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CN118954392A - A limiting method for aerial work platform - Google Patents

A limiting method for aerial work platform Download PDF

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Publication number
CN118954392A
CN118954392A CN202411128485.2A CN202411128485A CN118954392A CN 118954392 A CN118954392 A CN 118954392A CN 202411128485 A CN202411128485 A CN 202411128485A CN 118954392 A CN118954392 A CN 118954392A
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CN
China
Prior art keywords
angle
upper limit
lower limit
work platform
height
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202411128485.2A
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Chinese (zh)
Inventor
贺增甫
邓波
张善睿
张琳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beigu Electronics Wuxi Co ltd
Original Assignee
Beigu Electronics Wuxi Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Beigu Electronics Wuxi Co ltd filed Critical Beigu Electronics Wuxi Co ltd
Priority to CN202411128485.2A priority Critical patent/CN118954392A/en
Publication of CN118954392A publication Critical patent/CN118954392A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005—Fault detection or monitoring

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

本发明提供了一种高空作业平台的限位方法，包括以下步骤：获取作业平台的上限位高度对应的上限位角度和下限位高度对应的下限位角度；获取作业平台的当前高度对应的当前角度；判断当前角度是否在上限位角度和下限角度之间，如果当前角度在上限位角度和下限角度之间，则判定作业平台在预设的限位区域内；如果当前角度不在上限位角度和下限角度之间，则判定作业平台超出预设的限位区域内。通过判断当前角度是否在上限位角度和下限角度之间，来判断作业平台是否在预设的限位区域内，可以不再需要上限位开关和下限位开关，降低了硬件成本。能够灵活调整作业平台的限位高度，操作简单方便。

The present invention provides a limiting method for an aerial work platform, comprising the following steps: obtaining an upper limit angle corresponding to the upper limit height of the work platform and a lower limit angle corresponding to the lower limit height; obtaining a current angle corresponding to the current height of the work platform; judging whether the current angle is between the upper limit angle and the lower limit angle, if the current angle is between the upper limit angle and the lower limit angle, judging that the work platform is within a preset limiting area; if the current angle is not between the upper limit angle and the lower limit angle, judging that the work platform is beyond the preset limiting area. By judging whether the current angle is between the upper limit angle and the lower limit angle, judging whether the work platform is within the preset limiting area, the upper limit switch and the lower limit switch are no longer needed, thereby reducing the hardware cost. The limiting height of the work platform can be flexibly adjusted, and the operation is simple and convenient.

Description

Limiting method for aerial working platform
Technical Field
The invention relates to the technical field of aerial work platforms, in particular to a limiting method of an aerial work platform.
Background
In the current control system of the aerial working platform, a limit switch is generally adopted to limit the height of the working platform. The limit switch is arranged on the fork main shaft and comprises a lower limit switch, an outdoor limit switch (optional) and an upper limit switch, and the three limit switches are triggered after the fork and the operation platform are lifted to a specific height respectively. For example, a 12 meter aerial platform, when the fork is lifted to 1 meter, the lower limit switch is triggered; when the fork frame is lifted to 8 meters, the outdoor limit switch is triggered; when the fork frame is lifted to 12 meters, the upper limit switch is triggered.
However, when the hardware type limit switch is adopted for limiting, the limit height cannot be flexibly set, and when the limit height needs to be adjusted, the installation position of the limit switch and the installation structure for installing the limit switch need to be changed, and the changing process is complicated.
Disclosure of Invention
The invention provides a limiting method of an aerial working platform, which aims to solve the technical problem that a hardware type limiting switch cannot flexibly set limiting height.
In order to solve the technical problems, the invention provides a limiting method of an aerial working platform, which comprises the following steps:
Acquiring an upper limit angle corresponding to the upper limit height and a lower limit angle corresponding to the lower limit height of the operation platform;
acquiring a current angle corresponding to the current height of the operation platform;
Judging whether the current angle is between the upper limit angle and the lower limit angle, and if the current angle is between the upper limit angle and the lower limit angle, judging that the operation platform is in a preset limit area; and if the current angle is not between the upper limit angle and the lower limit angle, judging that the working platform exceeds the preset limit area.
Optionally, the aerial work platform comprises a scissor, and a first angle sensor for detecting the angle of the scissor is installed on the scissor;
the step of acquiring the upper limit angle corresponding to the upper limit height and the lower limit angle corresponding to the lower limit height of the operation platform specifically comprises the following steps:
Moving an operation platform to a preset upper limit position, acquiring a first calibration value of the first angle sensor, and taking the first calibration value as an upper limit angle corresponding to an upper limit height of the operation platform;
And moving the operation platform to a preset lower limit position, acquiring a second calibration value of the first angle sensor, and taking the second calibration value as a lower limit angle corresponding to a lower limit height of the operation platform.
Optionally, after the step of taking the second calibration value as the lower limit angle corresponding to the lower limit height of the working platform, the method further includes the following steps:
moving the operation platform to an updated upper limit position, obtaining a third calibration value of the first angle sensor, and taking the third calibration value as an upper limit angle corresponding to an updated upper limit height of the operation platform;
And moving the operation platform to the updated lower limit position, acquiring a fourth calibration value of the first angle sensor, and taking the fourth calibration value as a lower limit angle corresponding to the updated lower limit height of the operation platform.
Optionally, the step of obtaining the current angle corresponding to the current height of the operation platform specifically includes the following steps: and acquiring a detection value of the first angle sensor, and taking the detection value of the first angle sensor as a current angle corresponding to the current height of the working platform.
Optionally, the aerial working platform further comprises a chassis, and a second angle sensor for detecting the inclination angle of the chassis is installed on the chassis;
the step of obtaining the current angle corresponding to the current height of the operation platform specifically comprises the following steps: and respectively acquiring the detection value of the first angle sensor and the detection value of the second angle sensor, and taking the difference value between the detection value of the first angle sensor and the detection value of the second angle sensor as the current angle corresponding to the current height of the working platform.
Optionally, after the step of determining that the operation platform exceeds the preset limit area, the method further includes the following steps: repeatedly executing the limiting method of the aerial platform according to the claim 1 according to preset times, and outputting the judging result if the judging result is the same when executing each time; if the judging results are different in each execution, the judging result output last time is taken as the judging result of this time.
Optionally, the step of obtaining the upper limit angle corresponding to the upper limit height of the operation platform and the lower limit angle corresponding to the lower limit height are performed between the step of obtaining the current angle corresponding to the current height of the operation platform, and the method further comprises the following steps: judging whether the upper limit angle and the upper limit angle are in a preset angle range, if so, executing the step of acquiring the current angle corresponding to the current height of the operation platform; if not, the pre-stored first angle value is used as the upper limit angle, and the pre-stored second angle value is used as the lower limit angle.
Optionally, after the step of determining that the operation platform exceeds the preset limit area, the method further includes the following steps: braking the working platform or reducing the moving speed of the working platform.
Optionally, after the step of determining whether the current angle is between the upper limit angle and the lower limit angle, the method further includes the following steps: receiving a first trigger signal sent by a lower limit switch; judging whether the first trigger signal is matched with the current angle or not; if the first angle sensor is matched with the second angle sensor, judging that the lower limit switch and the first angle sensor are normal; if the first angle sensor is not matched with the second angle sensor, judging that at least one of the lower limit switch and the first angle sensor is abnormal;
Receiving a second trigger signal sent by an upper limit switch; judging whether the second trigger signal is matched with the current angle or not; if the two sensors are matched, judging that the upper limit switch and the first angle sensor are normal; and if the two angle sensors are not matched, judging that at least one of the upper limit switch and the first angle sensor is abnormal.
Optionally, after the step of receiving the second trigger signal sent by the upper limit switch, the method further includes the following steps: receiving a third trigger signal sent by an outdoor limit switch; judging whether the third trigger signal is matched with the current angle or not; if the outdoor limit switch is matched with the first angle sensor, judging that the outdoor limit switch and the first angle sensor are normal; and if the two sensors are not matched, judging that at least one of the outdoor limit switch and the first angle sensor is abnormal.
According to the limiting method for the aerial work platform, whether the work platform is in the preset limiting area is judged by judging whether the current angle is between the upper limiting angle and the lower limiting angle, so that an upper limiting switch and a lower limiting switch are not needed any more, and hardware cost is reduced. When the limit height is required to be adjusted, only the upper limit angle corresponding to the upper limit height and/or the lower limit angle corresponding to the lower limit height of the operation platform are required to be changed, the installation position of the limit switch and the installation structure for installing the limit switch can be not required to be changed any more, the limit height of the operation platform can be flexibly adjusted, and the operation is simple and convenient.
Drawings
Fig. 1 is a flowchart of a method for limiting an aerial platform according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an aerial platform according to an embodiment of the present invention.
Reference numerals are described as follows:
the device comprises an operation platform-1, a controller-2, a fork frame-3, a first angle sensor-4, a chassis-5, a second angle sensor-6, a fork frame oil cylinder-7 and a limit switch mounting position-8.
Detailed Description
In order to make the objects, advantages and features of the present invention more clear, the following describes in further detail a method for limiting an aerial working platform according to the present invention with reference to the accompanying drawings. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.
In the description of the present invention, the terms "first," "second," and the like, are added for convenience of description and reference, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining a qualifier such as "first," "second," etc. may explicitly or implicitly include one or more such feature.
As shown in fig. 1 and 2, the present embodiment provides a method for limiting an aerial working platform, including the following steps:
S1, acquiring an upper limit angle corresponding to the upper limit height of an operation platform 1 and a lower limit angle corresponding to the lower limit height; the aerial work platform includes a controller 2, the controller 2 may be referred to as an ECU (Electronic Control Unit ), and the controller 2 may read an upper limit angle corresponding to an upper limit height and a lower limit angle corresponding to a lower limit height of the aerial work platform 1 from a memory previously installed on the aerial work platform. The storage form of the upper limit angle corresponding to the upper limit height and the lower limit angle corresponding to the lower limit height of the operation platform 1 in the memory may be two values between the value range 0-4096 corresponding to the output voltage signal of 0-5V of the angle sensor, for example, 3000 is taken as the upper limit angle corresponding to the upper limit height of the operation platform 1, and 10 is taken as the lower limit angle corresponding to the lower limit height of the operation platform 1.
S2, acquiring a current angle corresponding to the current height of the operation platform 1; the controller 2 may detect the current angle corresponding to the current height of the work platform 1 through the angle sensor in real time, and when detecting the current angle corresponding to the current height of the work platform 1 using the angle sensor, may directly use the detection value of the angle sensor, that is, an AD (Analog to Digital ) value, as the current angle corresponding to the current height of the work platform 1, or multiply the AD value by a preset value and then use the value as the current angle corresponding to the current height of the work platform 1. The angle sensor 4 for limiting and the angle sensor 4 for detecting whether the work platform 1 is overloaded may share one angle sensor 4, so that costs can be saved. When detecting whether the working platform 1 is overloaded, a corresponding relation curve between the height of the working platform 1 and the hydraulic pressure of the fork arm cylinder 7 can be obtained in a calibration mode, the height of the working platform 1 can be measured through the angle sensor 4, and the hydraulic pressure of the fork arm cylinder 7 can be measured through the pressure sensor.
S3, judging whether the current angle is between the upper limit angle and the lower limit angle, and judging that the operation platform 1 is in a preset limit area if the current angle is between the upper limit angle and the lower limit angle; and if the current angle is not between the upper limit angle and the lower limit angle, judging that the working platform 1 exceeds the preset limit area.
According to the limiting method for the aerial working platform, whether the working platform 1 is in the preset limiting area is judged by judging whether the current angle is between the upper limiting angle and the lower limiting angle, an upper limiting switch and a lower limiting switch are not needed any more, and hardware cost is reduced. When the limit height is required to be adjusted, only the upper limit angle corresponding to the upper limit height and/or the lower limit angle corresponding to the lower limit height of the operation platform 1 are required to be changed, the installation position of the limit switch and the installation structure for installing the limit switch can be not required to be changed any more, the limit height of the operation platform 1 can be flexibly adjusted, and the operation is simple and convenient.
Optionally, as shown in fig. 1 and 2, the aerial work platform includes a fork 3, and a first angle sensor 4 for detecting an angle of the fork 3 is mounted on the fork 3; step S1, namely the step of obtaining an upper limit angle corresponding to the upper limit height and a lower limit angle corresponding to the lower limit height of the operation platform 1, specifically comprises the following steps: moving the operation platform 1 to a preset upper limit position, acquiring a first calibration value of the first angle sensor 4, and taking the first calibration value as an upper limit angle corresponding to an upper limit height of the operation platform 1; and moving the operation platform 1 to a preset lower limit position, acquiring a second calibration value of the first angle sensor 4, and taking the second calibration value as a lower limit angle corresponding to the lower limit height of the operation platform 1.
In the scheme provided by the implementation, the upper limit angle corresponding to the upper limit height of the operation platform 1 and the lower limit angle corresponding to the lower limit height are obtained in the calibration mode, and the obtained upper limit angle and the obtained lower limit angle can be stored in a memory of the aerial operation platform. In other embodiments, for the same type of aerial working platform, only the upper limit angle corresponding to the upper limit height and the lower limit angle corresponding to the lower limit height of one or more aerial working platforms can be calibrated, and the upper limit angle and the lower limit angle obtained by calibration before the upper limit angle and the lower limit angle corresponding to the upper limit height of other uncalibrated aerial working platforms with the same type can be directly used.
Optionally, as shown in fig. 1 and fig. 2, after the step of taking the second calibration value as the lower limit angle corresponding to the lower limit height of the working platform, the method further includes the following steps: the operation platform is moved to an updated upper limit position, a third calibration value of the first angle sensor 4 is obtained, and the third calibration value is used as an upper limit angle corresponding to the updated upper limit height of the operation platform; and moving the operation platform to the updated lower limit position, acquiring a fourth calibration value of the first angle sensor 4, and taking the fourth calibration value as a lower limit angle corresponding to the updated lower limit height of the operation platform.
In the scheme that this embodiment provided, when need adjust spacing high, only need mark again according to above-mentioned step the last spacing angle that the last spacing high corresponds of operating platform and lower spacing angle that the spacing high corresponds down can, no longer need change limit switch's mounted position and be used for installing limit switch's mounting structure, can nimble adjustment operating platform's spacing high, easy operation is convenient. In other embodiments, the upper limit angle corresponding to the upper limit height and the lower limit angle corresponding to the lower limit height of the work platform in the memory may be directly changed to adjust the limit height.
Optionally, as shown in fig. 1 and fig. 2, step S2, that is, the step of obtaining the current angle corresponding to the current height of the working platform, specifically includes the following steps: and acquiring a detection value of the first angle sensor 4, and taking the detection value of the first angle sensor 4 as a current angle corresponding to the current height of the working platform. The detection value of the first angle sensor 4 is used as the current angle corresponding to the current height of the working platform, so that the execution steps of the limiting method of the aerial working platform can be simplified, and the execution efficiency is improved. In other embodiments, the detected value of the first angle sensor 4 may be further converted and then used as the current angle corresponding to the current height of the working platform, for example, the detected value of the first sensor is multiplied by a preset parameter and then used as the current angle corresponding to the current height of the working platform.
Optionally, as shown in fig. 1 and 2, the aerial platform further includes a chassis 5, and a second angle sensor 6 for detecting an inclination angle of the chassis 5 is mounted on the chassis 5; the step S2 of obtaining the current angle corresponding to the current height of the operation platform specifically includes the following steps: and respectively acquiring the detection value of the first angle sensor 4 and the detection value of the second angle sensor 6, and taking the difference value between the detection value of the first angle sensor 4 and the detection value of the second angle sensor 6 as the current angle corresponding to the current height of the working platform. The difference value between the detection value of the first angle sensor 4 and the detection value of the second angle sensor 6 is used as the current angle corresponding to the current height of the working platform, so that the limiting method of the aerial working platform is applicable to both a land leveling scene and a slope scene. If the second angle sensor 6 is not added, the limiting method of the aerial work platform is only suitable for a level ground scene.
Optionally, after the step of determining that the operation platform exceeds the preset limit area, the method further includes the following steps: repeatedly executing the limiting method of the aerial working platform according to preset times, and outputting the judging result if the judging result is the same when the aerial working platform is executed each time; if the judging results are different in each execution, the judging result output last time is taken as the judging result of this time. The preset times can be 6 times or other times, and the judgment is repeated for a plurality of times, so that the judgment accuracy can be improved, and the influence of the fluctuation of the sampling value of the angle sensor on the judgment result is prevented. If the determination results are different in each execution, the determination results are abnormal or the height of the work platform shakes, and the height change of the work platform is not large in consideration of the fact that the determination time interval between two adjacent times is generally short, the determination result of the last time can be used as the determination result of the current time approximately.
Optionally, the steps S1 and S2 further include the following steps, that is, between the step of obtaining an upper limit angle corresponding to an upper limit height of the operation platform and a lower limit angle corresponding to a lower limit height, and the step of obtaining a current angle corresponding to a current height of the operation platform, the steps further include: judging whether the upper limit angle and the upper limit angle are in a preset angle range, if so, executing the step of acquiring the current angle corresponding to the current height of the operation platform; if not, the pre-stored first angle value is used as the upper limit angle, and the pre-stored second angle value is used as the lower limit angle.
The output voltage range of the angle sensor is 0-5V, the digital signal corresponding to 0-5V is 0-4096, if the upper limit angle and the lower limit angle are not 0-4096, the error or invalidation of the currently stored upper limit angle and lower limit angle can be judged, and the limit method of the aerial work platform needs to be executed by using a pre-stored default value, so that the accuracy of judging the limit method of the aerial work platform is improved.
Optionally, as shown in fig. 1 and fig. 2, after the step of determining that the working platform exceeds the preset limit area, the method further includes the following steps: braking the working platform or reducing the moving speed of the working platform. When the working platform exceeds the preset limit area, if the working platform continues to ascend or descend, the working platform tilts or crushes the components on the chassis 5, and at the moment, the working platform is braked or the moving speed of the working platform is reduced, so that accidents can be prevented. When the working platform is in a preset limiting area, an operator can control the moving direction and the moving speed of the working platform through the handle.
Optionally, as shown in fig. 1 and fig. 2, step S3, that is, after the step of determining whether the current angle is between the upper limit angle and the lower limit angle, further includes the following steps: receiving a first trigger signal sent by a lower limit switch; judging whether the first trigger signal is matched with the current angle or not; if the two angles are matched, judging that the lower limit switch and the first angle sensor 4 are normal; if the two angles are not matched, judging that at least one abnormality exists between the lower limit switch and the first angle sensor 4; receiving a second trigger signal sent by an upper limit switch; judging whether the second trigger signal is matched with the current angle or not; if the two angles are matched, judging that the upper limit switch and the first angle sensor 4 are normal; if the two angles do not match, it is determined that at least one abnormality exists between the upper limit switch and the first angle sensor 4. The aerial working platform may be configured with only the first angle sensor 4, or may be configured with the first angle sensor 4 and the limit switch at the same time, and the mounting position 8 of the limit switch is shown in fig. 2. If the aerial work platform is provided with the first angle sensor 4 and the limit switch, the lower limit switch and the upper limit switch can be calibrated firstly, and then redundant detection is carried out, namely, the aerial work platform is lifted or lowered to trigger the lower limit switch and the upper limit switch to be large, and when the lower limit switch is triggered, the angle corresponding to the first angle sensor 4 corresponding to the first trigger signal is stored; when the upper limit switch is triggered, the angle corresponding to the first angle sensor 4 corresponding to the second trigger signal is stored. Through carrying out the contrast check to limit switch's trigger signal and the signal of first angle sensor 4, can carry out redundant detection to limit switch and first angle sensor 4, can accurately discern whether limit switch and first angle sensor 4 break down, realized carrying out fault identification to limit switch and first angle sensor 4 of aerial working platform from not having to some breakthrough, improved aerial working platform's security.
Optionally, as shown in fig. 2, after the step of receiving the second trigger signal sent by the upper limit switch, the method further includes the following steps: receiving a third trigger signal sent by an outdoor limit switch; judging whether the third trigger signal is matched with the current angle or not; if the outdoor limit switch is matched with the first angle sensor 4, judging that the outdoor limit switch and the first angle sensor are normal; if not, it is determined that at least one abnormality exists in the outdoor limit switch and the first angle sensor 4. The outdoor limit switch can be calibrated, namely, the operation platform is firstly enabled to ascend or descend to trigger the outdoor limit switch to be large, and when the outdoor limit switch is triggered, the angle corresponding to the first angle sensor 4 corresponding to the third trigger signal is stored. Through carrying out the contrast check to limit switch's trigger signal and the signal of first angle sensor 4, can accurately discern whether limit switch and first angle sensor 4 break down, realized carrying out fault identification to limit switch and first angle sensor 4 of aerial working platform from not having to some breakthrough, improved aerial working platform's security.
In summary, according to the limiting method for the aerial work platform provided by the invention, whether the work platform is in the preset limiting area is judged by judging whether the current angle is between the upper limiting angle and the lower limiting angle, so that an upper limiting switch and a lower limiting switch are not needed any more, and the hardware cost is reduced. When the limit height is required to be adjusted, only the upper limit angle corresponding to the upper limit height and/or the lower limit angle corresponding to the lower limit height of the operation platform are required to be changed, the installation position of the limit switch and the installation structure for installing the limit switch can be not required to be changed any more, the limit height of the operation platform can be flexibly adjusted, and the operation is simple and convenient.
The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the present invention.

Claims (10)

1.一种高空作业平台的限位方法，其特征在于，包括以下步骤：1. A method for limiting a position of an aerial work platform, characterized in that it comprises the following steps: 获取作业平台的上限位高度对应的上限位角度和下限位高度对应的下限位角度；Obtain the upper limit angle corresponding to the upper limit height of the working platform and the lower limit angle corresponding to the lower limit height; 获取所述作业平台的当前高度对应的当前角度；Obtaining a current angle corresponding to a current height of the work platform; 判断所述当前角度是否在所述上限位角度和所述下限角度之间，如果所述当前角度在所述上限位角度和所述下限角度之间，则判定所述作业平台在预设的限位区域内；如果所述当前角度不在所述上限位角度和所述下限角度之间，则判定所述作业平台超出所述预设的限位区域内。Determine whether the current angle is between the upper limit angle and the lower limit angle. If the current angle is between the upper limit angle and the lower limit angle, determine that the work platform is within the preset limit area; if the current angle is not between the upper limit angle and the lower limit angle, determine that the work platform exceeds the preset limit area. 2.如权利要求1所述的一种高空作业平台的限位方法，其特征在于，所述高空作业平台包括剪叉，所述剪叉上安装有用于检测所述剪叉的角度的第一角度传感器；2. A method for limiting a position of an aerial work platform according to claim 1, characterized in that the aerial work platform comprises a scissors fork, and a first angle sensor for detecting an angle of the scissors fork is installed on the scissors fork; 所述获取作业平台的上限位高度对应的上限位角度和下限位高度对应的下限位角度的步骤，具体包括以下步骤：The step of obtaining the upper limit angle corresponding to the upper limit height and the lower limit angle corresponding to the lower limit height of the working platform specifically includes the following steps: 将作业平台移动至预设的上限位置，获取所述第一角度传感器的第一标定值，并将所述第一标定值作为所述作业平台的上限位高度对应的上限位角度；Move the working platform to a preset upper limit position, obtain a first calibration value of the first angle sensor, and use the first calibration value as the upper limit angle corresponding to the upper limit height of the working platform; 将所述作业平台移动至预设的下限位置，获取所述第一角度传感器的第二标定值，并将所述第二标定值作为所述作业平台的下限位高度对应的下限位角度。The working platform is moved to a preset lower limit position, a second calibration value of the first angle sensor is obtained, and the second calibration value is used as a lower limit angle corresponding to the lower limit height of the working platform. 3.如权利要求2所述的一种高空作业平台的限位方法，其特征在于，所述将所述第二标定值作为所述作业平台的下限位高度对应的下限位角度的步骤之后，还包括以下步骤：3. A method for limiting a position of an aerial work platform according to claim 2, characterized in that after the step of using the second calibration value as the lower limit angle corresponding to the lower limit height of the work platform, the method further comprises the following steps: 将所述作业平台移动至更新后的上限位置，获取所述第一角度传感器的第三标定值，并将所述第三标定值作为所述作业平台更新后的上限位高度对应的上限位角度；Move the working platform to the updated upper limit position, obtain a third calibration value of the first angle sensor, and use the third calibration value as the upper limit angle corresponding to the updated upper limit height of the working platform; 将所述作业平台移动至更新后的下限位置，获取所述第一角度传感器的第四标定值，并将所述第四标定值作为所述作业平台更新后的下限位高度对应的下限位角度。The working platform is moved to the updated lower limit position, a fourth calibration value of the first angle sensor is obtained, and the fourth calibration value is used as the lower limit angle corresponding to the updated lower limit height of the working platform. 4.如权利要求2所述的一种高空作业平台的限位方法，其特征在于，所述获取所述作业平台的当前高度对应的当前角度的步骤，具体包括以下步骤：获取所述第一角度传感器的检测值，将所述第一角度传感器的检测值作为所述作业平台的当前高度对应的当前角度。4. A positioning method for an aerial work platform as described in claim 2, characterized in that the step of obtaining the current angle corresponding to the current height of the work platform specifically includes the following steps: obtaining the detection value of the first angle sensor, and using the detection value of the first angle sensor as the current angle corresponding to the current height of the work platform. 5.如权利要求2所述的一种高空作业平台的限位方法，其特征在于，所述高空作业平台还包括底盘，所述底盘上安装有用于检测所述底盘的倾斜角度的第二角度传感器；5. A method for limiting a position of an aerial work platform according to claim 2, characterized in that the aerial work platform further comprises a chassis, and a second angle sensor for detecting an inclination angle of the chassis is installed on the chassis; 所述获取所述作业平台的当前高度对应的当前角度的步骤，具体包括以下步骤：分别获取所述第一角度传感器的检测值和所述第二角度传感器的检测值，将所述第一角度传感器的检测值和所述第二角度传感器的检测值之间的差值作为所述作业平台的当前高度对应的当前角度。The step of obtaining the current angle corresponding to the current height of the working platform specifically includes the following steps: respectively obtaining the detection value of the first angle sensor and the detection value of the second angle sensor, and taking the difference between the detection value of the first angle sensor and the detection value of the second angle sensor as the current angle corresponding to the current height of the working platform. 6.如权利要求1所述的一种高空作业平台的限位方法，其特征在于，所述判定所述作业平台超出所述预设的限位区域内的步骤之后，还包括以下步骤：按照预设的次数重复执行权利要求1所述的一种高空作业平台的限位方法，如果每次执行时的判定结果相同，则输出所述判定结果；如果每次执行时的判定结果不相同，则将上一次输出的判定结果作为本次的判定结果。6. A method for limiting an aerial work platform as described in claim 1 is characterized in that after the step of determining that the work platform exceeds the preset limit area, it also includes the following steps: repeatedly executing the method for limiting an aerial work platform as described in claim 1 according to a preset number of times, if the determination result is the same each time the execution is performed, then outputting the determination result; if the determination result is different each time the execution is performed, then using the determination result outputted last time as the determination result this time. 7.如权利要求1所述的一种高空作业平台的限位方法，其特征在于，所述获取作业平台的上限位高度对应的上限位角度和下限位高度对应的下限位角度的步骤和所述获取所述作业平台的当前高度对应的当前角度的步骤之间，还包括以下步骤：判断所述上限位角度和所述上限位角度是否在预设的角度范围内，如果是，则执行所述获取所述作业平台的当前高度对应的当前角度的步骤；如果否，则使用预先存储的第一角度值作为所述上限位角度，使用预先存储的第二角度值作为所述下限位角度。7. A positioning method for an aerial work platform as described in claim 1 is characterized in that between the step of obtaining the upper limit angle corresponding to the upper limit height of the work platform and the lower limit angle corresponding to the lower limit height and the step of obtaining the current angle corresponding to the current height of the work platform, the following steps are also included: judging whether the upper limit angle and the upper limit angle are within a preset angle range, if so, executing the step of obtaining the current angle corresponding to the current height of the work platform; if not, using a pre-stored first angle value as the upper limit angle, and using a pre-stored second angle value as the lower limit angle. 8.如权利要求1所述的一种高空作业平台的限位方法，其特征在于，所述判定所述作业平台超出所述预设的限位区域内的步骤之后，还包括以下步骤：对所述作业平台进行制动或降低所述作业平台的移动速度。8. A method for limiting an aerial work platform as described in claim 1, characterized in that after the step of determining that the work platform exceeds the preset limiting area, it also includes the following steps: braking the work platform or reducing the moving speed of the work platform. 9.如权利要求2所述的一种高空作业平台的限位方法，其特征在于，所述判断所述当前角度是否在所述上限位角度和所述下限角度之间的步骤之后，还包括以下步骤：接收下限位开关发送的第一触发信号；判断所述第一触发信号和所述当前角度是否匹配；如果匹配，则判定所述下限位开关和所述第一角度传感器均正常；如果不匹配，则判定所述下限位开关和所述第一角度传感器至少有一个异常；9. A method for limiting a high-altitude work platform as claimed in claim 2, characterized in that after the step of judging whether the current angle is between the upper limit angle and the lower limit angle, the following steps are further included: receiving a first trigger signal sent by a lower limit switch; judging whether the first trigger signal matches the current angle; if they match, judging that both the lower limit switch and the first angle sensor are normal; if they do not match, judging that at least one of the lower limit switch and the first angle sensor is abnormal; 接收上限位开关发送的第二触发信号；判断所述第二触发信号和所述当前角度是否匹配；如果匹配，则判定所述上限位开关和所述第一角度传感器均正常；如果不匹配，则判定所述上限位开关和所述第一角度传感器至少有一个异常。Receive a second trigger signal sent by the upper limit switch; determine whether the second trigger signal matches the current angle; if they match, determine that the upper limit switch and the first angle sensor are both normal; if they do not match, determine that at least one of the upper limit switch and the first angle sensor is abnormal. 10.如权利要求9所述的一种高空作业平台的限位方法，其特征在于，所述接收上限位开关发送的第二触发信号的步骤之后，还包括以下步骤：接收室外限位开关发送的第三触发信号；判断所述第三触发信号和所述当前角度是否匹配；如果匹配，则判定所述室外限位开关和所述第一角度传感器均正常；如果不匹配，则判定所述室外限位开关和所述第一角度传感器至少有一个异常。10. A limit method for an aerial work platform as described in claim 9, characterized in that after the step of receiving the second trigger signal sent by the upper limit switch, it also includes the following steps: receiving a third trigger signal sent by an outdoor limit switch; determining whether the third trigger signal and the current angle match; if they match, determining that the outdoor limit switch and the first angle sensor are both normal; if they do not match, determining that at least one of the outdoor limit switch and the first angle sensor is abnormal.
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