CN115784110A - Control method and device for aerial work equipment, storage medium and processor - Google Patents

Abstract

The embodiment of the application provides a control method, control equipment, a processor and a storage medium for high-altitude operation equipment. The aerial working equipment comprises a lifting scissor mechanism, and the control method comprises the following steps: receiving a mode selection instruction; determining the operation mode of the aerial operation equipment according to the mode selection instruction, wherein the operation mode comprises an indoor operation mode and an outdoor operation mode; determining the limited height of the lifting scissors mechanism according to the operation mode; and controlling the lifting scissors mechanism to stop lifting under the condition that the lifting height of the lifting scissors mechanism reaches a limited height. The operation mode of the aerial operation equipment can be switched according to the actual operation environment, and the corresponding limited height of the lifting scissors mechanism in different operation modes can be limited according to the operation mode, so that the lifting scissors mechanism is controlled to stop lifting. Therefore, the aerial work equipment can realize both outdoor and indoor work modes, and can perform stable and safe work in the corresponding mode.

Description

Control method and device for aerial work equipment, storage medium and processor

Technical Field

The application relates to the field of engineering machinery, in particular to a control method for aerial work equipment, the aerial work equipment, a storage medium and a processor.

Background

The high-altitude operation equipment is movable high-altitude operation equipment which is widely applied to high-altitude operation, equipment security inspection and maintenance and the like in various industries. In the prior art, the limit height of the high-altitude operation equipment is usually limited to a certain height, so the high-altitude operation equipment can only operate in a fixed scene, otherwise, the high-altitude operation equipment has larger potential safety hazard. In the actual operation process, a plurality of high-altitude operation devices with different models are often needed for operation, and higher economic cost is needed. In addition, the convenience is low in the using process, and the application range is limited.

Disclosure of Invention

An object of the embodiments of the present application is to provide a control method for an aerial work device, a storage medium, and a processor.

In order to achieve the above object, a first aspect of the present application provides a control method for aerial work equipment, the aerial work equipment including a lifting scissor mechanism, the control method including:

receiving a mode selection instruction;

determining the operation mode of the high-altitude operation equipment according to the mode selection instruction, wherein the operation mode comprises an indoor operation mode and an outdoor operation mode;

determining the limited height of the lifting scissors mechanism according to the operation mode;

and controlling the lifting scissor mechanism to stop lifting under the condition that the lifting height of the lifting scissor mechanism reaches the limited height.

In an embodiment of the present application, the defined height includes a first height and a second height, and controlling the lifting scissors mechanism to stop lifting in a case where the lifting height of the lifting scissors mechanism reaches the defined height includes: under the condition that the operation mode of the high-altitude operation equipment is switched to an outdoor operation mode, limiting the lifting height of the lifting scissor mechanism through the first target sensing device, and controlling the lifting scissor mechanism to stop lifting under the condition that the lifting height reaches a first height; and under the condition that the operation mode is switched to the indoor operation mode according to the mode selection instruction, limiting the lifting height of the lifting scissors mechanism through the second target sensing device, and under the condition that the lifting height reaches a second height, controlling the lifting scissors mechanism to stop lifting, wherein the second height is larger than the first height.

In an embodiment of the application, the aerial working equipment further includes a limiting component, the limiting component is mounted on the lifting scissor mechanism, the first target sensing device includes a first sensor and a second sensor, and the limiting of the lifting height of the lifting scissor mechanism by the first target sensing device includes: under the condition of receiving a first limit signal sent by a first sensor, determining that the lifting height of the lifting scissor mechanism reaches a first height, and/or detecting the rotation angle of the lifting scissor mechanism through a second sensor; determining that the lifting height of the lifting scissors mechanism reaches a first height under the condition that the rotation angle is determined to be larger than or equal to a preset angle threshold; the first limit signal is a signal generated when the limit component contacts the first sensor.

In an embodiment of the application, the lifting scissors mechanism further includes a shaft sleeve assembly, the limiting assembly is mounted on the shaft sleeve assembly, and the shaft sleeve assembly is used for driving the limiting assembly to rotate in the process of performing lifting operation by the lifting scissors mechanism.

In an embodiment of the application, the aerial work apparatus further comprises a chassis, the chassis comprising, with the second object sensing device mounted thereto: the first bracket component is used for fixing the first target sensing device on the chassis; and the second bracket component is used for fixing the second target sensing device on a side plate of the chassis.

In an embodiment of the present application, the lifting scissors mechanism includes a scissors arm, and the first target sensing device includes a first sensor, a second sensor and a rotating component, wherein the first sensor is fixed on the chassis through the first bracket component, the rotating component is fixedly installed on the scissors arm, and the second sensor is connected with the rotating component.

In an embodiment of the application, the aerial working equipment further includes a slider assembly, the slider assembly is connected with the lifting scissor mechanism, the chassis includes a sliding rail, the second target sensing device includes a third sensor, and in a case that the third sensor is installed on the chassis, the limiting of the lifting height of the lifting scissor mechanism by the second target sensing device includes: under the condition of receiving a second limit signal sent by a third sensor, determining that the lifting height of the lifting scissor mechanism reaches a second height; and the second limit signal is a signal generated when the sliding block assembly moves along the sliding track until the sliding block assembly contacts the third sensor.

In an embodiment of the application, the aerial work device further includes a driving device, the second target sensing device includes a fourth sensor, and the defining the lifting height of the lifting scissors mechanism by the second target sensing device with the fourth sensor mounted on the driving device includes: acquiring the telescopic length of the driving device through a fourth sensor; and under the condition that the telescopic length is determined to be greater than or equal to the preset length threshold, determining that the lifting height of the lifting scissor mechanism reaches a second height.

A second aspect of the application provides a processor configured to perform the above-described control method for aerial work apparatus.

A third aspect of the present application provides an aerial work device, comprising:

the lifting scissors fork mechanism is used for executing lifting operation, and the lifting height of the lifting scissors fork mechanism is changed along with the lifting operation;

mode selection means for inputting a mode selection instruction; and

a processor configured to perform the control method for aerial work apparatus described above.

A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions which, when executed by a processor, cause the processor to be configured to carry out the above-described control method for an aerial work apparatus.

By the technical scheme, the operation mode of the aerial operation equipment can be switched according to different actual operation environments, and the corresponding limited heights of the lifting scissors mechanism in the indoor operation mode and the outdoor operation mode can be limited according to the operation mode, so that the lifting scissors mechanism is controlled to stop lifting. Therefore, the aerial work equipment can take outdoor and indoor work modes into consideration, stable and safe work is carried out in the corresponding mode, and application scenes are wider.

Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the detailed description serve to explain the embodiments of the application and not to limit the embodiments of the application. In the drawings:

FIG. 1a is a schematic diagram schematically illustrating aerial work apparatus according to an embodiment of the present application;

FIG. 1b is a schematic diagram schematically illustrating an installation location of a target sensing device according to an embodiment of the present application;

FIG. 1c is a schematic view schematically illustrating an object sensing device mounting structure according to an embodiment of the present application;

FIG. 1d is a schematic diagram that schematically illustrates a spacing assembly mounting structure, in accordance with an embodiment of the present application;

FIG. 2 schematically illustrates a flow diagram of a control method for aerial work equipment according to an embodiment of the present application;

FIG. 3 schematically illustrates a block diagram of an aerial work device according to an embodiment of the present application;

fig. 4 schematically shows an internal structure diagram of a computer device according to an embodiment of the present application.

Description of the reference numerals

Lifting scissor mechanism, 102-chassis, 103-driving device, 201-second target sensing device, 202-chassis, 203-first carriage assembly, 204-first target sensing device, 205-second carriage assembly, 206-sliding track, 310-chassis, 311-sliding track, 320-second target sensing device, 330-slider assembly, 340-lifting scissor mechanism, 341-scissor arm, 350-first connecting assembly, 361-first carriage assembly, 362-second carriage assembly, 370-first target sensing device, 371-first sensor, 372-second sensor, 373-rotating assembly, 380-fixing assembly, 390-second connecting assembly, a-first end, B-second end, 410-lifting scissor mechanism, 401-limiting assembly, 402-first sensor, 403-first carriage assembly, 411-boss assembly.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In one embodiment, aerial work apparatus comprises:

the lifting scissors mechanism 101 is used for executing lifting operation, and the lifting height of the lifting scissors mechanism 101 is changed along with the lifting operation;

the chassis 102 is connected with the lifting scissor mechanism 101 and is used for fixing the lifting scissor mechanism;

the first target sensing device is arranged on the chassis 102 and used for detecting whether the lifting height of the lifting scissor mechanism 101 is greater than or equal to a first height or not under the condition that the high-altitude operation equipment is in an outdoor operation mode;

the second target sensing device is arranged on the chassis 102 or the driving device 103 of the high-altitude operation equipment and is used for detecting whether the lifting height of the lifting scissor mechanism is greater than or equal to a second height or not under the condition that the high-altitude operation equipment is in an indoor operation mode; and

and the processor is used for controlling the high-altitude operation equipment to stop lifting under the condition that the lifting height is greater than or equal to a first height or the lifting height is greater than or equal to a second height, the processor is electrically connected with the first target sensing device and the second target sensing device respectively, and the second height is greater than the first height.

As shown in fig. 1a, the lifting scissors mechanism 101 is composed of a plurality of sets of "X" shaped scissors assemblies, and the lifting scissors mechanism performs an ascending operation or a descending operation by the angle change of the scissors assemblies. The scissor type mechanism is a mechanism which has simple structure, can be folded and unfolded and can realize modular assembly. During the lifting operation, the height of the lifting scissors mechanism can be changed along with the lifting operation. And the chassis 102 is connected with the lifting scissors mechanism 101 and is used for fixing and supporting the lifting scissors mechanism 101. The first target sensing device is a sensing device corresponding to the outdoor operation mode and is used for detecting whether the lifting height of the lifting scissors fork mechanism is larger than or equal to the second height or not in the outdoor operation mode. The second target sensing device is a sensing device corresponding to the indoor operation mode and is used for detecting whether the lifting height of the lifting scissors fork mechanism is greater than or equal to the second height or not in the indoor operation mode, and the first height is greater than the second height. Wherein the first object sensing means is mounted on the chassis 102 and the second object sensing means is mounted on the chassis 102 or the drive means 103 of the aerial work apparatus. The driving device 103 is a power device for driving the aerial work equipment to perform a lifting operation. Specifically, the lifting scissors can be an electric cylinder, and the electric cylinder can adjust the lifting scissors to lift and lower the fork mechanism through extension and contraction. The processor is electrically connected with the first target sensing device and the second target sensing device respectively and can control the high-altitude operation equipment to stop lifting under the condition that the lifting height is greater than or equal to the first height or the lifting height is greater than or equal to the second height. Wherein the second height is greater than the first height.

In one embodiment, in the case where the second object sensing device 201 is mounted to the chassis 202, the chassis includes: a first bracket assembly 203 for securing a first target sensing device 204 to the chassis 202; a second bracket assembly 205 for fixing the second target sensing apparatus 201 to a side plate of the chassis 202.

As shown in fig. 1b, the first bracket assembly 203 and the second bracket assembly 205 both function to secure and support the corresponding target sensing device. The first bracket assembly 201 secures the first object sensing device 204 to the chassis 202 with the second object sensing device 201 mounted to the chassis 202. The second bracket assembly 205 secures the second object sensing device 201 to a side panel of the chassis 202.

In one embodiment, the first target sensing device 204 is mounted close to a first end a of a lifting scissors mechanism (not shown), and the second target sensing device 201 is mounted close to a second end B of the lifting scissors mechanism, wherein the first end a of the lifting scissors mechanism is fixed to the chassis 202, and the second end B of the lifting scissors mechanism moves along a linear direction of the sliding rail 206 during the lifting operation, and the first end a of the lifting scissors mechanism remains stationary.

As shown in fig. 1b, with the second object sensing device 201 mounted to the chassis 202, the first bracket assembly 203 secures the first object sensing device 204 to the chassis 202 proximate the first end a of the lift scissor mechanism. The second bracket assembly 205 secures the secondary target sensing device 201 to a side panel of the chassis 202 proximate the second end B of the lift scissor mechanism. The first end a of the lifting scissors mechanism is an end of the lifting scissors mechanism fixed on the chassis 202, and the first end a is fixedly connected with the chassis 202 and does not move relative to the chassis 202. The second end B is opposite to the first end a, and the second end B of the lifting scissors mechanism is movable and can move along the linear direction of the sliding track 206. The lifting scissors fork mechanism moves close to and away from the first end A through the second end B, so that the lifting scissors fork mechanism can be lifted and lowered.

In one embodiment, the chassis 310 includes a sliding track 311, and in the case where the second object sensing device 320 is mounted to the chassis 510, the aerial work further includes: and the slider assembly 330 is connected with the lifting scissors mechanism 340, and during the lifting operation of the lifting scissors mechanism 340, the slider assembly 330 moves along the sliding track 311, and when the slider assembly 330 contacts the second target sensing device 320, the lifting height is determined to reach the second height.

As shown in fig. 1c, the sliding rail 311 is installed at a side plate of the base plate 310, and the slider assembly 330 can linearly reciprocate on the sliding rail 311. The slider assembly 330 corresponding to the sliding rail 311 is connected to the lifting scissor mechanism 340. During the lifting operation performed by the lifting scissor mechanism 340, the slider assembly 330 may be driven to move along the sliding track 311 toward the second target sensing device 320. The lifting height of the lifting scissor mechanism 340 is illustrated as reaching the second height when the slider assembly 330 contacts the second target sensing device 320.

In one embodiment, the aerial work device further comprises: and the two ends of the first connecting component 350 are respectively connected with the lifting scissors mechanism 340 and the slider component 330, and the first connecting component 350 is used for enabling the lifting scissors mechanism 340 to drive the slider component 330 to move along the sliding track 311 in the process that the lifting scissors mechanism 340 performs a lifting operation.

As shown in fig. 1c, the two ends of the first connecting component 350 connect the lifting scissors mechanism 340 and the slider component 330, and during the lifting operation performed by the lifting scissors mechanism 340, the first connecting component 350 can make the lifting scissors mechanism 340 drive the slider component 330 to make a linear reciprocating motion along the sliding track 311. And, in case that the lifting height of the lifting scissors mechanism 340 reaches the second height, the slider assembly 330 moving along the sliding track 311 may contact the second target sensing device 320. The second target sensing device 320 may be fixed to a side plate of the chassis 310 by the second bracket assembly 361.

In one embodiment, the lifting scissor mechanism 340 comprises a scissor arm 341, and the first object sensing device 370 comprises a first sensor 371, a second sensor 372 and a rotating member 373, wherein the first sensor 331 is fixed to the chassis 310 via a first bracket assembly 362, the rotating member 373 is fixedly mounted on the scissor arm 341, and the second sensor 372 is connected to the rotating member 373.

As shown in fig. 1c, the scissor arm 341 refers to a main body of the lifting scissor mechanism 340, and a plurality of scissor arms are connected in sequence at the head to form the lifting scissor mechanism. The rotating member 373 is fixed to the scissor arm 341, and when the scissor arm 341 rotates, the scissor arm 341 can drive the rotating member 373 to rotate together. Specifically, the first sensor 371 and the second sensor 372 may both be used to detect a first height of the lifting scissor mechanism 340. The first sensor 371 is fixed to the chassis 310 via the first bracket assembly 361, and the first sensor 371 is installed on the chassis 310 near the first end a of the lifting scissors mechanism 340. Also, a second sensor 372 is connected to the rotating member 373. When the lifting scissors mechanism performs a lifting operation, the second sensor may detect a rotation angle of the scissors arm 341 through the rotation component 373. I.e., the angle between the scissor arm 341 and the horizontal. The second sensor 372 may also be secured to the chassis by a securing assembly 374. The first sensor 371 may generate a first limit signal when the limit switch of the first sensor 371 is triggered by the limit component 380 when the lift height reaches a first height.

In one embodiment, the aerial work equipment further includes a second connection component 390, respectively connected to the second sensor 372 and the scissor arm 341, for driving the rotation component 373 to rotate during the lifting operation performed by the lifting scissor mechanism 340, so that the second sensor 372 connected to the rotation component 373 detects a rotation angle of the scissor arm 341 and transmits the rotation angle to the processor; the processor is further configured to determine that the lift height reaches the second height based on the rotation angle reaching a predetermined angle threshold.

As shown in fig. 1c, the second connecting assembly 390 is connected to the second sensor 372 and the scissors arm 341 at two ends, and specifically, the second connecting assembly 390 may be a screw. When the lifting scissors mechanism 340 performs a lifting operation, the scissors arm 341 rotates, so that the screw can drive the rotating component 373 connected to the second sensor 372 to rotate. The second sensor 372 may be an angle sensor that indirectly measures the rotation angle of the scissor arm 341 by detecting the rotation angle of the rotating assembly 373 and transmits the rotation angle to the processor. In the case where it is detected that the rotation angle of the scissor arm 341 reaches the preset angle threshold, the processor may determine that the lifting height of the lifting scissor mechanism reaches the second height.

In one embodiment, the aerial working device further comprises a limiting component 401, which is mounted on the lifting scissor mechanism 410 and is used for performing a rotating operation during the lifting operation performed by the lifting scissor mechanism 410; the first sensor 402 is used to determine that the lift height reaches the first height when the position limiting assembly 401 contacts the first sensor 402 during the rotation operation of the position limiting assembly 401.

In one embodiment, the lifting scissors mechanism 410 includes a shaft sleeve assembly 411, the position-limiting assembly 401 is mounted on the shaft sleeve assembly 411, and the shaft sleeve assembly 411 is used for driving the position-limiting assembly 401 to rotate during the lifting operation performed by the lifting scissors mechanism 410.

As shown in fig. 1d, the lifting scissors mechanism 410 includes a boss assembly 411. The shaft sleeve assembly 411 is a cylindrical mechanical part sleeved on the rotating shaft of the lifting scissors mechanism 410, and is a component of a sliding bearing. The restraint assembly 401 may be a functional assembly for determining the state of motion of the structure or for restraining the motion of the structure. The limiting assembly 401 is mounted on the shaft sleeve assembly 401 of the lifting scissors mechanism 410 through a fixing assembly. During the lifting operation of the lifting scissors mechanism 410, the rotating shaft and the shaft sleeve assembly 411 of the lifting scissors mechanism 410 rotate along with the lifting operation, so as to drive the limiting assembly 401 to rotate together. When the position limiting assembly 401 is rotated to a certain position, the position limiting assembly 401 will trigger the first sensor 402. The first sensor 402 may be a trigger type mechanical sensor, and the input quantity may be a physical quantity such as force, pressure, temperature, etc., and the signal transformation is realized by means of the change of the structural parameter of the sensor or the change of the physical property of the material of the sensitive element. The first sensor 402 is mounted on the chassis by a first bracket assembly 403. Specifically, the limit assembly 401 may trigger a limit switch on the first sensor 402. At this point, the processor may determine that the lifting scissor mechanism 410 has been lifted to the first height.

In one embodiment, in the case that the second target sensing device is installed on the driving device 103, the driving device 103 is further used for driving the lifting scissors mechanism 101 to lift, and the second target sensing device is further used for detecting the telescopic length of the driving device 103 and transmitting the telescopic length to the processor; the processor is further configured to determine that the lift height reaches the second height if the telescoping length is determined to reach the length threshold.

As shown in fig. 1a, the driving device 103 is used for driving the lifting scissor mechanism 101 of the aerial work device to lift. The drive means may be an electric cylinder. In the case where the second target sensing device is mounted on the driving device 103, the second target sensing device is a potentiometer, is mounted inside the driving device 103, and detects the length of expansion and contraction of the driving device 103 and transmits the length of expansion and contraction to the processor. The telescopic length of the driving device 103 is linearly related to the lifting height of the lifting scissors mechanism 101, and the longer the telescopic length is, the higher the lifting height of the lifting scissors mechanism 101 is. In the event that the potentiometer detects that the telescopic length of the drive means 103 reaches a length threshold, the processor may determine that the lifting height of the lifting scissors mechanism 101 reaches the second height.

Through the technical scheme, in the process that the lifting scissor fork mechanism is lifted to the first height corresponding to the outdoor working mode, the shaft sleeve assembly of the lifting scissor fork mechanism can drive the limiting assembly to rotate, so that the first sensor is triggered to generate the first limiting signal. At this time, it can be determined that the lifting scissors mechanism is lifted to the first height. Meanwhile, a scissor arm of the lifting scissor mechanism drives the rotating assembly to rotate through the second connecting assembly, and the second sensor can indirectly measure the rotating angle of the scissor arm by detecting the rotating angle of the rotating assembly. When the rotation angle is rotated to a preset angle threshold value, it can be determined that the lifting scissors mechanism is lifted to a first height. Therefore, the first height of the lifting scissors fork mechanism in the outdoor working mode is detected by the first sensor and the second sensor at the same time, and when any one sensor fails, the first height of the lifting scissors fork mechanism can be detected, so that the lifting scissors fork mechanism stops lifting. Further, in the process that the lifting scissor fork mechanism is lifted to the second height corresponding to the indoor working mode, the first connecting component connected with the scissor fork arm can drive the sliding block component to do linear reciprocating motion on the sliding track of the chassis. If the second target sensing device is mounted on the chassis, the slider assembly may trigger the second target sensing device to generate a second limit signal. At this time, it can be determined that the lifting scissors mechanism is lifted to the second height. If the second target sensing device is installed at the driving device, the second target sensing device may detect the extension and contraction length of the driving device. When the telescopic length is stretched to a preset length threshold value, the lifting scissor mechanism can be determined to be lifted to a second height. Therefore, the second sensing device can be selectively arranged in any one of the driving device and the chassis, and the second height of the lifting scissor fork mechanism can be detected. And controlling the aerial work equipment to stop lifting under the condition that the lifting height is greater than or equal to the first height or the lifting height is greater than or equal to the second height. The first sensor, the second sensor and the second target sensing device arranged on the chassis are all mechanical sensors, and the mounting structure designed according to the scheme can be matched with the movement of the lifting scissors mechanism to detect. Therefore, in the process of detecting the height of the lifting scissor fork mechanism, the detection performance is more accurate and stable.

Fig. 2 schematically shows a flow diagram of a control method for aerial work equipment according to an embodiment of the present application. As shown in fig. 2, in an embodiment of the present application, there is provided a control method for aerial work equipment, including the steps of:

in step 202, a mode selection command is received.

And step 204, determining the operation modes of the high-altitude operation equipment according to the mode selection instruction, wherein the operation modes comprise an indoor operation mode and an outdoor operation mode.

And step 206, determining the limited height of the lifting scissors mechanism according to the operation mode.

And step 208, controlling the lifting scissors mechanism to stop lifting under the condition that the lifting height of the lifting scissors mechanism reaches a limited height.

The mode selection instruction is a control instruction for selecting the operation mode of the high-altitude operation equipment, and a user can input different mode selection instructions according to the actual operation environment to control the high-altitude operation equipment to enter different operation modes. The processor may receive a mode selection instruction to determine whether the mode of operation of the aerial work device is an indoor mode of operation or an outdoor mode of operation based on the mode selection instruction. The lifting scissors fork mechanism is composed of a plurality of groups of X-shaped scissors fork assemblies, and the lifting scissors fork mechanism is enabled to carry out ascending operation or descending operation through the angle change of the scissors fork assemblies. The scissor type mechanism is a mechanism which has simple structure, can be folded and unfolded and can realize modular assembly.

When the working mode is in the indoor working mode or the outdoor working mode, the processor may determine a defined height of the lifting scissor mechanism corresponding to the working mode. That is, the limited heights refer to the maximum height at which the lifting scissors mechanism ascends and the minimum height at which the lifting scissors mechanism descends, which are set according to the operation mode. The difference between the outdoor working condition and the indoor working condition of the aerial work equipment is that the wind pressure of all outdoor movable lifting working platforms is about 100N/m < 2 > according to the national standard, which is equivalent to the wind speed of 12.5m/s (wind power level 6). The maximum working height of the outdoor working condition is determined according to stability calculation and stability tests, and the safety of the outdoor working condition can be ensured. The limited height of the indoor work is determined according to the specific situation of the working environment. Generally, high-altitude operation equipment is more stable when working indoors, and the limited height thereof can be higher compared with outdoor work. In the case that the lifting height of the lifting scissors mechanism reaches the limit height, the processor can control the lifting scissors mechanism to stop lifting. Therefore, after the mode selection instruction is received, the corresponding limited height of the aerial operation equipment in different operation modes can be limited, so that the operation equipment can take two outdoor and indoor operation modes into consideration, and safe operation can be carried out in different operation environments.

In one embodiment, the defined height includes a first height and a second height, and controlling the lifting scissors mechanism to stop lifting in a case where the lifting height of the lifting scissors mechanism reaches the defined height includes: under the condition that the operation mode of the high-altitude operation equipment is switched to an outdoor operation mode, the lifting height of the lifting scissor mechanism is limited through the first target sensing device, and under the condition that the lifting height reaches the first height, the lifting scissor mechanism is controlled to stop lifting; and under the condition that the operation mode is switched to the indoor operation mode according to the switching instruction, limiting the lifting height of the lifting scissor mechanism through the second target sensing device, and under the condition that the lifting height reaches a second height, controlling the lifting scissor mechanism to stop lifting, wherein the second height is larger than the first height.

The first height refers to the limited height of the lifting scissors mechanism when the operation mode is the outdoor operation mode. The second height is the limited height of the lifting scissors mechanism when the working mode is the indoor working mode. Wherein the second height is greater than the first height. For example, when the working mode is the outdoor working mode, the maximum height lifted by the lifting scissor mechanism is 5m. When the operation mode is an indoor operation mode, the maximum lifting height of the lifting scissor mechanism is 3m. The first target sensing device is a sensing device corresponding to the outdoor operation mode and is used for detecting the limited height of the lifting scissor mechanism in the outdoor operation mode. In the outdoor operation mode, when the first target sensing device detects that the lifting height reaches the first height, the processor can control the lifting scissors mechanism to stop lifting. When the mode selection instruction is received to be the indoor operation mode, the processor can switch the operation mode to the indoor operation mode, and the lifting height of the lifting scissors mechanism is limited through the second target sensing device. The second target sensing device is a sensing device corresponding to the indoor working mode and is used for detecting the limited height of the lifting scissors mechanism in the indoor working mode. In the indoor operation mode, when the second target sensing device detects that the lifting height reaches the second height, the processor can control the lifting scissors mechanism to stop lifting. In particular, the sensing device may be a mechanical sensor and/or an electronic sensor.

In one embodiment, the aerial work device further comprises a limiting assembly, the limiting assembly is mounted on the lifting scissor mechanism, the first target sensing device comprises a first sensor and a second sensor, and the limiting of the lifting height of the lifting scissor mechanism by the first target sensing device comprises: under the condition of receiving a first limiting signal sent by a first sensor, determining that the lifting height of the lifting scissor mechanism reaches a first height, and/or detecting the rotation angle of the lifting scissor mechanism through a second sensor; determining that the lifting height of the lifting scissors mechanism reaches a first height under the condition that the rotation angle is determined to be larger than or equal to a preset angle threshold; the first limit signal is a signal generated when the limit component contacts the first sensor.

The stop assembly may be a functional assembly for determining the state of motion of the structure or for restricting the motion of the structure. When the lifting scissors mechanism moves to a certain state, the limiting component moves along with the lifting scissors mechanism to touch the first sensor, so that the first sensor can generate a first limiting signal. The first limit signal is a signal generated when the limit component contacts the first sensor, and when the first sensor generates the first limit signal, the lifting scissors mechanism reaches the limit height defined by the first sensor. Specifically, the first sensor may be a trigger type mechanical sensor, and the input quantity may be a physical quantity such as force, pressure, temperature, etc., and the signal transformation is realized by means of a change of a structural parameter of the sensor or a change of a physical property of the material of the sensing element. For example, the first sensor further comprises a limit switch, and when the limit component contacts the limit switch on the first sensor, the first sensor generates a first limit signal. In the process of executing the lifting operation by the lifting scissors mechanism, if the processor receives a first limit signal sent by the first sensor, the lifting scissors mechanism can be determined to reach a first height. The first height refers to the first height when the high-altitude operation equipment is in an outdoor working mode, and the lifting height defined by the mode is the first height.

In particular, the second sensor may be an angle sensor. According to the geometric relationship, the rotation angle of the scissor arm is linearly related to the lifting height of the lifting scissor mechanism. The lifting height of the lifting scissors fork mechanism can be determined by detecting the rotation angle of the scissors fork arm of the lifting scissors fork mechanism. The preset angle threshold is a limited angle corresponding to the limited height of the lifting scissors mechanism, and a technician can determine the preset angle threshold of the rotation angle of the lifting scissors mechanism according to the limited height. And under the condition that the rotation angle of the scissor arm is gradually increased to a certain preset angle threshold, the lifting scissor mechanism is indicated to gradually ascend to the corresponding limited height. In the process of executing the lifting operation by the lifting scissor mechanism, if the processor determines that the rotation angle of the lifting scissor mechanism is gradually increased to the preset angle threshold value through the angle sensor, it can be determined that the lifting height of the lifting scissor mechanism reaches the first height.

In the process of lifting operation of the lifting scissor mechanism, the first height of the lifting scissor mechanism is subjected to redundant detection through the first sensor and the second sensor. If any one of the two sensors is in fault or fails, the limited height of the lifting scissor mechanism can be detected through the normal sensor, so that the safety of the high-altitude operation equipment in the outdoor working mode is improved.

In one embodiment, the lifting scissors mechanism further comprises a shaft sleeve assembly, the limiting assembly is mounted on the shaft sleeve assembly, and the shaft sleeve assembly is used for driving the limiting assembly to rotate during the lifting scissors mechanism performs the lifting operation.

The shaft sleeve component is a cylindrical mechanical part sleeved on a rotating shaft of the lifting scissor fork mechanism and is a component of a sliding bearing. The limiting assembly is installed on the shaft sleeve assembly through the fixing assembly, and in the process of lifting the scissor mechanism to perform lifting operation, the rotating shaft and the shaft sleeve assembly of the scissor lifting mechanism rotate along with the lifting operation, so that the limiting assembly is driven to rotate together. When the limiting assembly rotates to a certain position, the limiting assembly triggers a limiting switch on the first sensor, so that the first sensor generates a first limiting signal. The processor can receive a first limit signal sent by the first sensor, and determine that the lifting scissors mechanism has been lifted to a first height according to the first limit signal, so as to control the lifting scissors mechanism to stop lifting.

In one embodiment, the aerial work apparatus further comprises a chassis, the chassis comprising, with the second object sensing device mounted thereto: the first bracket component is used for fixing the first target sensing device on the chassis; and the second bracket component is used for fixing the second target sensing device on a side plate of the chassis.

In one embodiment, the lifting scissor mechanism comprises a scissor arm, and the first target sensing device comprises a first sensor, a second sensor and a rotating assembly, wherein the first sensor is fixed on the chassis through a first bracket assembly, the rotating assembly is fixedly arranged on the scissor arm, and the second sensor is connected with the rotating assembly.

The first object sensing device includes a first sensor, a second sensor, and a rotating assembly coupled to the second sensor. The aerial working equipment also comprises a chassis, and the chassis is connected with the lifting scissor mechanism and used for fixing the lifting scissor mechanism. Pulleys can be arranged below the chassis and used for moving the position of the high-altitude operation equipment. The first bracket component and the second bracket component are arranged above the chassis, the first bracket component can fix the first sensor and the second sensor on the chassis, and the second bracket component can fix the second target sensing device on a side plate of the chassis. The scissor arms are the main bodies of the lifting scissor mechanisms, and the plurality of scissor arms are sequentially connected at the head parts to form the lifting scissor mechanisms. The rotating assembly is fixed on the scissor arms through a connecting assembly, and the connecting assembly can be a screw rod. When the scissor arm rotates, the scissor arm can drive the rotating component to rotate together through the screw. Further, the rotating assembly is connected with a second sensor. The second sensor may be an angle sensor. When the lifting scissors mechanism carries out lifting operation, the scissors arm rotates, so that the screw rod drives the rotating assembly to rotate together, and the rotating angle of the scissors arm can be indirectly measured. And under the condition that the rotation angle of the scissor arm is detected to be larger than or equal to the preset angle threshold, the processor can control the lifting scissor mechanism to stop lifting.

In one embodiment, the aerial work device further comprises a slider assembly, the slider assembly is connected with the lifting scissor mechanism, the chassis comprises a sliding track, the second target sensing device comprises a third sensor, and the limiting of the lifting height of the lifting scissor mechanism by the second target sensing device with the third sensor mounted on the chassis comprises: under the condition of receiving a second limit signal sent by a third sensor, determining that the lifting height of the lifting scissor mechanism reaches a second height; and the second limit signal is a signal generated when the sliding block assembly moves along the sliding track until the sliding block assembly contacts the third sensor.

In the lifting process of the lifting scissor mechanism, the included angle between the scissor arm and the horizontal direction is gradually increased, and the lifting scissor mechanism gradually gets close along with the change of the included angle. As shown in the figure, the slide block assembly is connected with the scissor arm of the lifting scissor mechanism and moves linearly along the slide rail on the chassis along with the lifting operation of the lifting scissor mechanism. The third sensor may be a mechanical sensor, and in the case that the operation mode is an indoor operation mode, the third sensor may be mounted to a sidewall of the chassis. When the sliding block component moves along the sliding track until contacting the third sensor, the third sensor generates a second limit signal. And the processor can determine that the lifting height of the lifting scissor mechanism reaches the second height under the condition of receiving the second limiting signal sent by the third sensor, so that the lifting scissor mechanism is controlled to stop lifting.

In one embodiment, the aerial work device further comprises a drive device, the second target sensing device comprises a fourth sensor, and the defining of the lifting height of the lifting scissor mechanism by the second target sensing device with the fourth sensor mounted to the drive device comprises: acquiring the telescopic length of the driving device through a fourth sensor; and under the condition that the telescopic length is determined to be greater than or equal to the preset length threshold, determining that the lifting height of the lifting scissors mechanism reaches a second height.

The driving device is a power device for driving the lifting scissors mechanism to carry out lifting operation. Specifically, the lifting scissors can be an electric cylinder, and the electric cylinder can adjust the lifting scissors to lift and lower the fork mechanism through extension and contraction. The fourth sensor may be a potentiometer, and may be installed inside the electric cylinder to detect the telescopic length of the electric cylinder. In the case where the operation mode is the indoor operation mode, the fourth sensor may be attached to the electric cylinder. Through the fourth sensor, the processor can determine that the lifting height of the lifting scissor mechanism reaches the second height under the condition that the processor determines that the telescopic length of the electric cylinder is greater than or equal to the preset length threshold. At this time, the processor can control the electric cylinder to stop extending and retracting, so that the lifting operation of the lifting scissors mechanism is stopped. Compared with the situation of the outdoor working mode, the lifting height corresponding to the indoor working mode is lower, so that only one of the third sensor and the fourth sensor can be installed for height limitation.

Through the technical scheme, the aerial working equipment can be controlled to enter different working modes. Under outdoor mode, can drive spacing subassembly through the axle sleeve subassembly that lifts scissors fork mechanism and rotate to trigger first sensor and produce first spacing signal. At this time, it can be determined that the lifting scissors mechanism is lifted to the first height. Meanwhile, a scissor arm of the lifting scissor mechanism drives the rotating assembly to rotate through the second connecting assembly, and the second sensor can indirectly measure the rotating angle of the scissor arm by detecting the rotating angle of the rotating assembly. When the rotation angle is rotated to a preset angle threshold value, it can be determined that the lifting scissors mechanism is lifted to a first height. Therefore, the first height of the lifting scissors fork mechanism in the outdoor working mode is detected by the first sensor and the second sensor at the same time, and when any one sensor fails, the first height of the lifting scissors fork mechanism can be detected. And under the condition of switching to the outdoor working mode, when the processor determines that the lifting height reaches the first height, controlling the lifting scissors mechanism to stop lifting. The first connecting component connected with the scissor arm can drive the sliding block component to do linear reciprocating motion on the sliding track of the chassis. If the second target sensing device is mounted on the chassis, the slider assembly may trigger the second target sensing device to generate a second limit signal. At this time, it can be determined that the lifting scissors mechanism is lifted to the second height. If the second target sensing device is installed in the driving device, the second target sensing device may detect the extension length of the driving device. When the telescopic length is stretched to a preset length threshold value, the lifting scissor mechanism can be determined to be lifted to a second height. Therefore, the second sensing device can be selectively installed in any one of the driving device and the chassis, and the second height of the lifting scissor fork mechanism can be detected. And under the condition of switching to the indoor working mode, when the processor determines that the lifting height reaches the second height, controlling the lifting scissors mechanism to stop lifting. Therefore, the aerial work equipment can have both outdoor and indoor work modes. And first sensor and second sensor to and install the second target sensing device on the chassis, all are mechanical type sensor, and in the in-process of carrying out the height detection to lifting scissors fork mechanism, its detection performance is more accurate and stable, reduces mechanical mechanism because the error that self shake or external force interference caused.

FIG. 2 is a flow diagram illustrating a control method for aerial work equipment in one embodiment. It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 3, there is provided an aerial work apparatus comprising a lifting scissor mechanism 10, a mode selection device 20, a processor 30, wherein:

the lifting scissors mechanism 10 is used for carrying out lifting operation, and the lifting height of the lifting scissors mechanism is changed along with the carrying out of the lifting operation.

And a mode selection device 20 for inputting a mode selection command.

A processor 30 for executing the control method for aerial work apparatus described above.

Processor 30 may receive the mode selection command from mode selection device 20 and determine whether the aerial work apparatus enters the indoor work mode or the outdoor work module according to the mode selection command. Depending on the mode of operation, the processor may determine a defined height of the lifting scissor mechanism 10, wherein the defined height corresponds to the mode of operation of the aerial work apparatus. Further, in the case that the lifting height of the lifting scissors mechanism 10 reaches a defined height, the processor may control the lifting scissors mechanism 10 to stop lifting.

In one embodiment, in case the working mode of the aerial work device is switched to the outdoor working mode, the processor 30 may also receive the first limit signal sent by the first sensor, and at this time, the processor 30 may determine that the lifting height of the lifting scissor mechanism 10 reaches the first height. The processor 30 may further receive the rotation angle detected by the second sensor, and in a case that the rotation angle is determined to be greater than or equal to the preset angle threshold, the processor 30 determines that the lifting height of the lifting scissors mechanism 10 reaches the first height. In the outdoor operation mode, when the processor 30 determines that the lifting height reaches the first height, the processor can control the lifting scissors mechanism 10 to stop lifting. In the case that the operation mode of the aerial work device is switched to the indoor operation mode, the processor 30 may receive the second limit signal sent by the third sensor, and at this time, the processor 30 may determine that the lifting height of the lifting scissors mechanism 10 reaches the second height. In the indoor operating mode, when the processor 30 determines that the lifting height reaches the second height, the processor may control the lifting scissors mechanism 10 to stop lifting. In the case where the operation mode of the aerial work apparatus is switched to the indoor operation mode, the processor 30 may further acquire the telescopic length of the driving device through the fourth sensor. In the event that the telescopic length is determined to be greater than or equal to the preset length threshold, the processor 30 may determine that the lifting height of the lifting scissor mechanism reaches the second height. At this time, the processor may control the lifting scissor mechanism 10 to stop lifting.

The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more, and the control method for the aerial work equipment is realized by adjusting kernel parameters.

The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), including at least one memory chip.

An embodiment of the present application provides a storage medium on which a program is stored, the program implementing the above-described control method for an aerial work apparatus when executed by a processor.

The embodiment of the application provides a processor, wherein the processor is used for running a program, and the program executes the control method for the aerial work equipment during running.

In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 4. The computer apparatus includes a processor a01, a network interface a02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Wherein the processor a01 of the computer device is arranged to provide computing and control capabilities. The memory of the computer device includes an internal memory a03 and a nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory a03 provides an environment for running the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used to store data for the control method of the aerial work device. The network interface a02 of the computer apparatus is used for communicating with an external terminal through a network connection. The computer program B02 is executed by the processor a01 to implement a control method for aerial work equipment.

Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the control method for the aerial work equipment.

The present application also provides a computer program product adapted to perform a program of initialising control method steps for aerial work apparatus when executed on data processing apparatus.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (11)

1. A control method for aerial work equipment comprising a lifting scissor mechanism, the control method comprising:

receiving a mode selection instruction;

determining the operation mode of the high-altitude operation equipment according to the mode selection instruction, wherein the operation mode comprises an indoor operation mode and an outdoor operation mode;

determining the limited height of the lifting scissors mechanism according to the operation mode;

and controlling the lifting scissors mechanism to stop lifting under the condition that the lifting height of the lifting scissors mechanism reaches the limited height.

2. The control method for aerial work equipment as defined in claim 1, wherein the defined height comprises a first height and a second height, and the controlling the lifting scissor mechanism to stop lifting in the case where the lifting height of the lifting scissor mechanism reaches the defined height comprises:

under the condition that the operation mode of the high-altitude operation equipment is switched to an outdoor operation mode, limiting the lifting height of the lifting scissor mechanism through a first target sensing device, and controlling the lifting scissor mechanism to stop lifting under the condition that the lifting height reaches the first height;

and under the condition that the operation mode is switched to the indoor operation mode according to the mode selection instruction, limiting the lifting height of the lifting scissors mechanism through a second target sensing device, and under the condition that the lifting height reaches a second height, controlling the lifting scissors mechanism to stop lifting, wherein the second height is larger than the first height.

3. The control method for aerial work equipment as defined in claim 2, further comprising a stop assembly mounted to the lifting scissor mechanism, the first target sensing device comprising a first sensor and a second sensor, the defining the lifting height of the lifting scissor mechanism by the first target sensing device comprising:

under the condition of receiving a first limit signal sent by the first sensor, determining that the lifting height of the lifting scissors fork mechanism reaches the first height, and/or determining that the lifting height of the lifting scissors fork mechanism reaches the first height

Detecting the rotation angle of the lifting scissor mechanism through the second sensor;

under the condition that the rotation angle is determined to be larger than or equal to a preset angle threshold value, determining that the lifting height of the lifting scissors mechanism reaches the first height;

wherein the first limit signal is a signal generated when the limit component contacts the first sensor.

4. The control method for the aerial work equipment as defined in claim 3, wherein the lifting scissors mechanism further comprises a shaft sleeve assembly, the limiting assembly is mounted on the shaft sleeve assembly, and the shaft sleeve assembly is used for driving the limiting assembly to rotate during the lifting scissors mechanism performs the lifting operation.

5. A control method for aerial work apparatus as claimed in any one of claims 1 to 3 wherein the aerial work apparatus further comprises a chassis, the chassis including, with the second object sensing device mounted thereto:

a first bracket assembly for securing the first target sensing device to the chassis;

a second bracket assembly for securing the second target sensing device to a side panel of the chassis.

6. The control method for aerial work apparatus of claim 5 wherein the lifting scissor mechanism includes a scissor arm and the first target sensing device includes a first sensor, a second sensor and a rotating assembly, wherein the first sensor is secured to the chassis by the first bracket assembly and the rotating assembly is fixedly mounted to the scissor arm and the second sensor is coupled to the rotating assembly.

7. The control method for aerial work equipment as defined in claim 5, further comprising a slider assembly coupled to the lifting scissor mechanism, the chassis including a sliding track, the second target sensing device including a third sensor, the defining the lifting height of the lifting scissor mechanism by the second target sensing device with the third sensor mounted to the chassis comprising:

under the condition of receiving a second limit signal sent by the third sensor, determining that the lifting height of the lifting scissor mechanism reaches the second height;

wherein the second limit signal is a signal generated when the slider assembly moves along the sliding track until contacting the third sensor.

8. The control method for aerial work apparatus of claim 5 wherein the aerial work apparatus further comprises a drive device, the second target sensing device comprises a fourth sensor, and the defining the lifting height of the lifting scissor mechanism by the second target sensing device with the fourth sensor mounted to the drive device comprises:

acquiring the telescopic length of the driving device through a fourth sensor;

and under the condition that the telescopic length is determined to be greater than or equal to a preset length threshold value, determining that the lifting height of the lifting scissors fork mechanism reaches the second height.

9. A processor configured to perform a control method for aerial work apparatus as claimed in any one of claims 1 to 8.

10. An aerial work apparatus, comprising:

the lifting scissors fork mechanism is used for executing lifting operation, and the lifting height of the lifting scissors fork mechanism is changed along with the lifting operation;

mode selection means for inputting a mode selection instruction; and

the processor of claim 9.

11. A machine readable storage medium having instructions stored thereon, which when executed by a processor causes the processor to be configured to perform a method of controlling aerial work apparatus as claimed in any one of claims 1 to 8.

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