Anti-tip-over control method and apparatus for aerial work platform, and device and medium

Abstract

An anti-tip-over control method and apparatus for an aerial work platform, and a device and a medium. The method comprises: acquiring the center-of-gravity position and weight of each functional unit of the current aerial work platform (S110); collecting the slewing angle of an entire machine, and selecting a corresponding tip-over line calculation formula to perform calculation to obtain a tip-over line of the entire machine (S120); acquiring the real-time inclination state of the entire machine, and selecting a corresponding moment calculation formula (S130); on the basis of the moment calculation formula, performing calculation to obtain the moment of each functional unit (S140); on the basis of the real-time inclination state of the entire machine, respectively determining a tip-over moment and the composition of a stable moment for offsetting the tip-over moment (S150); and calculating the difference between the stable moment and the tip-over moment, so as to determine a movement distance for a hinge point unit, thereby bringing the entire machine into equilibrium (S160).

Description

Anti-tipping control methods, devices, equipment and media for aerial work platforms

[0001] This application claims priority to Chinese Patent Application No. 202411448323.7, filed on October 17, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of engineering machinery technology, such as a method, device, equipment and medium for preventing tipping over of an aerial work platform. Background Technology

[0003] In aerial work platforms of related technologies, the boom unit and the turntable unit are usually rigidly connected. The boom unit rotates around a fixed pin mounted on the turntable to reach a specified angle position. However, under different tilting application conditions, the whole machine is limited by the working range of the boom unit and cannot flexibly adjust the stabilizing torque to counteract the tilting torque.

[0004] Meanwhile, the permissible tilt range of currently available aerial work platforms is relatively small, imposing strict limitations on the working environment. To improve the safety and stability of aerial work platforms, counterweight units are added to the turntable unit to make the platform's center of gravity more stable. However, the selection of counterweight weight is not flexible enough, resulting in poor effectiveness in reducing the impact of slopes on the platform's tilt. Furthermore, when the counterweight weight is too high, it leads to a waste of the machine's energy consumption. Summary of the Invention

[0005] This application provides a method, device, equipment, and medium for preventing the tipping of aerial work platforms, in order to solve the problem that the risk of tipping caused by the tilt of the work platform cannot be reduced by flexibly adjusting the stabilizing torque.

[0006] In a first aspect, embodiments of this application provide an anti-tipping control method for an aerial work platform, the method comprising:

[0007] Obtain the center of gravity position and weight of each functional unit under the current aerial work platform; where each functional unit includes: work platform, boom unit, hinge unit, counterweight unit, turntable unit and chassis unit;

[0008] Collect the rotation angle of the whole machine, and select the corresponding tipping line calculation formula according to the angle range in which the rotation angle falls, and calculate the tipping line of the whole machine.

[0009] The real-time tilt state of the entire machine is obtained by the tilt angle sensor on the turntable unit, and the corresponding torque calculation formula is selected based on the real-time tilt state of the entire machine.

[0010] The coordinates of the center of gravity of each functional unit are obtained based on the tilting line of the whole machine. The coordinates of the center of gravity of each functional unit, the weight of each functional unit, and the angle collected by the tilt angle sensor are substituted into the torque calculation formula to calculate the torque of each functional unit.

[0011] Based on the real-time tilt state of the entire machine, the composition of the overturning moment and the stabilizing moment used to counteract the overturning moment is determined; among them, the functional unit moment is either the overturning moment or the stabilizing moment;

[0012] The movement distance of the hinge unit is determined by calculating the difference between the stabilizing torque and the overturning torque, so that the whole machine can achieve balance.

[0013] Secondly, embodiments of this application also provide an anti-tipping control device for an aerial work platform, the device comprising:

[0014] The functional unit acquisition module is configured to acquire the center of gravity position and weight of each functional unit under the current aerial work platform; the functional units include: work platform, boom unit, hinge point unit, counterweight unit, turntable unit and chassis unit;

[0015] The whole machine tilt line determination module is set to collect the rotation angle of the whole machine, and select the corresponding tilt line calculation formula according to the angle range that the rotation angle falls into, and calculate the whole machine tilt line.

[0016] The torque formula selection module is set to obtain the real-time tilt state of the whole machine from the tilt angle sensor on the turntable unit, and select the corresponding torque calculation formula based on the real-time tilt state of the whole machine.

[0017] The torque calculation module is set to obtain the center of gravity coordinates of each functional unit based on the tilting line of the whole machine, and substitute the center of gravity coordinates of each functional unit, the weight of each functional unit, and the angle collected by the tilt angle sensor into the torque calculation formula to calculate the torque of each functional unit.

[0018] The torque composition analysis module is set to determine the composition of the overturning torque and the stabilizing torque used to counteract the overturning torque based on the real-time tilt state of the whole machine; wherein, the functional unit torque is either the overturning torque or the stabilizing torque;

[0019] The hinge point movement module is configured to determine the movement distance of the hinge point unit by calculating the difference between the stabilizing torque and the overturning torque, so that the whole machine can achieve balance.

[0020] Thirdly, this application also provides an aerial work platform, including a work platform, a boom unit, a hinge unit, a counterweight unit, a turntable unit, and a chassis unit; the aerial work platform adopts the anti-tipping control method of the aerial work platform in any embodiment of this application for anti-tipping control.

[0021] Fourthly, embodiments of this application also provide an electronic device, including:

[0022] At least one processor; and

[0023] A memory that is communicatively connected to at least one processor; wherein,

[0024] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to execute the anti-tipping control method for the aerial work platform in any embodiment of this application.

[0025] Fifthly, embodiments of this application also provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute and implement the anti-tipping control method for an aerial work platform in any embodiment of this application. Attached Figure Description

[0026] Figure 1 is a flowchart of an anti-tipping control method for an aerial work platform according to Embodiment 1 of this application;

[0027] Figure 2 is a reference diagram of a high-altitude work platform structure applicable to an embodiment of this application;

[0028] Figure 3 is a schematic diagram of a whole machine under a forward tilting application condition applicable to the embodiments of this application;

[0029] Figure 4 is a schematic diagram of a whole machine under negative tilt application conditions applicable to the embodiments of this application;

[0030] Figure 5 is a structural schematic diagram of another anti-tipping control method for an aerial work platform provided according to Embodiment 2 of this application;

[0031] Figure 6 is a structural schematic diagram of an anti-tipping control device for an aerial work platform according to Embodiment 3 of this application;

[0032] Figure 7 is a schematic diagram of the structure of an electronic device that implements the anti-tipping control method for an aerial work platform provided in Embodiment 4 of this application. Detailed Implementation

[0033] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, for example, including processes, methods, systems, products, or devices that, in addition to comprising the series of steps or units shown in the embodiments of this application, may also include processes, methods, systems, products, or devices that do not explicitly list such series of steps or units, or other steps or units inherent to such processes, methods, systems, products, or devices.

[0034] Before introducing the specific embodiments of this application, the aerial work platform of this application will be described with reference to Figure 2. The aerial work platform 100 of this application includes a working platform 101, a boom unit 102, a hinge point unit 103, a turntable unit 104, a counterweight unit 105, and a chassis unit 106. The working platform 101 is connected to the first end of the boom unit 102; the second end of the boom unit 102 is connected to the turntable unit 104 via the hinge point unit 103; the hinge point unit 103 can drive the boom unit 102 to move horizontally within the track of the turntable unit 104; the counterweight unit 105 is installed on the turntable unit 104 on the side away from the boom unit 102; the turntable unit 104 is disposed above the chassis unit 106 and can rotate relative to the chassis unit 106. The aerial work platform can be anti-tipping controlled using the anti-tipping control method of any embodiment of this application, possessing the corresponding functions and effects of the execution method.

[0035] Example 1

[0036] Figure 1 is a flowchart of an anti-tipping control method for an aerial work platform provided in Embodiment 1 of this application. This embodiment is applicable to the situation of adaptive movement control of an aerial work platform. The method can be executed by an anti-tipping control device for the aerial work platform. The device can be implemented in hardware and / or software and can be configured in an adaptively movable aerial work platform. As shown in Figure 1, the method includes:

[0037] S110. Obtain the center of gravity position and weight of each functional unit under the current aerial work platform; wherein each functional unit includes: work platform, boom unit, hinge unit, counterweight unit, turntable unit and chassis unit.

[0038] Aerial work platforms in related technologies typically consist of a work platform, a boom unit, a turntable unit, and a chassis unit from top to bottom. In this embodiment, the hinge unit refers to a functional unit that can drive the upper boom unit and the work platform to move horizontally within the turntable unit's track. The movement distance of the hinge unit is flexibly adjusted to offset some of the overturning moment. The counterweight unit can be pre-set with an appropriate weight to balance the overall machine's torque. Flexibly adjusting the weight of the counterweight unit allows the entire system to output the most reasonable energy consumption, thereby improving the machine's endurance. Therefore, the counterweight unit and the hinge unit are described as separate functional execution units. A structural reference diagram of the aerial work platform in this embodiment is shown in Figure 2.

[0039] S120. Collect the rotation angle of the whole machine, and select the corresponding tilt line calculation formula according to the angle range in which the rotation angle falls, and calculate the tilt line of the whole machine.

[0040] In this embodiment, a rotation angle sensor is installed at the connection between the turntable unit and the chassis unit to monitor the relative angle between them in real time. This sensor allows for the real-time acquisition of the overall rotation angle. The rotation angle is pre-divided into multiple intervals, and different tilt line calculation formulas are set for each interval. When the rotation angle is determined, an angle interval is defined based on that angle, and the tilt line position of the entire machine can be calculated using the corresponding tilt line calculation formula. The overall tilt line refers to a baseline for the machine to achieve balance under different tilting conditions. Tilting moments and stabilizing moments are distributed on both sides of the overall tilt line.

[0041] In some embodiments, since the counterweight unit, boom unit, etc. are all connected to the turntable unit through rigid pins, they together form a superstructure. Therefore, the rotation angle of the whole machine refers to the relative rotation angle between this superstructure, which includes the turntable unit and all the units connected to it, and the chassis unit.

[0042] In some embodiments, the rotation angle of the entire machine is collected, and the corresponding tilt line calculation formula is selected according to the angle range in which the rotation angle falls, to calculate the tilt line of the entire machine, which may include:

[0043] Obtain the wheelbase of the front and rear axles, the track width between the left and right tires, and the cross-sectional width of the tires in the chassis unit.

[0044] The rotation angle is calculated by using a rotation angle sensor installed at the connection between the turntable unit and the chassis unit.

[0045] Select the corresponding tipping line calculation formula based on the angle range in which the rotation angle falls, and use at least one of the rotation angle, wheelbase, track width, and cross-sectional width, along with the tipping line calculation formula, to determine the position of the overall machine tipping line.

[0046] Define the wheelbase between the front and rear axles in the chassis unit as P, the distance between the center planes of the left and right tires of the front and rear axles as the track width Q, the cross-sectional width of the tire as O, and the tilt line of the whole machine as K.

[0047] For example, when the turntable unit and the chassis unit of the whole machine are at 0° or 180° (parallel), that is, the rotation angle α is within the angle range of 0° or 180°, the tilt line K of the whole machine can be defined as half of the wheelbase, that is: When the turntable unit of the entire machine is perpendicular to the chassis unit at 90° or 270°, that is, when the rotation angle α is within the angle range of 90° or 270°, the tilt line K of the entire machine can be defined as half of the wheelbase plus one-quarter of the tire width, that is: When the turntable unit and chassis unit of the whole machine are not parallel or perpendicular during rotation, assuming the turntable unit rotates counterclockwise relative to the chassis unit, if the rotation angle α falls within the range of [315°, 45°) or [135°~225°), the tilting line K of the whole machine can be determined according to... To determine; if the rotation angle α falls within the range of [45°~135°) or [225°~315°), the tilting line K of the whole machine can be determined according to To determine.

[0048] Where α is the value fed back by the rotation angle sensor installed at the connection between the turntable unit and the chassis unit.

[0049] S130. Obtain the real-time tilt status of the whole machine based on the tilt angle sensor on the turntable unit, and select the corresponding torque calculation formula based on the real-time tilt status of the whole machine.

[0050] In this embodiment, a tilt angle sensor is installed on the turntable unit to measure the tilt angle of the work platform and monitor the tilt state of the entire machine in real time. The tilt state can refer to two tilting methods, and each of the two different tilting methods corresponds to a separate torque calculation formula.

[0051] In some embodiments, the real-time tilt state of the entire machine is obtained based on the tilt angle sensor on the turntable unit, and a corresponding torque calculation formula is selected based on the real-time tilt state of the entire machine, which may include:

[0052] When the machine is tilted in a positive direction in real time, the torque calculation formula is M1 = G × (Xcosθ - Zsinθ).

[0053] When the real-time tilt of the whole machine is negative, M2=-G×(Xcosθ+Zsinθ) is selected as the torque calculation formula;

[0054] Specifically, when the angle θ collected by the tilt angle sensor is within the range of [-90°, 0°), the real-time tilt state of the whole machine is determined to be negative tilt; when the angle θ collected by the tilt angle sensor is within the range of [0°, 90°), the real-time tilt state of the whole machine is determined to be positive tilt.

[0055] Where G is the weight of each functional unit; θ is the angle collected by the tilt angle sensor; X and Z are the abscissa and ordinate values ​​of the center of gravity of each functional unit relative to the tilt line of the whole machine in the torque calculation plane, respectively.

[0056] In some embodiments, a two-dimensional coordinate system is established in a moment calculation plane (used for longitudinal or lateral force analysis) perpendicular to the contact horizontal plane, with the overall tilting line K as the reference: the origin is set as a fixed point on the overall tilting line (the intersection point O of the overall tilting line and the contact horizontal plane as shown in Figure 2-4); the horizontal coordinate X is set along the horizontal direction perpendicular to the overall tilting line, and X is positive when the center of gravity of each functional unit is to the right of the overall tilting line, negative when it is to the left of the overall tilting line, and 0 when it falls on the overall tilting line; the vertical coordinate Z is set along the vertical direction perpendicular to the contact horizontal plane, and Z is positive when the center of gravity of each functional unit is above the contact horizontal plane, negative when it is below the contact horizontal plane, and 0 when it falls on the contact horizontal plane, so as to quantify the spatial position of the center of gravity of each functional unit relative to the overall tilting line.

[0057] For example, the angle collected by the tilt angle sensor is denoted as θ. When θ is in the range of [0°, 90°), the whole machine is defined as being in a positive tilt state, as shown in Figure 3; when θ is in the range of [-90°, 0°), the whole machine is defined as being in a negative tilt state, as shown in Figure 4.

[0058] S140. Obtain the center-of-gravity coordinates of each functional unit according to the tilting line of the whole machine, and substitute the center-of-gravity coordinates of each functional unit, the weight of each functional unit, and the angle collected by the tilt angle sensor into the torque calculation formula to calculate the torque of each functional unit.

[0059] As shown in S130, (X, Z) can be the center of gravity position of each functional unit, representing the horizontal and vertical coordinates of the unit on the torque calculation plane, with the overall tilting line as the reference. When solving for the torque of each functional unit, the torque calculation formula of M1 or M2 can be selected according to different tilt states.

[0060] In some embodiments, the torque of each functional unit refers to the torque calculated relative to the tilting line of each functional unit (such as the counterweight unit, boom unit, etc.) included in the whole machine based on its own weight and center of gravity position, as well as the angle data collected by the tilt angle sensor.

[0061] In some embodiments, the torques generated by each functional unit are divided based on the overall tilting line: when the center of gravity of a functional unit is located on the tilting side of the tilting line, the torque generated by that functional unit is a tilting torque; when the center of gravity of a functional unit is located on the stabilizing side of the tilting line, the torque generated by that functional unit is a stabilizing torque. For example, in a forward tilting condition, the center of gravity of the working platform is located on the tilting side of the tilting line, and the torque it generates is a tilting torque; the center of gravity of the counterweight unit is located on the stabilizing side of the tilting line, and the torque it generates is a stabilizing torque.

[0062] S150. Based on the real-time tilt state of the whole machine, determine the composition of the overturning moment and the stabilizing moment used to counteract the overturning moment; wherein, the functional unit moment is either the overturning moment or the stabilizing moment.

[0063] In some embodiments, under different tilting conditions, the total moment that may cause the entire machine to tilt, composed of the overall tilting moment (i.e., the sum of the tilting moments generated by all functional units on the tilting side), environmental moments, and operating moments, is called the tilting moment; while the total moment used to counteract the tilting moment and keep the entire machine stable is called the stabilizing moment. When the total tilting moment is equal to the total stabilizing moment, the entire machine is in a critical stable state.

[0064] In the embodiments of this application, the torque of each functional unit may serve as either a tipping torque or a stabilizing torque under different application conditions. For example, depending on different tilt states, the torque generated by the counterweight unit can serve as either a tipping torque or a stabilizing torque.

[0065] In some embodiments, determining the overturning moment and the stabilizing moment to counteract the overturning moment based on the real-time tilt state of the entire machine may include:

[0066] Obtain the maximum wind force and maximum manual operating force of the whole machine under real-time tilt state, and calculate the corresponding environmental torque and operating torque respectively;

[0067] In response to the overall machine tilting in a positive direction, the tilting moment consists of the overall machine tilting moment, the environmental moment, and the operating moment, while the stabilizing moment consists of the chassis moment, the turntable moment, and the counterweight moment.

[0068] In response to the overall machine tilting in a negative direction, the overturning moment consists of the overall machine overturning moment, the environmental moment, and the operating moment, while the stabilizing moment consists of the hinge point moment, the chassis moment, the turntable moment, the boom moment, and the working platform moment.

[0069] During operation, the machine is affected not only by the tipping force from the inclined slope, but also by the wind force and the manual operating force. The environmental torque is the torque generated by the maximum wind force, and the operating torque is the torque generated by the maximum manual operating force. Furthermore, the direction of the torques generated by each functional unit changes under different tilt conditions. Therefore, it is necessary to determine the composition of the tipping torque and stabilizing torque under the two tilt conditions.

[0070] For example, when the machine is tilted in the positive direction, the tilting moment of the machine may include the hinge point moment, the working platform moment, and the boom moment; when the machine is tilted in the negative direction, the tilting moment of the machine may include the counterweight moment.

[0071] S160. The moving distance of the hinge unit is determined by calculating the difference between the stabilizing torque and the overturning torque, so that the whole machine can reach balance.

[0072] In some examples, taking the vehicle tilting forward as an example, the tilting moment equals the overall tilting moment plus the environmental moment plus the operating moment. The overall tilting moment can include the hinge point moment, the work platform moment, and the boom moment. The stabilizing moment equals the chassis moment plus the turntable moment plus the counterweight moment. The stabilizing moment must be equal to the tilting moment to ensure the overall balance of the machine. In the current tilted state, the tilting moment and the chassis moment, turntable moment, and counterweight moment in the stabilizing moment are all known. The only moment that can be flexibly adjusted is the moment associated with the movement of the hinge point unit. The hinge point unit itself is relatively light, and its movement will not directly have a significant impact on the overall moment balance. The key is that it will drive the connected boom unit and work platform to move synchronously. This linkage process will cause changes in the (X, Z) coordinates of the boom unit and work platform, which in turn will lead to changes in the environmental moment (related to the windward area) and the operating moment (related to the operating height), ultimately reducing the overall tilting moment of the machine. The associated torque generated by the linkage adjustment of the hinge unit offsets the difference between the overturning torque and the stabilizing torque. At this point, the associated torque is the critical value at which the balance is just achieved.

[0073] Under specific operating conditions, provided that the machine is kept in balance, the operator can control the hinge unit to move within the track of the turntable unit according to actual needs. The movement of the hinge unit drives the upper boom unit and the work platform to achieve a wider range of operations, improving both safety and work efficiency.

[0074] In some embodiments, determining the movement distance of the hinge unit by calculating the difference between the stabilizing moment and the overturning moment to achieve overall balance may include:

[0075] In response to the machine tilting in the positive direction, the first difference torque between the stabilizing torque and the overturning torque is calculated, and the hinge unit is controlled to move a first distance in the negative direction according to the first difference torque, so that the machine can reach balance.

[0076] In response to the machine tilting in the negative direction, the second difference torque between the stabilizing torque and the overturning torque is calculated, and the hinge unit is controlled to move a second distance in the positive direction according to the second difference torque, so that the machine can reach balance.

[0077] The direction of movement of the hinge unit is determined according to the tilting direction of the whole machine, so as to ensure that the associated torque generated by the linkage adjustment of the hinge unit can be used to counteract the first differential torque or the second differential torque.

[0078] This embodiment of the application, by pre-setting calculation formulas for the overall tilting line under different angle ranges, can determine the overall tilting line of the machine in its current state, and obtain the center-of-gravity coordinates of each functional unit using the overall tilting line as a baseline. Simultaneously, by pre-setting torque calculation formulas for two tilting states, the torque generated by each functional unit and the entire machine can be determined, and the movement of the hinge unit can be controlled by analyzing the composition of the tilting torque and stabilizing torque, so that the entire machine reaches a balanced state. This embodiment of the application, by acquiring the overall machine status in real time, can adaptively control the movement of the hinge unit. During the movement of the hinge unit, the boom unit and the work platform move, thus increasing the working range of the boom unit and the work platform, maximizing the utilization rate of each functional unit while ensuring the safety and stability of the aerial work platform. Embodiment Two

[0079] Figure 5 is a flowchart of another anti-tipping control method for an aerial work platform provided in Embodiment 2 of this application. This embodiment is based on the above embodiment with adjustments. As shown in Figure 5, the method includes:

[0080] S510. In the application condition of positive tilt, control the hinge unit to move to the first edge in the negative direction, and record the first counterweight weight of the counterweight unit at this time.

[0081] When the angle θ collected by the tilt angle sensor on the turntable unit is within the range of [0°, 90°), the real-time tilt state of the whole machine is determined to be positive tilt.

[0082] As a functional unit that can adjust its weight before the start of formal operation, the counterweight unit optimizes the selection of the counterweight weight by simulating real working scenarios under two working conditions of the whole machine in advance. This ensures that the whole machine meets the stability requirements under the optimal counterweight weight in both application conditions, thereby achieving overall machine lightweighting.

[0083] In some embodiments, referring to the reference diagram (Figure 3) of the machine under positive tilt conditions, the positive tilt direction can be described as tilting to the right with the machine's tilting line as the baseline. In this case, the hinge unit needs to move to the left. The first edge of the hinge unit's movement is also the maximum distance the hinge unit moves towards the counterweight unit. Under this extreme condition, when the hinge unit moves the maximum distance in the negative direction, it drives the boom unit and the work platform to move synchronously through linkage, causing the machine's tilting moment to be reduced to a minimum, thereby offsetting part of the tilting moment to the maximum extent. That is, it offsets part of the tilting moment to the maximum extent. At this time, the minimum weight of the counterweight unit under positive tilt conditions is obtained, which is the first counterweight weight.

[0084] S520. In the application condition of negative tilt, control the hinge unit to move in the positive direction to the second edge, and record the weight of the second counterweight of the counterweight unit at this time.

[0085] When the angle θ collected by the tilt angle sensor on the turntable unit is within the range of [-90°, 0°), the real-time tilt state of the whole machine is determined to be negative tilt.

[0086] In some embodiments, referring to the reference diagram (Figure 4) of the machine under negative tilt conditions, the negative tilt direction can be described as tilting to the left with the machine's tilting line as the baseline. In this case, the hinge unit needs to move to the right. The second edge of the hinge unit's movement is also the maximum distance the hinge unit moves away from the counterweight unit. Under this extreme condition, when the hinge unit moves the maximum distance in the positive direction, it drives the boom unit and platform unit to move synchronously through linkage, so that the tilting moment of the machine (the moment generated by the counterweight unit at this time is the tilting moment) is offset to the greatest extent. That is, it can offset part of the tilting moment when the counterweight unit is the tilting moment to the greatest extent. At this time, the maximum weight allowed by the counterweight unit under the negative tilt condition is obtained, which is the second counterweight weight.

[0087] S530. If the aerial work platform can maintain balance in a positive tilt state under the weight of the second counterweight, then compare the values ​​of the first counterweight weight and the second counterweight weight, and select the minimum value as the final counterweight unit weight.

[0088] To determine which weight is optimal for both extreme operating conditions between the first and second counterweights, the second counterweight weight obtained under the negative tilting condition is reapplied to the positive tilting condition. If the machine remains balanced when the counterweight unit weight is the second counterweight weight, it indicates that the stabilizing torque is still greater than the overturning torque. Since the torque generated by the counterweight unit is insufficient to offset the overturning torque, a smaller counterweight unit weight results in lower overall energy consumption. Therefore, selecting the smaller weight between the first and second counterweights satisfies the balance requirements under both operating conditions while maximizing energy savings.

[0089] S540. If the aerial work platform cannot maintain balance in a forward tilted state under the weight of the second counterweight, adjust the allowable travel of the hinge unit arranged on the turntable unit and control the hinge unit to continue moving from the first edge toward the counterweight unit.

[0090] If the second counterweight is applied to a forward tilting condition and the machine cannot achieve balance, it indicates that the tilting moment is greater than the stabilizing moment. In this condition, the torque generated by the counterweight unit is used to counteract the tilting moment, but the stabilizing moment generated by the second counterweight is far from sufficient to counteract the overall tilting moment generated in this condition, thereby reducing the total overall tilting moment. Simultaneously, since the hinge unit's initial position is at the first edge when the second counterweight is applied to a forward tilting condition, to restore balance, the allowable travel of the hinge unit on the turntable unit can be adjusted. This allows the hinge unit to continue moving from the first edge towards the counterweight unit, reducing the overall tilting moment of the aerial work platform in a forward tilting state, effectively reducing the first counterweight and thus the torque generated by the counterweight unit.

[0091] S550. When the aerial work platform regains balance under the condition of forward tilting, calculate the compensation torque generated by the movement of the hinge unit at this time.

[0092] The compensation torque generated by the movement of the hinge unit during the entire adjustment process from when the second counterweight weight is applied to the positive tilting condition and does not meet the balance state until the whole machine regains balance is obtained. This compensation torque can be regarded as acting to reduce the value of the overturning moment of the whole machine, so that the overturning moment is equal to the stabilizing moment.

[0093] S560. Calculate the weight of the third counterweight of the counterweight unit based on the compensation torque, and use the weight of the third counterweight as the final weight of the counterweight unit.

[0094] The compensation torque is actually the torque that the counterweight unit should reduce under the positive tilting condition. The corresponding compensation weight can be calculated based on the compensation torque. This compensation weight is actually the counterweight weight that the counterweight unit should reduce based on the first counterweight weight. The third counterweight weight is obtained by subtracting the first counterweight weight from the compensation weight. The third counterweight weight is the optimal weight of the counterweight unit when the second counterweight weight cannot meet the balance requirements under the positive tilting condition. At the same time, the allowable motion stroke of the hinge unit as a whole is determined.

[0095] S570: Collect the rotation angle of the whole machine, and select the corresponding tilt line calculation formula according to the angle range in which the rotation angle falls, to calculate the tilt line of the whole machine.

[0096] S580: Obtain the real-time tilt status of the entire machine based on the tilt angle sensor on the turntable unit, and select the corresponding torque calculation formula based on the real-time tilt status of the entire machine.

[0097] S590. Obtain the center-of-gravity coordinates of each functional unit based on the overall tilting line, and substitute the center-of-gravity coordinates of each functional unit, the weight of each functional unit, and the angle collected by the tilt angle sensor into the torque calculation formula to calculate the torque of each functional unit.

[0098] S5100: Based on the real-time tilt state of the entire machine, determine the composition of the overturning moment and the stabilizing moment used to counteract the overturning moment; wherein, the functional unit torque is either the overturning moment or the stabilizing moment.

[0099] S5110: The moving distance of the hinge unit is determined by calculating the difference between the stabilizing torque and the overturning torque, so that the whole machine can achieve balance.

[0100] This application describes the method for determining the weight of the counterweight unit. Under both positive and negative tilting operating conditions, two counterweight weights are obtained by moving the hinge unit to two extreme positions. To ensure that the selected counterweight unit weight is the optimal weight for the machine, the selection of the two counterweight weights is discussed in two cases: satisfying the balance requirements and not satisfying the balance requirements. Overall, this application utilizes the provided optimal counterweight unit weight determination scheme to pre-determine the optimal counterweight weight for the entire machine. This ensures the stability and safety of the entire machine while achieving overall weight reduction, which not only reduces the machine's operating energy consumption but also improves its battery life.

[0101] Example 3

[0102] Figure 6 is a structural schematic diagram of an anti-tipping control device for an aerial work platform provided in Embodiment 3 of this application. As shown in Figure 6, the device includes:

[0103] The functional unit acquisition module 610 is configured to acquire the center of gravity position and weight of each functional unit under the current aerial work platform; wherein each functional unit includes: work platform, boom unit, hinge point unit, counterweight unit, turntable unit and chassis unit;

[0104] The whole machine tilting line determination module 620 is set to collect the rotation angle of the whole machine, and select the corresponding tilting line calculation formula according to the angle range in which the rotation angle falls, and calculate the whole machine tilting line.

[0105] The torque formula selection module 630 is set to obtain the real-time tilt state of the whole machine based on the tilt angle sensor on the turntable unit, and select the corresponding torque calculation formula based on the real-time tilt state of the whole machine.

[0106] The torque calculation module 640 is set to obtain the center of gravity coordinates of each functional unit based on the tilting line of the whole machine, and substitute the center of gravity coordinates of each functional unit, the weight of each functional unit and the angle collected by the tilt angle sensor into the torque calculation formula to calculate the torque of each functional unit.

[0107] The torque composition analysis module 650 is configured to determine the composition of the overturning torque and the stabilizing torque used to counteract the overturning torque based on the real-time tilt state of the whole machine; wherein, the functional unit torque is either the overturning torque or the stabilizing torque;

[0108] The hinge point moving module 660 is configured to determine the moving distance of the hinge point unit by calculating the difference between the stabilizing torque and the overturning torque, so that the whole machine can achieve balance.

[0109] This embodiment of the application, by pre-setting calculation formulas for the overall tilt line of the machine under different angle ranges, can determine the overall tilt line of the machine in its current state, and obtain the center-of-gravity coordinates of each functional unit using the overall tilt line as a baseline. Simultaneously, by pre-setting torque calculation formulas for two tilt states, the torque generated by each functional unit and the entire machine can be determined. By analyzing the composition of the tilting torque and stabilizing torque, the movement of the hinge unit is controlled, enabling the entire machine to reach a balanced state. This embodiment of the application, by acquiring the overall machine status in real time, can adaptively control the movement of the hinge unit. During the movement of the hinge unit, the boom unit and work platform move, thus increasing the working range of the boom unit and work platform. This maximizes the utilization rate of each functional unit while ensuring the safety and stability of the aerial work platform.

[0110] Based on the above embodiments, the functional unit acquisition module 610 includes:

[0111] The first counterweight weight acquisition unit is configured to control the hinge point unit to move to the first edge in the negative direction under the application condition of positive tilt, and record the weight of the first counterweight at this time.

[0112] The second counterweight weight acquisition unit is configured to control the hinge point unit to move along the positive direction to the second edge under the application condition of negative tilt, and record the weight of the second counterweight at this time.

[0113] The first condition determination unit is configured to respond to the fact that the aerial work platform can maintain balance in a positive tilt state under the weight of the second counterweight, compare the values ​​of the first counterweight weight and the second counterweight weight, and select the minimum value as the final counterweight unit weight.

[0114] The weight testing unit is configured to adjust the allowable travel of the hinge unit arranged on the turntable unit in response to the aerial work platform being unable to maintain balance in a positive tilt state under the weight of the second counterweight, and to control the hinge unit to continue moving from the first edge toward the counterweight unit.

[0115] The compensation torque calculation unit is set to calculate the compensation torque generated by the movement of the hinge unit in response to the aerial work platform regaining balance under positive tilting application conditions.

[0116] The second condition determination unit is set to calculate the third counterweight weight of the counterweight unit based on the compensation torque, and use the third counterweight weight as the final counterweight unit weight.

[0117] Based on the above embodiments, the whole machine tilting line determination module 620 includes:

[0118] The whole machine data acquisition unit is set to acquire the wheelbase of the front axle and the rear axle, the track width between the left and right tires, and the cross-sectional width of the tires in the chassis unit.

[0119] The rotation angle calculation unit is configured to use a rotation angle sensor installed at the connection between the turntable unit and the chassis unit to calculate the angle between the turntable unit and the chassis unit as the rotation angle.

[0120] The unit for determining the position of the tilt line of the whole machine is set to select the corresponding tilt line calculation formula according to the angle range in which the rotation angle falls, and use at least one of the rotation angle, wheelbase, track width and cross-sectional width, as well as the tilt line calculation formula to determine the position of the tilt line of the whole machine.

[0121] Based on the above embodiments, the torque formula selection module 630 includes:

[0122] The first torque calculation formula selection unit is set to respond to the real-time tilt state of the whole machine as a positive tilt, and selects M1=G×(Xcosθ-Zsinθ) as the torque calculation formula;

[0123] The second torque calculation formula selection unit is set to respond to the real-time tilt state of the whole machine as a negative tilt, and selects M2=-G×(Xcosθ+Zsinθ) as the torque calculation formula;

[0124] Specifically, when the angle θ collected by the tilt angle sensor is within the range of [0°, 90°), the real-time tilt state of the whole machine is determined to be positive tilt; when the angle θ collected by the tilt angle sensor is within the range of [-90°, 0°), the real-time tilt state of the whole machine is determined to be negative tilt.

[0125] Where G is the weight of each functional unit; θ is the angle collected by the tilt angle sensor; X and Z are the abscissa and ordinate values ​​of the center of gravity of each functional unit relative to the tilt line of the whole machine in the torque calculation plane, respectively.

[0126] Based on the above embodiments, the torque composition analysis module 650 includes:

[0127] Other torque calculation units are set to obtain the maximum wind force and maximum manual operating force of the whole machine under real-time tilt state, and calculate the corresponding environmental torque and operating torque respectively;

[0128] The first torque composition analysis unit is set to respond to the whole machine tilting in a positive direction. The tilting torque consists of the whole machine tilting torque, the environmental torque, and the operating torque. The stabilizing torque consists of the chassis torque, the turntable torque, and the counterweight torque.

[0129] The second torque composition analysis unit is set to respond to the overall machine tilting in a negative direction. The tilting torque consists of the overall machine tilting torque, the environmental torque, and the operating torque. The stabilizing torque consists of the hinge point torque, the chassis torque, the turntable torque, the boom torque, and the working platform torque.

[0130] Based on the above embodiments, the hinge point moving module 660 includes:

[0131] The first distance movement unit is configured to respond to the whole machine tilting in a positive direction, calculate the first difference torque between the stabilizing torque and the overturning torque, and control the hinge unit to move a first distance in the negative direction according to the first difference torque so that the whole machine can reach balance;

[0132] The second distance movement unit is configured to respond to the overall machine tilting in a negative direction, calculate the second difference torque between the stabilizing torque and the overturning torque, and control the hinge point unit to move a second distance in the positive direction according to the second difference torque, so that the overall machine can reach balance.

[0133] The anti-tipping control device for an aerial work platform provided in this application can execute the anti-tipping control method for an aerial work platform provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of the method.

[0134] Example 4

[0135] Figure 7 illustrates a schematic diagram of the structure of an electronic device 10 that can be used to implement embodiments of this application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the application described and / or claimed herein.

[0136] As shown in Figure 7, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0137] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0138] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, for example, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as an anti-tipping control method for an aerial work platform.

[0139] That is, to obtain the center of gravity position and weight of each functional unit under the current aerial work platform; where each functional unit includes: work platform, boom unit, hinge unit, counterweight unit, turntable unit and chassis unit;

[0140] Collect the rotation angle of the whole machine, and select the corresponding tipping line calculation formula according to the angle range in which the rotation angle falls, and calculate the tipping line of the whole machine.

[0141] The real-time tilt state of the entire machine is obtained by the tilt angle sensor on the turntable unit, and the corresponding torque calculation formula is selected based on the real-time tilt state of the entire machine.

[0142] The coordinates of the center of gravity of each functional unit are obtained based on the tilting line of the whole machine. The coordinates of the center of gravity of each functional unit, the weight of each functional unit, and the angle collected by the tilt angle sensor are substituted into the torque calculation formula to calculate the torque of each functional unit.

[0143] Based on the real-time tilt state of the entire machine, the composition of the overturning moment and the stabilizing moment used to counteract the overturning moment is determined; among them, the functional unit moment is either the overturning moment or the stabilizing moment;

[0144] The movement distance of the hinge unit is determined by calculating the difference between the stabilizing torque and the overturning torque, so that the whole machine can achieve balance.

[0145] In some embodiments, an anti-tipping control method for an aerial work platform may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the anti-tipping control method for an aerial work platform described above may be performed. In other embodiments, processor 11 may be configured to perform an anti-tipping control method for an aerial work platform by any other suitable means (e.g., by means of firmware).

[0146] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard parts (ASSPs), systems-on-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0147] Computer programs used to implement the methods of this application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0148] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may, for example, include electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. A computer-readable storage medium can be a machine-readable signal medium. Examples of machine-readable storage media may include electrical connections based on one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, compact disc-read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0149] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a cathode ray tube (CRT), liquid crystal display (LCD), or monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0150] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0151] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system. It addresses the shortcomings of traditional physical hosts and Virtual Private Server (VPS) services, such as high management difficulty and weak business scalability.

[0152] It should be understood that the various processes shown above can be used to reorder, add, or delete steps. For example, the multiple steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this application can be achieved.

Claims

1. A method for preventing tipping over of an aerial work platform, comprising: Obtain the center of gravity position and weight of each functional unit under the current aerial work platform; The functional units mentioned above include: a work platform, a boom unit, a hinge point unit, a counterweight unit, a turntable unit, and a chassis unit; The rotation angle of the whole machine is collected, and the corresponding tilt line calculation formula is selected according to the angle range in which the rotation angle falls, and the tilt line of the whole machine is calculated. The real-time tilt state of the entire machine is obtained by the tilt angle sensor on the turntable unit, and the corresponding torque calculation formula is selected based on the real-time tilt state of the entire machine. The center of gravity coordinates of each functional unit are obtained according to the tilting line of the whole machine. The center of gravity coordinates of each functional unit, the weight of each functional unit, and the angle collected by the tilt angle sensor are substituted into the torque calculation formula to calculate the torque of each functional unit. Based on the real-time tilt state of the entire machine, the composition of the overturning moment and the stabilizing moment used to counteract the overturning moment is determined respectively; wherein, the torque of the functional unit is either the overturning moment or the stabilizing moment; The moving distance of the hinge unit is determined by calculating the difference between the stabilizing torque and the overturning torque, so that the whole machine can achieve balance.

2. The method of claim 1, wherein, The process involves collecting the rotation angle of the entire machine and selecting the corresponding tilt line calculation formula based on the angle range in which the rotation angle falls, to calculate the tilt line of the entire machine, including: Obtain the wheelbase of the front axle and rear axle, the track width between the left and right tires, and the cross-sectional width of the tires in the chassis unit. Using a rotation angle sensor located at the connection between the turntable unit and the chassis unit, the included angle between the turntable unit and the chassis unit is calculated as the rotation angle; Select the corresponding tilt line calculation formula according to the angle range in which the rotation angle falls, and use at least one of the rotation angle, wheelbase, track width and cross-sectional width, as well as the tilt line calculation formula, to determine the tilt line position of the whole machine.

3. The method of claim 1, wherein, The step of obtaining the real-time tilt state of the entire machine based on the tilt angle sensor on the turntable unit, and selecting the corresponding torque calculation formula based on the real-time tilt state of the entire machine, includes: In response to the real-time tilt state of the entire machine being positively tilted, M1 = G × (Xcosθ Zsinθ) is selected as the torque calculation formula; In response to the real-time tilt state of the entire machine being a negative tilt, M2 = -G × (Xcosθ + Zsinθ) is selected as the torque calculation formula; Specifically, when the angle θ collected by the tilt angle sensor is within the range of [-90°, 0°), the real-time tilt state of the whole machine is determined to be negative tilt; when the angle θ collected by the tilt angle sensor is within the range of [0°, 90°), the real-time tilt state of the whole machine is determined to be positive tilt. Wherein, G is the weight of each functional unit; θ is the angle collected by the tilt angle sensor; X and Z are the abscissa and ordinate values ​​of the center of gravity of each functional unit relative to the tilt line of the whole machine in the torque calculation plane, respectively.

4. The method of claim 1, wherein, The process of determining the overturning moment and the stabilizing moment to counteract the overturning moment based on the real-time tilt state of the entire machine includes: Obtain the maximum wind force and maximum manual operating force of the whole machine under real-time tilt state, and calculate the corresponding environmental torque and operating torque respectively; In response to the overall machine tilting in a positive direction, the tilting moment consists of the overall machine tilting moment, the environmental moment, and the operating moment, while the stabilizing moment consists of the chassis moment, the turntable moment, and the counterweight moment. In response to the overall machine tilting in a negative direction, the overturning moment consists of the overall machine overturning moment, the environmental moment, and the operating moment, while the stabilizing moment consists of the hinge point moment, the chassis moment, the turntable moment, the boom moment, and the working platform moment.

5. The method of claim 1, wherein, The step of determining the movement distance of the hinge unit by calculating the difference between the stabilizing moment and the overturning moment to achieve overall balance includes: In response to the machine tilting in the positive direction, the first difference torque between the stabilizing torque and the overturning torque is calculated, and the hinge unit is controlled to move a first distance in the negative direction according to the first difference torque, so that the machine can reach balance; In response to the machine tilting in the negative direction, a second difference torque between the stabilizing torque and the overturning torque is calculated, and the hinge unit is controlled to move a second distance in the positive direction according to the second difference torque, so that the machine can reach balance.

6. The method of any one of claims 1-5, wherein, The process of obtaining the center of gravity position and weight of each functional unit under the current aerial work platform includes: In a positive tilting application, the hinge unit is controlled to move in the negative direction to the first edge, and the first counterweight weight of the counterweight unit is recorded at this time. The first edge is the maximum movement position of the hinge unit near the counterweight unit. In the application condition of negative tilt, the hinge unit is controlled to move in the positive direction to the second edge, and the second counterweight weight of the counterweight unit is recorded at this time. The second edge is the maximum movement position of the hinge unit away from the counterweight unit. In response to the fact that the aerial work platform can maintain balance in a positive tilt state under the weight of the second counterweight, the values ​​of the first counterweight weight and the second counterweight weight are compared, and the minimum value of the first counterweight weight and the second counterweight weight is selected as the final counterweight unit weight. In response to the aerial work platform being unable to maintain balance in a forward tilted state under the weight of the second counterweight, the allowable travel of the hinge unit arranged on the turntable unit is adjusted, and the hinge unit is controlled to continue moving from the first edge toward the counterweight unit. In response to the aerial work platform regaining balance under forward tilting application conditions, the compensation torque generated by the movement of the hinge unit at this time is calculated; The third counterweight weight of the counterweight unit is calculated based on the compensation torque, and the third counterweight weight is used as the final counterweight unit weight.

7. An anti-tipping control device for an aerial work platform, comprising: The functional unit acquisition module is configured to acquire the center of gravity position and weight of each functional unit under the current aerial work platform. The functional units mentioned above include: a work platform, a boom unit, a hinge point unit, a counterweight unit, a turntable unit, and a chassis unit; The whole machine tilt line determination module is set to collect the rotation angle of the whole machine, and select the corresponding tilt line calculation formula according to the angle range that the rotation angle falls into, and calculate the whole machine tilt line. The torque formula selection module is configured to obtain the real-time tilt state of the entire machine based on the tilt angle sensor on the turntable unit, and select the corresponding torque calculation formula based on the real-time tilt state of the entire machine. The torque calculation module is configured to obtain the center-of-gravity coordinates of each functional unit based on the tilting line of the whole machine, and substitute the center-of-gravity coordinates of each functional unit, the weight of each functional unit, and the angle collected by the tilt angle sensor into the torque calculation formula to calculate the torque of each functional unit. The torque composition analysis module is configured to determine the composition of the overturning torque and the stabilizing torque used to counteract the overturning torque based on the real-time tilt state of the entire machine; wherein, the torque of the functional unit is either the overturning torque or the stabilizing torque; The hinge point movement module is configured to determine the movement distance of the hinge point unit by calculating the difference between the stabilizing torque and the overturning torque, so that the whole machine can achieve balance.

8. An aerial work platform, comprising a working platform, a boom unit, a hinge unit, a counterweight unit, a turntable unit, and a chassis unit; wherein the aerial work platform employs the anti-tipping control method of any one of claims 1-6 for anti-tipping control.

9. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the anti-tipping control method for the aerial work platform according to any one of claims 1-6.

10. A computer-readable storage medium storing computer instructions for causing a processor to execute and implement the anti-tipping control method for the aerial work platform according to any one of claims 1-6.

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