a triggered corresponding single-side floating switch after the vehicle falls into a pit;

[0013] Performing the floating action or performing the safety control action according to the wheel falling state of the vehicle.

[0014] According to some embodiments of the present application, the inclination angle of the vehicle frame in the horizontal state is zero degree, the inclination angle of the vehicle frame in the left high and right low state is positive angle, and the inclination angle of the vehicle frame in the left low and right high state is negative angle; the first change angle is a first difference value obtained by subtracting the first inclination angle from the second inclination angle;

[0015] The determining a wheel falling state of the vehicle according to the first change angle and a triggered corresponding single-side floating switch after the vehicle falls into a pit comprises:

[0016] In a case that the left floating switch is triggered, and when the first change angle is less than zero and an absolute value of the first change angle is greater than a first threshold value, determining that the wheel falling state of the vehicle is a left front wheel falling state;

[0017] In a case that the right floating switch is triggered, and when the first change angle is greater than zero and an absolute value of the first change angle is greater than a first threshold value, determining that the wheel falling state of the vehicle is a right front wheel falling state;

[0018] In a case that the wheel falling state of the vehicle cannot be determined as the left front wheel falling state or the right front wheel falling state, determining that the wheel falling state of the vehicle is an unknown falling state.

[0019] According to some embodiments of the present application, performing a floating action or performing a safety control action according to the wheel falling state comprises:

[0020] In a case that the wheel falling state of the vehicle is the left front wheel falling state, controlling a left floating oil cylinder action corresponding to the left floating switch being triggered;

[0021] In a case that the wheel falling state of the vehicle is the right front wheel falling state, controlling a right floating oil cylinder action corresponding to the right floating switch being triggered;

[0022] In a case where the wheel drop state is the unknown drop state, the safety control action is performed.

[0023] According to some embodiments of the present application, before the first inclination angle is acquired, the method further comprises:

[0024] The first left floating pressure and the first right floating pressure are acquired, the first left floating pressure and the first right floating pressure being working pressures of left and right floating cylinders when the vehicle is not dropped into a pit;

[0025] In a case where the first left floating pressure or the first right floating pressure is greater than a second threshold value and a duration is greater than a first preset judgment time, the safety control action is performed.

[0026] According to some embodiments of the present application, before the second inclination angle is acquired, the method further comprises:

[0027] The second floating pressure is acquired, the second floating pressure being a working pressure of a unilateral floating cylinder corresponding to a triggered corresponding unilateral floating switch after the vehicle is dropped into a pit;

[0028] In a case where the second floating pressure is less than a third threshold value and a duration is greater than a second preset judgment time, the safety control action is performed.

[0029] According to the second aspect embodiment of the present application, the floating safety control device comprises:

[0030] The first acquisition module is configured to acquire a first inclination angle, the first inclination angle being an inclination angle of a vehicle frame when the vehicle is not dropped into a pit;

[0031] The second acquisition module is configured to acquire a second inclination angle, the second inclination angle being an inclination angle of the vehicle frame after the vehicle is dropped into a pit; wherein a corresponding unilateral floating switch is triggered after the vehicle is dropped into a pit, the unilateral floating switch comprising a left floating switch and a right floating switch;

[0032] The third acquisition module is configured to acquire a first change angle, the first change angle being a difference between the first inclination angle and the second inclination angle;

[0033] The execution module is configured to perform a floating action or a safety control action according to the first change angle; the floating action being configured to control a unilateral floating cylinder corresponding to a triggered corresponding unilateral floating switch to act after the vehicle is dropped into a pit, and the safety control action being configured to limit the floating cylinder to act.

[0034] The electronic device according to the third aspect of the present application comprises a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the floating safety control method according to any one of the first aspect of the present application.

[0035] The aerial work platform according to the fourth aspect of the present application comprises the electronic device according to the third aspect of the present application.

[0036] The computer readable storage medium according to the fifth aspect of the present application stores computer executable instructions for executing the floating safety control method according to the first aspect of the present application.

[0037] In the embodiments of the present application, the actual dip side of the vehicle in the dip condition is determined by acquiring the change of the frame inclination angle of the aerial work platform from the time when the vehicle is not in the dip condition to the time when the dip condition occurs. Only when the single-side floating switch triggered by the dip of the vehicle and the actual dip side determined are on the same side, the floating action is performed. The actual angle change of the vehicle and the logic state of the floating switch are kept consistent, and the action direction of the floating cylinder is consistent with the corresponding action logic, so that the vehicle does not fall down due to the reverse action of the floating cylinder when the vehicle fails, the safety control of the floating cylinder action is realized, the safety of the floating function is improved, the stability of the vehicle is met, and the life safety of the personnel on the vehicle is ensured.

[0038] Other features and advantages of the present application will be described in the following description, and some will become apparent from the description, or will be learned from the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0040] Fig. 1 is a flow diagram of an embodiment of the floating safety control method of the present application;

[0041] Fig. 2 is a structural diagram of an embodiment of the floating safety control device of the present application;

[0042] Fig. 3 is a hardware structure diagram of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0043] Embodiments of the present application are described below in detail with reference to the accompanying drawings, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and cannot be understood as a limitation of the present application.

[0044] In the description of the present application, if there is a description to first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.

[0045] In the description of the present application, it is to be understood that the orientation description, such as up, down, etc., indicates the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0046] In the description of the present application, it is to be understood that, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0047] The technical solutions of the present application will be described below in detail in combination with the drawings. Obviously, the following described embodiments are only part of the embodiments of the present application, not all embodiments.

[0048] FIG. 1 is a flowchart of a floating safety control method according to an embodiment of the present application. In the following, referring to FIG. 1, the embodiments of the present application will be further described.

[0049] The embodiments of the present application propose a floating safety control method, which comprises the following steps:

[0050] Step 101, a first inclination angle is obtained, the first inclination angle being an inclination angle of a vehicle frame when the vehicle is not in a pit;

[0051] Step 102, a second inclination angle is obtained, the second inclination angle being an inclination angle of the vehicle frame after the vehicle is in the pit; wherein a corresponding single-sided floating switch is triggered after the vehicle is in the pit, the single-sided floating switch comprising a left floating switch and a right floating switch;

[0052] Step 103, a first change angle is obtained, the first change angle being a difference between the first inclination angle and the second inclination angle;

[0053] At step 104, a floating action or a safety control action is performed according to the first change angle; the floating action is used to control and trigger the action of the single-side floating oil cylinder corresponding to the corresponding single-side floating switch, and the safety control action is used to limit the action of the floating oil cylinder.

[0054] In the embodiment of the application, the actual pit falling side of the vehicle in the pit falling condition is determined by obtaining the change of the frame tilt angle of the aerial work platform from when the vehicle is not in the pit to after the pit occurs. Only when the single-side floating switch triggered by the pit of the vehicle and the actual pit falling side determined are on the same side, the floating action is performed. The actual angle change of the vehicle and the triggering logic state of the floating switch are effectively ensured to be consistent, and then the action direction of the floating oil cylinder and the corresponding action logic are consistent. The occurrence of the accident that the vehicle is tilted due to the floating oil cylinder performing the reverse action when the vehicle fails is avoided. The safety control of the floating oil cylinder action is realized. The safety of the floating function is improved. The stability of the vehicle is met. The life safety of the personnel working on the vehicle is ensured.

[0055] The vehicle can be an aerial work platform, i.e., an aerial work vehicle. Specifically, it can be a scissor-type aerial work platform or a self-propelled aerial work platform.

[0056] For example, the vehicle is an off-road scissor-type self-propelled aerial work platform.

[0057] In order to reflect the direction of the tilt of the vehicle, it is convenient to determine whether the tilt is to the left or to the right by the tilt angle. The tilt angle of the above-mentioned vehicle frame has a positive and negative sign, and the corresponding relationship between the left and right tilt directions and the positive and negative signs needs to be set.

[0058] For example, the tilt angle of the vehicle frame in the horizontal state is determined to be zero degrees. When the vehicle frame is high on the left and low on the right, i.e., tilted to the right, the tilt angle is a positive angle. When the vehicle frame is low on the left and high on the right, i.e., tilted to the left, the tilt angle is a negative angle.

[0059] The tilt angle of the above-mentioned vehicle frame can reflect the tilt direction and the tilt degree of the vehicle. The tilt direction can reflect whether the vehicle is tilted to the left or to the right. The tilt degree can reflect the horizontal height difference of the left and right sides of the vehicle.

[0060] The tilt direction can be determined by the positive and negative of the tilt angle.

[0061] For example, after setting that the tilt angle of the vehicle frame in the horizontal state is determined to be zero degrees, the tilt angle of the vehicle frame is a positive angle when the vehicle frame is high on the left and low on the right, i.e., tilted to the right, and the tilt angle of the vehicle frame is a negative angle when the vehicle frame is low on the left and high on the right, i.e., tilted to the left, the tilt angle being positive can be determined that the vehicle frame is high on the left and low on the right, i.e., tilted to the right, and the tilt angle being negative can be determined that the vehicle frame is low on the left and high on the right, i.e., tilted to the left.

[0062] The inclination degree can be determined by the absolute value of the inclination angle.

[0063] When the inclination degree of the vehicle frame is small, the left and right sides of the vehicle are at a similar height, and the vehicle runs smoothly. When the inclination degree of the vehicle frame is large, the left and right sides of the vehicle are at a large height difference, and the vehicle tilts to one side, which may result in a situation where one side of the vehicle falls into a pit and the left and right sides of the vehicle are at a large height difference. Therefore, the inclination degree can be positively correlated with the absolute value of the inclination angle.

[0064] For example, the larger the absolute value of the obtained inclination angle, the greater the inclination degree, and the smaller the absolute value of the obtained inclination angle, the smaller the inclination degree.

[0065] The inclination angle of the vehicle frame can be measured by a level sensor. The level sensor can be arranged on the vehicle frame to measure the inclination angle of the vehicle frame.

[0066] The vehicle frame can be a frame between the left front wheel and the right front wheel of the vehicle, and the change in the inclination angle of the frame between the left front wheel and the right front wheel of the vehicle can facilitate the determination of the occurrence of the pit-falling situation of the left front wheel or the right front wheel.

[0067] The pit-falling situation of the vehicle can be the pit-falling situation of the left front wheel or the right front wheel, because the front wheels of the vehicle usually fall into a pit during the driving of the vehicle. The float switch can be arranged on the rear wheel to detect whether the front wheel falls into a pit.

[0068] The triggering of the corresponding unilateral float switch after the pit-falling of the vehicle can be the triggering of the left float switch after the pit-falling of the left front wheel of the vehicle and the triggering of the right float switch after the pit-falling of the right front wheel of the vehicle.

[0069] Under normal circumstances, after the unilateral float switch is triggered, the main controller performs a float action on the side where the float switch is triggered according to the obtained side, the main controller sends a control signal to the float function control valve, the float function control valve makes the unilateral float cylinder of the corresponding side extend to support the pit-falling side, and locks the float cylinder to ensure the position of the float cylinder, so as to ensure that the vehicle does not tip over after falling into a pit and to ensure the safety of the vehicle.

[0070] However, when the vehicle fails, the side where the float switch is triggered can be inconsistent with the actual pit-falling side, and the float switch triggering signal transmitted to the main controller can also be incorrect, which causes the side where the main controller obtains the triggering to be inconsistent with the actual pit-falling side. In this case, if the main controller performs a float action according to the obtained side where the float switch is triggered, the control logic is incorrect, which not only does not support the pit-falling side, but also may lift the side that does not fall into a pit, which may result in a serious accident such as tipping over.

[0071] In addition, in the case that the left front wheel and the right front wheel of the vehicle sink into the pit at the same time, the left floating switch and the right floating switch are both triggered, but the case that the left front wheel and the right front wheel sink into the pit at the same time is more complex, and the extension of the floating oil cylinders on the left and right sides at the same time does not necessarily have a good effect on the stability of the vehicle, but may cause the vehicle to have a risk of tilting.

[0072] The floating switch can be a travel switch. The working principle of the travel switch is mainly to use the collision of the moving parts of the production machinery to actuate the contact, so as to realize the on-off control of the circuit and achieve a certain control purpose. Usually, such switches are used to limit the position or travel of the moving machinery, so that the moving machinery automatically stops, reverses, changes speed or automatically moves back and forth at a certain position or travel. Specifically, the travel switch generally has a set of normally open contacts and a set of normally closed contacts inside. When the moving part collides with the operating mechanism of the travel switch, it will drive the internal transmission mechanism and auxiliary contact to act, thereby realizing the opening and closing of the contact.

[0073] For example, the left floating switch can be a left travel switch, and the right floating switch can be a right travel switch. When the vehicle does not sink into the pit, the left and right travel switches are both in an open state; when the left front wheel of the vehicle sinks into the pit, the mechanical action in the sinking process triggers the left floating switch, so that the left travel switch is switched to a closed state; when the right front wheel of the vehicle sinks into the pit, the mechanical action in the sinking process triggers the right floating switch, so that the right travel switch is switched to a closed state.

[0074] The first inclination angle is the inclination angle of the vehicle frame when the vehicle does not sink into the pit, and the second inclination angle is the inclination angle of the vehicle frame after the vehicle sinks into the pit. When the vehicle does not sink into the pit, the left floating switch and the right floating switch are both triggered, and when the vehicle sinks into the pit, the left floating switch or the right floating switch or both are triggered.

[0075] The first change angle is the difference between the first inclination angle and the second inclination angle, which can be the difference between the second inclination angle minus the first inclination angle, or the difference between the first inclination angle minus the second inclination angle. The first change angle reflects the actual change of the inclination angle of the vehicle frame after the vehicle sinks into the pit, so that the actual sinking side and the actual inclination condition can be determined by analyzing the first change angle.

[0076] The actual sinking side is determined by the first change angle, rather than only by the second inclination angle after sinking, which can achieve more accurate determination. This is because when the vehicle is not on the horizontal plane before sinking, the sinking side determined by the second inclination angle after sinking may not be consistent with the actual sinking side, so that the determination result consistent with the actual situation can be obtained by determining the difference between the first inclination angle before sinking and the second inclination angle after sinking, i.e. the first change angle.

[0077] The floating action can be triggered by the floating switch after the vehicle falls into a pit, and the main controller sends a control signal to the floating function control valve according to the side of the triggered floating switch, so that the floating function control valve controls the corresponding single-side floating oil cylinder to extend, supports the pit side, and locks the floating oil cylinder to ensure the position of the floating oil cylinder, so that the vehicle does not fall after falling into a pit.

[0078] For example, the floating action can be triggered by the left floating switch after the vehicle falls into a pit, and the main controller sends a control signal to the floating function control valve, so that the floating function control valve controls the left floating oil cylinder to extend, and locks the floating oil cylinder to ensure the position of the floating oil cylinder. It should be noted that no matter whether the vehicle actually falls into a pit on the left front wheel or the right front wheel, as long as the left floating switch is triggered, the left floating oil cylinder will extend after the floating action is executed.

[0079] Therefore, the floating action or the safety control action according to the first change angle can be executed when the actual pit side of the vehicle is consistent with the side of the triggered switch.

[0080] The safety control action can be that the main controller sends a control signal to the floating function control valve to limit the extension of the corresponding single-side floating oil cylinder after the vehicle falls into a pit and triggers the floating switch.

[0081] For example, the vehicle actually falls into a pit on the right front wheel, but the left floating switch is triggered due to a fault. The safety control action can be that the main controller sends a control signal to the floating function control valve to limit the extension of the left floating oil cylinder, thereby avoiding the occurrence of further right tilting or even rollover of the vehicle.

[0082] Therefore, the floating action or the safety control action according to the first change angle can be executed when the actual pit side of the vehicle is inconsistent with the side of the triggered floating switch.

[0083] The safety control action can include limiting the walking action of the aerial work platform and limiting the lifting action of the aerial work platform.

[0084] The safety control action can also include an alarm action to report that the vehicle is floating abnormally, remind the worker to pay attention to the operation safety and timely maintenance.

[0085] In some embodiments, the floating action or the safety control action according to the first change angle includes:

[0086] The wheel falling state of the vehicle is determined according to the corresponding single-side floating switch triggered after the vehicle falls into a pit and the first change angle;

[0087] According to the wheel drop state of the vehicle, a float action is performed or a safety control action is performed.

[0088] In this embodiment, by combining the triggering side of the corresponding float switch after the vehicle drops into a pit with the first change angle condition, it is determined whether the triggering side of the float switch and the actual pit drop condition are logically consistent, thereby ensuring the accuracy of the determination and effectively ensuring that the actual angle change of the vehicle and the triggering logic state of the float switch remain consistent.

[0089] The vehicle wheel drop state can be determined when the triggering side of the corresponding float switch after the vehicle drops into a pit and the first change angle condition are logically consistent, i.e., the vehicle wheel drop state is determined to be the side of the triggered unilateral float switch corresponding to the pit drop. When the triggering side of the corresponding float switch after the vehicle drops into a pit and the first change angle condition are not logically consistent, the specific vehicle wheel drop state cannot be determined.

[0090] The float action is performed only when the vehicle wheel drop state can be determined, and the safety control action is performed when the specific vehicle wheel drop state cannot be determined.

[0091] In some embodiments, the inclination angle of the vehicle frame in the horizontal state is zero degrees, the inclination angle of the vehicle frame when the left side is higher than the right side is a positive angle, and the inclination angle of the vehicle frame when the left side is lower than the right side is a negative angle. The first change angle is a first difference value obtained by subtracting the first inclination angle from the second inclination angle.

[0092] The vehicle wheel drop state is determined according to the triggering of the corresponding unilateral float switch after the vehicle drops into a pit and the first change angle, and includes:

[0093] When the left float switch is triggered, and the first change angle is less than zero and the absolute value of the first change angle is greater than a first threshold value, the vehicle wheel drop state is determined to be a left front wheel drop state.

[0094] When the right float switch is triggered, and the first change angle is greater than zero and the absolute value of the first change angle is greater than a first threshold value, the vehicle wheel drop state is determined to be a right front wheel drop state.

[0095] When the vehicle wheel drop state cannot be determined to be a left front wheel drop state or a right front wheel drop state, the vehicle wheel drop state is determined to be an unknown drop state.

[0096] In this embodiment, a specific determination method of the wheel drop state is given, the determination conditions of the left front wheel drop state and the right front wheel drop state are determined, and the unknown drop state is determined when the conditions cannot be determined, so that the actual state of the vehicle can be determined effectively, and the safety of the subsequent floating action is ensured.

[0097] The inclination angle of the vehicle frame in the horizontal state is zero degree, the inclination angle of the vehicle frame when the left side is higher than the right side is a positive angle, and the inclination angle of the vehicle frame when the left side is lower than the right side is a negative angle. The positive and negative of the inclination angle of the vehicle frame are defined. The first change angle is a first difference value obtained by subtracting the first inclination angle from the second inclination angle, and the first change angle is specifically defined.

[0098] Under the above definition, when the left front wheel of the vehicle drops into a pit, the inclination angle of the vehicle frame should be inclined to the left side on the basis of the original first inclination angle state to reach the second inclination angle. Since the inclination angle of the vehicle frame when the left side is lower than the right side is a negative angle, the first change angle, i.e. the first difference value obtained by subtracting the first inclination angle from the second inclination angle, should be negative.

[0099] When the right front wheel of the vehicle drops into a pit, the inclination angle of the vehicle frame should be inclined to the right side on the basis of the original first inclination angle state to reach the second inclination angle. Since the inclination angle of the vehicle frame when the left side is higher than the right side is a positive angle, the first change angle, i.e. the first difference value obtained by subtracting the first inclination angle from the second inclination angle, should be positive.

[0100] In addition, the floating action requires that the change amount of the inclination angle of the vehicle frame reaches a certain change angle, i.e. the minimum change angle. If the change amount of the inclination angle of the vehicle frame is too small, it does not affect the operation process or the driving process of the vehicle, and the floating action does not need to be performed, so it cannot be determined that the drop pit condition occurs. When the change amount of the inclination angle of the vehicle frame is greater than the minimum change angle, it can be determined that the drop pit condition occurs. The minimum change angle can be set according to the specifications of the vehicle equipment and other specific conditions.

[0101] The first threshold value can be the absolute value of the minimum change angle.

[0102] The absolute value of the first change angle is greater than the first threshold value, i.e. the change amount of the inclination angle of the vehicle frame is greater than the minimum change angle, so it can be determined that the drop pit condition occurs.

[0103] In the case that the left floating switch is triggered, when the first change angle is less than zero, it can be determined that the left front wheel of the vehicle falls into a pit, and when the absolute value of the first change angle is greater than the first threshold, it can be determined that the change amount of the frame inclination angle is greater than the minimum change angle. Thus, the side of the triggered floating switch is consistent with the actual pit falling side, and the determination condition of the pit falling condition is met, so it can be determined that the wheel falling state of the vehicle is the left front wheel falling state.

[0104] In the case that the right floating switch is triggered, when the first change angle is greater than zero, it can be determined that the right front wheel of the vehicle falls into a pit, and when the absolute value of the first change angle is greater than the first threshold, it can be determined that the change amount of the frame inclination angle is greater than the minimum change angle. Thus, the side of the triggered floating switch is consistent with the actual pit falling side, and the determination condition of the pit falling condition is met, so it can be determined that the wheel falling state of the vehicle is the right front wheel falling state.

[0105] In the case that the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state, it can be the case that the absolute value of the first change angle is less than or equal to the first threshold, that is, the change amount of the frame inclination angle is not greater than the minimum change angle, which does not meet the determination condition of the pit falling condition, so it is determined that the wheel falling state of the vehicle is the unknown falling state.

[0106] In the case that the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state, it can be the case that the left floating switch is triggered and the absolute value of the first change angle is less than the first threshold, or the case that the right floating switch is triggered and the absolute value of the first change angle is greater than the first threshold. At this time, the side of the triggered floating switch is not consistent with the actual pit falling side, so it is determined that the wheel falling state of the vehicle is the unknown falling state.

[0107] In the case that the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state, it can be the case that the left floating switch and the right floating switch are triggered at the same time. Since the conditions that the first change angle is less than zero and the first change angle is greater than zero cannot be met at the same time, it is determined that the wheel falling state of the vehicle is the unknown falling state. At this time, the left and right front wheels of the vehicle fall into a pit at the same time, which is a relatively complex situation. The left and right floating cylinders are not necessarily effective for the stability of the vehicle, and may even cause the vehicle to have a risk of rolling over, so it is determined that the wheel falling state of the vehicle is the unknown falling state.

[0108] In some cases, the definition of the positive and negative of the inclination angle of the frame and the definition of the first change angle can be changed according to the actual situation, and the determination condition of determining the wheel falling state of the vehicle needs to be modified accordingly. Here, it is not repeated.

[0109] In some embodiments, according to the wheel drop state, a floating action is performed or a safety control action is performed, including:

[0110] In a case where the wheel drop state is a left front wheel drop state, a left floating cylinder corresponding to a left floating switch trigger is controlled to act;

[0111] In a case where the wheel drop state is a right front wheel drop state, a right floating cylinder corresponding to a right floating switch trigger is controlled to act;

[0112] In a case where the wheel drop state is an unknown drop state, a safety control action is performed.

[0113] In the embodiment, only when it is determined that the wheel drop state of the vehicle is a left front wheel drop state or a right front wheel drop state, the floating action is performed, and the corresponding unilateral floating cylinder is controlled to act, which can effectively avoid the risk of floating cylinder action in the unknown drop state, improve the safety of the floating function, and meet the requirement of vehicle stability.

[0114] The above-mentioned wheel drop state is an unknown drop state, which can be a case where the change amount of the frame inclination angle of the vehicle after dropping into a pit is not greater than a minimum change angle, that is, the pit after dropping is relatively shallow, and the floating action does not need to be performed.

[0115] The above-mentioned wheel drop state is an unknown drop state, which can also be a case where the floating switch side triggered is inconsistent with the actual pit drop side, such as triggering a left floating switch while actually dropping into a pit on the right side, or triggering a right floating switch while actually dropping into a pit on the left side. In this case, the floating cylinder on the corresponding side is controlled to extend according to the side of the triggered floating switch, which will only cause more serious side tilting phenomenon, and therefore the safety control action needs to be performed.

[0116] The above-mentioned wheel drop state is an unknown drop state, which can also be a case where the left front wheel and the right front wheel of the vehicle drop into a pit at the same time, and the left floating switch and the right floating switch are triggered at the same time. In this drop state, the floating cylinders on the left side and the right side are simultaneously extended, which may not necessarily have a good effect on the stability of the vehicle, and instead may cause the vehicle to have a side tilting risk, and therefore the safety control action needs to be performed.

[0117] In some embodiments, before the first inclination angle is obtained, the method further includes:

[0118] The first left floating pressure and the first right floating pressure are obtained, and the first left floating pressure and the first right floating pressure are working pressures of the floating cylinders on the left side and the right side when the vehicle does not drop into a pit;

[0119] In a case where the first left floating pressure or the first right floating pressure is greater than a second threshold value and the duration is greater than a first preset judgment time, the safety control action is performed.

[0120] In the embodiment, the safety control action is performed when the pressure value is abnormal by detecting the left and right floating pressures when the vehicle is not falling into a pit and judging whether it is in a normal range, and the safety of the floating function is ensured by safety detection of the floating pressure.

[0121] The working pressures of the left and right floating cylinders when the vehicle is not falling into a pit are 0 bar in theory under normal conditions, but in actual conditions, the actual values can have a certain floating within a normal range, which can be 0 bar to a second threshold value. When the first left floating pressure or the first right floating pressure is higher than the second threshold value for more than a first preset judgment time, it is indicated that an abnormality occurs, and the safety control action needs to be performed.

[0122] The working pressures of the left and right floating cylinders when the vehicle is not falling into a pit can be measured by floating pressure detection sensors arranged near the connection positions of the floating function control valve and the floating cylinders, wherein the left floating pressure detection sensor is arranged near the connection position of the left floating cylinder and the floating function control valve, and the right floating pressure detection sensor is arranged near the connection position of the right floating cylinder and the floating function control valve.

[0123] The second threshold value can be set according to actual conditions. The second threshold value can be set to be between 30 and 50 bar, and specifically, the second threshold value can be 40 bar.

[0124] The first preset judgment time can be set according to actual conditions.

[0125] In some embodiments, before the second inclination angle is obtained, the method further includes:

[0126] The second floating pressure is obtained, which is the working pressure of the unilateral floating cylinder corresponding to the triggered unilateral floating switch when the vehicle falls into a pit.

[0127] When the second floating pressure is less than a third threshold value and the duration is greater than a second preset judgment time, the safety control action is performed.

[0128] In the embodiment, the safety control action is performed when the pressure value is abnormal by detecting the unilateral floating pressure corresponding to the triggered unilateral floating switch when the vehicle falls into a pit and judging whether it is in a normal range, and the safety of the floating function is ensured by safety detection of the floating pressure.

[0129] The second floating pressure can be the working pressure of the left floating cylinder corresponding to the triggered left floating switch when the vehicle falls into a pit, and can also be the working pressure of the right floating cylinder corresponding to the triggered right floating switch when the vehicle falls into a pit.

[0130] The second floating pressure, under normal circumstances, after the vehicle falls into a pit, the floating cylinder on the corresponding side extends and supports the vehicle, and theoretically the floating pressure on the corresponding side can be the maximum working pressure of the floating cylinder, but in actual situations, the actual value can have a certain floating within a normal range, which can be between the third threshold value and the maximum working pressure of the floating cylinder. When the second floating pressure is lower than the third threshold value for more than a second preset judgment time, it indicates that an abnormality occurs, and the floating cylinder cannot reliably support, and a safety control action needs to be performed.

[0131] The third threshold value can be set according to actual situations. When the maximum working pressure of the floating cylinder is 240 bar, the third threshold value can be set to be between 190 bar and 210 bar, and specifically, the third threshold value can be 200 bar.

[0132] The second preset judgment time can be set according to actual situations.

[0133] In some embodiments, when the scissors platform of the aerial work platform is raised to the working height, the floating control function of the device needs to be controlled according to the control logic during the walking action to ensure the reliable and stable operation of the whole vehicle under this working condition. Specifically, when not falling into a pit, the first left floating pressure and the first right floating pressure are obtained, it is judged whether it is within a normal range, if not within the normal range, a safety control action is performed, and a first inclination angle is obtained; after falling into a pit, a second floating pressure is obtained, it is judged whether it is within a normal range, if not within the normal range, a safety control action is performed, and a second inclination angle is obtained, and then a first change angle is obtained, and the wheel drop state is judged, when the wheel drop state is a left front wheel drop state or a right front wheel drop state, a floating action is performed, and when the wheel drop state is an unknown drop state, a safety control action is performed.

[0134] In some embodiments, when the scissors platform of the aerial work platform is not raised, the floating cylinder can freely float according to the road conditions, cross obstacles and uneven ground, so that the whole vehicle has better off-road performance.

[0135] The floating safety control method provided by the embodiments of the present application can be executed by the floating safety control device 200. In the embodiments of the present application, the floating safety control device 200 is taken as an example to execute the floating safety control method, and the floating safety control device 200 provided by the embodiments of the present application is described.

[0136] Please refer to FIG. 2, which is a structural schematic diagram of a floating safety control device 200 provided by the embodiments of the present application. As shown in FIG. 2, the floating safety control device 200 comprises:

[0137] The first obtaining module 201 is configured to obtain a first inclination angle, the first inclination angle being an inclination angle of the vehicle frame when the vehicle is not falling into a pit.

[0138] The second obtaining module 202 is configured to obtain a second inclination angle, the second inclination angle being an inclination angle of the vehicle frame after the vehicle falls into a pit; wherein the corresponding single-side floating switch is triggered after the vehicle falls into a pit, and the single-side floating switch includes a left floating switch and a right floating switch.

[0139] The third obtaining module 203 is configured to obtain a first change angle, the first change angle being a difference between the first inclination angle and the second inclination angle.

[0140] The executing module 204 is configured to execute a floating action or a safety control action according to the first change angle; the floating action is configured to control the action of the single-side floating oil cylinder corresponding to the triggered corresponding single-side floating switch after the vehicle falls into a pit, and the safety control action is configured to limit the action of the floating oil cylinder.

[0141] In some embodiments, the executing module 204 can be specifically configured to:

[0142] determine a wheel falling state of the vehicle according to the first change angle and the triggered corresponding single-side floating switch after the vehicle falls into a pit;

[0143] execute the floating action or the safety control action according to the wheel falling state of the vehicle.

[0144] In some embodiments, the inclination angle of the vehicle frame in the horizontal state is zero, the inclination angle of the vehicle frame when the left is high and the right is low is a positive angle, and the inclination angle of the vehicle frame when the left is low and the right is high is a negative angle; the first change angle is a difference between the second inclination angle and the first inclination angle.

[0145] The executing module 204 can be specifically configured to:

[0146] when the left floating switch is triggered, and when the first change angle is less than zero and the absolute value of the first change angle is greater than a first threshold value, determine that the wheel falling state of the vehicle is a left front wheel falling state;

[0147] when the right floating switch is triggered, and when the first change angle is greater than zero and the absolute value of the first change angle is greater than a first threshold value, determine that the wheel falling state of the vehicle is a right front wheel falling state;

[0148] when the wheel falling state cannot be determined as the left front wheel falling state or the right front wheel falling state, determine that the wheel falling state of the vehicle is an unknown falling state.

[0149] In some embodiments, the executing module 204 can be specifically configured to:

[0150] In a case where the wheel drop state is the left front wheel drop state, the left floating oil cylinder corresponding to the left floating switch triggering is controlled to act;

[0151] In a case where the wheel drop state is the right front wheel drop state, the right floating oil cylinder corresponding to the right floating switch triggering is controlled to act;

[0152] In a case where the wheel drop state is the unknown drop state, a safety control action is performed.

[0153] In some embodiments, the first obtaining module 201 can be further configured to:

[0154] obtain a first left floating pressure and a first right floating pressure, the first left floating pressure and the first right floating pressure being working pressures of the left and right floating oil cylinders when the vehicle is not dropped into a pit;

[0155] In a case where the first left floating pressure or the first right floating pressure is greater than a second threshold value and the duration is greater than a first preset judgment time, a safety control action is performed.

[0156] In some embodiments, the second obtaining module 202 can be further configured to:

[0157] obtain a second floating pressure, the second floating pressure being a working pressure of a single-side floating oil cylinder corresponding to the triggered corresponding single-side floating switch after the vehicle is dropped into a pit;

[0158] In a case where the second floating pressure is less than a third threshold value and the duration is greater than a second preset judgment time, a safety control action is performed.

[0159] Since the floating safety control device 200 adopts all the technical solutions of the floating safety control method of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, and thus will not be described here.

[0160] FIG. 3 is a hardware structure schematic diagram of an electronic device provided by an embodiment of the present application.

[0161] The electronic device can include a processor 301 and a memory 302 having computer program instructions stored therein.

[0162] Specifically, the processor 301 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits of the embodiments of the present application.

[0163] The memory 302 can include mass storage for data or instructions. As an example and not by way of limitation, the memory 302 can include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc (e.g., a compact disc (CD) or a digital versatile disc (DVD)), a solid-state drive (SSD), a USB drive, or a combination of two or more of these. Where appropriate, the memory 302 can include removable or non-removable (or fixed) media, where appropriate. The memory 302 can be internal or external to the integrated gateway disaster recovery appliance. In particular embodiments, the memory 302 is non-volatile, solid-state memory.

[0164] In some implementations, the memory 302 can include read-only memory (ROM), random-access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (by one or more processors), is operable to perform operations described with reference to the methods according to an aspect of the present disclosure.

[0165] The processor 301 implements any one of the floating security control methods in the above embodiments by reading and executing computer program instructions stored in the memory 302.

[0166] In one example, the electronic device can further include a communication interface 303 and a bus 310. As shown in FIG. 3, the processor 301, the memory 302, and the communication interface 303 are connected through the bus 310 and complete communication among each other.

[0167] The communication interface 303 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the present application.

[0168] Bus 310 includes hardware, software, or both, to couple components of the online data traffic metering device to each other and to couple components to other components within the online data traffic metering device. While bus 310 is shown for the sake of clarity as a single bus, bus 310 can include one or more buses operating together, serially, in parallel, etc. Bus 310 can include any suitable bus or interconnect, including a memory bus, a peripheral bus, an external bus, a serial bus, a parallel bus, etc. or a combination of one or more of the above. Bus 310 can include any suitable bus or interconnect, including an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or another suitable bus or interconnect.

[0169] The electronic device can execute the floating security control method in the embodiments of the present application, thereby realizing the floating security control method and device described in combination with FIG. 1 and FIG. 2.

[0170] The embodiments of the present application can provide a high-altitude work platform, which comprises the electronic device described above.

[0171] In addition, in combination with the floating security control method in the above embodiments, the embodiments of the present application can provide a computer storage medium to realize. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to realize any one of the floating security control methods in the above embodiments.

[0172] It needs to be clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the present application.

[0173] The functions noted in the description of the structural block diagrams above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, functional cards, and the like. When implemented in software, the elements of the present application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine-readable medium" includes any medium that can store or transport information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and the like. The code segments can be downloaded via computer networks such as the Internet, intranets, and the like.

[0174] It is also important to note that the examples mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the steps mentioned above, that is, the steps can be performed in the order mentioned in the examples, or in an order different from the examples, or several steps can be performed simultaneously.

[0175] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer program instructions can also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other processing device to operate in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks. The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer program instructions can also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other processing device to operate in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks.

[0176] The above merely describes a specific implementation of the present application. Those skilled in the art can clearly understand the specific working processes of the system, modules and units described above for the convenience and brevity of description, and can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein again. It should be understood that the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A floating safety control method, comprising: obtaining a first tilt angle, the first tilt angle being a tilt angle of a vehicle frame when the vehicle is not in a ditch; obtaining a second tilt angle, the second tilt angle being a tilt angle of the vehicle frame after the vehicle is in the ditch, wherein a corresponding single-side floating switch is triggered after the vehicle is in the ditch, and the single-side floating switch comprises a left floating switch and a right floating switch; obtaining a first change angle, the first change angle being a difference between the first tilt angle and the second tilt angle; performing a floating action or a safety control action according to the first change angle, wherein the floating action is used to control a single-side floating cylinder corresponding to the triggered corresponding single-side floating switch after the vehicle is in the ditch, and the safety control action is used to limit the floating cylinder action.

2. The floating safety control method according to claim 1, wherein, The performing of the floating action or the safety control action according to the first change angle comprises: determining a wheel falling state of the vehicle according to the triggered corresponding single-side floating switch after the vehicle is in the ditch and the first change angle; performing the floating action or the safety control action according to the wheel falling state of the vehicle.

3. The floating safety control method of claim 2, wherein, The tilt angle of the vehicle frame is zero when the vehicle frame is in a horizontal state, the tilt angle of the vehicle frame is a positive angle when the left side of the vehicle frame is higher than the right side, and the tilt angle of the vehicle frame is a negative angle when the left side of the vehicle frame is lower than the right side, and the first change angle is a first difference obtained by subtracting the first tilt angle from the second tilt angle. The determining of the wheel falling state of the vehicle according to the triggered corresponding single-side floating switch after the vehicle is in the ditch and the first change angle comprises: determining that the wheel falling state of the vehicle is a left front wheel falling state when the left floating switch is triggered, the first change angle is less than zero, and an absolute value of the first change angle is greater than a first threshold value; determining that the wheel falling state of the vehicle is a right front wheel falling state when the right floating switch is triggered, the first change angle is greater than zero, and the absolute value of the first change angle is greater than the first threshold value; determining that the wheel falling state of the vehicle is an unknown falling state when the wheel falling state of the vehicle cannot be determined as the left front wheel falling state or the right front wheel falling state.

4. The floating safety control method of claim 3, wherein, The performing of the floating action or the safety control action according to the wheel falling state of the vehicle comprises: controlling a left floating cylinder corresponding to the triggered left floating switch when the wheel falling state of the vehicle is the left front wheel falling state; controlling a right floating cylinder corresponding to the triggered right floating switch when the wheel falling state of the vehicle is the right front wheel falling state; performing the safety control action when the wheel falling state of the vehicle is the unknown falling state.

5. The floating safety control method of claim 1, wherein, Before the obtaining of the first tilt angle, the method further comprises: obtaining a first left floating pressure and a first right floating pressure, the first left floating pressure and the first right floating pressure being working pressures of left and right floating cylinders when the vehicle is not in the ditch; performing the safety control action when the first left floating pressure or the first right floating pressure is greater than a second threshold value and a duration is greater than a first preset judgment time.

6. The floating safety control method according to claim 1 or 5, wherein, The obtaining the second inclination angle further comprises: obtaining a second floating pressure, the second floating pressure being a working pressure of a single-side floating cylinder corresponding to a triggered corresponding single-side floating switch after the vehicle falls into a pit; in a case where the second floating pressure is less than a third threshold value and a duration is greater than a second preset judgment time, performing the safety control action.

7. A floating safety control device, comprising: a first obtaining module configured to obtain a first inclination angle, the first inclination angle being an inclination angle of a vehicle frame when the vehicle is not falling into a pit; a second obtaining module configured to obtain a second inclination angle, the second inclination angle being an inclination angle of the vehicle frame after the vehicle falls into a pit; wherein a corresponding single-side floating switch is triggered after the vehicle falls into a pit, the single-side floating switch comprising a left floating switch and a right floating switch; a third obtaining module configured to obtain a first change angle, the first change angle being a difference between the first inclination angle and the second inclination angle; an executing module configured to perform a floating action or a safety control action according to the first change angle; the floating action being configured to control a single-side floating cylinder corresponding to a triggered corresponding single-side floating switch to act after the vehicle falls into a pit, and the safety control action being configured to limit the action of the floating cylinder.

8. An electronic device comprising a processor and a memory, the memory storing programs or instructions executable on the processor, the programs or instructions being executed by the processor to implement the steps of the floating safety control method according to any one of claims 1 to 6.

9. An aerial work platform comprising the electronic device according to claim 8.

10. A computer readable storage medium storing computer executable instructions for causing a computer to perform the floating safety control method according to any one of claims 1 to 6.

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