CN112723264A - Control system and method for aerial work platform and aerial work platform - Google Patents
Control system and method for aerial work platform and aerial work platform Download PDFInfo
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- CN112723264A CN112723264A CN202011565079.4A CN202011565079A CN112723264A CN 112723264 A CN112723264 A CN 112723264A CN 202011565079 A CN202011565079 A CN 202011565079A CN 112723264 A CN112723264 A CN 112723264A
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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
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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
- B66F13/00—Common constructional features or accessories
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Abstract
The embodiment of the invention provides a control system for an aerial work platform, and belongs to the technical field of mechanical control. The parts of the aerial work platform comprise a chassis, a rotary table, an arm support and a work platform, wherein the arm support comprises a folding arm, a telescopic arm and a fly jib, and the system comprises: a sensor for detecting a distance to an obstacle, detecting a moving speed of the work platform, and detecting motion state information of the part; a controller to: determining the influence coefficient of the action of the part on the moving speed of the working platform according to the motion state information and the moving speed of the working platform; and controlling the action of the part according to the moving speed of the working platform, the distance of the obstacle and the influence coefficient. The system limits the moving speed of the aerial work platform in the process of detecting the obstacle, so that the moving speed of the aerial work platform changes more smoothly, and the operation comfort level of an operator is improved.
Description
Technical Field
The invention relates to the technical field of mechanical control, in particular to a control system and method for an aerial work platform and the aerial work platform.
Background
With the development of society and the progress of science and technology, people have increasingly increased requirements on safety, and the corresponding anti-collision technology for the aerial work platform is developed more and more comprehensively. The prior art can detect objects and early warn in advance or automatically cut off equipment actions by installing an ultrasonic radar or an infrared sensor on an aerial work platform, and can prevent collision accidents caused by the carelessness of operators.
The existing anti-collision system has the following defects: on one hand, the device is mainly suitable for plane motion and is difficult to process the complex space motion of the aerial work platform; on the other hand, the device is mostly suitable for simple driving and steering actions and is not suitable for aerial work platforms with various action modes; moreover, the existing system has low frequency of triggering alarm, and collision is avoided generally by sudden stop; when the aerial work platform works normally, the working condition of an object is often close to the aerial work platform, and the simple sudden stop or the rough interval deceleration can cause the operation comfort level of an operator to be extremely low.
In view of the above-mentioned drawbacks, there is a need for an anti-collision control system that can adapt to complex spatial movement and ensure the operating comfort of an aerial work platform.
Disclosure of Invention
An object of an embodiment of the present invention is to provide a control system for an aerial work platform, which can make the moving speed of the aerial work platform change more smoothly when encountering an obstacle, and improve the operation comfort of an operator.
In order to achieve the above object, an embodiment of the present invention provides a control system for an aerial work platform, where components of the aerial work platform include a chassis, a turntable, an arm support, and a work platform, where the arm support includes a folding arm, a telescopic arm, and a fly jib, and the system includes: a sensor for detecting a distance to an obstacle, detecting a moving speed of the work platform, and detecting motion state information of the part; a controller to: determining the influence coefficient of the action of the part on the moving speed of the working platform according to the motion state information and the moving speed of the working platform; and controlling the action of the part according to the moving speed of the working platform, the distance of the obstacle and the influence coefficient.
Optionally, the actions of the component include at least one of: the method comprises the following steps of arm support action, rotary table angle rotation, chassis walking and working platform angle rotation, wherein the arm support action comprises arm support angle amplitude variation and telescopic arm length amplitude variation; the motion state information comprising at least one of: the device comprises an arm support amplitude angle, an arm support angle amplitude speed, an arm support length, a telescopic arm length amplitude speed, a rotary table rotation angle, a rotary table rotation angular speed, a chassis walking speed, a chassis tire steering angular speed, a chassis inclination angle and a working platform rotation angle.
Optionally, the determining, according to the motion state information and the moving speed of the working platform, an influence coefficient of the motion of the component on the moving speed of the working platform includes: determining the influence coefficient of the boom action on the moving speed of the working platform according to the rotation angle of the working platform, the angular amplitude variation speed of the boom, the length amplitude variation speed of the telescopic boom, the length of the boom and the moving speed of the working platform; determining the influence coefficient of the rotary table angle rotation on the moving speed of the working platform according to the rotary angle of the working platform, the amplitude variation angle of the arm support, the length of the arm support, the rotary angular speed of the rotary table and the moving speed of the working platform; and determining the influence coefficient of the chassis walking on the moving speed of the working platform according to the rotating angle of the working platform, the amplitude variation angle of the arm support, the length of the arm support, the rotating angle of the rotary table, the inclination angle of the chassis, the steering angular speed of the tires of the chassis, the walking speed of the chassis and the moving speed of the working platform.
Optionally, the moving speed of the working platform is divided into component speeds in multiple directions, and the influence coefficient is a ratio of the moving speed of the working platform generated by the motion of the component in a certain direction to the component speed of the working platform in the certain direction.
Optionally, the system further includes: and the execution mechanism is used for controlling the action of the component according to the control instruction of the controller and comprises an electromagnetic valve and a motor.
Optionally, the sensor comprises a distance measuring sensor, a speed sensor and an attitude sensor, wherein the distance measuring sensor is selected from at least one of an ultrasonic radar, a laser radar, an infrared sensor and an image recognition device and is used for detecting the distance of the obstacle; the attitude sensor includes an angle sensor and a length sensor.
In another aspect, the invention provides an aerial work platform comprising a control system for an aerial work platform as described in any one of the preceding claims.
In another aspect, the present invention provides a control method for an aerial work platform, where components of the aerial work platform include a chassis, a turntable, an arm support, and a work platform, where the arm support includes a folding arm, a telescopic arm, and a flying arm, the method including: acquiring the distance of an obstacle, the moving speed of the working platform and the motion state information of the part; determining the influence coefficient of the action of the part on the moving speed of the working platform according to the motion state information and the moving speed of the working platform; and controlling the action of the part according to the moving speed of the working platform, the distance of the obstacle and the influence coefficient.
Optionally, the actions of the component include at least one of: the method comprises the following steps of arm support action, rotary table angle rotation, chassis walking and working platform angle rotation, wherein the arm support action comprises arm support angle amplitude variation and telescopic arm length amplitude variation; the motion state information comprising at least one of: the device comprises an arm support amplitude angle, an arm support angle amplitude speed, an arm support length, a telescopic arm length amplitude speed, a rotary table rotation angle, a rotary table rotation angular speed, a chassis walking speed, a chassis tire steering angular speed, a chassis inclination angle and a working platform rotation angle.
Optionally, the determining, according to the motion state information and the moving speed of the working platform, an influence coefficient of the motion of the component on the moving speed of the working platform includes: determining the influence coefficient of the boom action on the moving speed of the working platform according to the rotation angle of the working platform, the angular amplitude variation speed of the boom, the length amplitude variation speed of the telescopic boom, the length of the boom and the moving speed of the working platform; determining the influence coefficient of the rotary table angle rotation on the moving speed of the working platform according to the rotary angle of the working platform, the amplitude variation angle of the arm support, the length of the arm support, the rotary angular speed of the rotary table and the moving speed of the working platform; and determining the influence coefficient of the chassis walking on the moving speed of the working platform according to the rotating angle of the working platform, the amplitude variation angle of the arm support, the length of the arm support, the rotating angle of the rotary table, the inclination angle of the chassis, the steering angular speed of the tires of the chassis, the walking speed of the chassis and the moving speed of the working platform.
Optionally, the moving speed of the working platform is divided into component speeds in multiple directions, and the influence coefficient is a ratio of the moving speed of the working platform generated by the motion of the component in a certain direction to the component speed of the working platform in the certain direction.
According to the technical scheme, the control system for the aerial work platform comprehensively analyzes the influence coefficient of the movement speed of the work platform due to the component action, the movement speed of the work platform and the distance of the obstacle, limits the movement speed of the aerial work platform in the process of detecting the obstacle, enables the movement speed of the aerial work platform to change more smoothly, and improves the operation comfort of an operator.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a block diagram of a self-walking arm aerial work platform according to an embodiment of the present invention;
FIG. 2 is a block diagram of a control system for an aerial work platform according to an embodiment of the present invention;
fig. 3 is a flowchart of a control method for an aerial work platform according to an embodiment of the present invention.
Description of the reference numerals
1-chassis 2-turntable 3-folding arm 4-telescopic arm 5-flying arm 6-working platform
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The invention provides a control system for an aerial work platform, which is applicable to a self-walking arm type aerial work platform. Fig. 1 shows a self-propelled boom aerial platform, the components of which comprise a chassis 1, a turntable 2, a folding boom 3, a telescopic boom 4, a flying boom 5 and a working platform 6, wherein the folding boom 3, the telescopic boom 4 and the flying boom 5 all belong to a boom, and the boom length of the telescopic boom 4 can be changed.
As shown in fig. 2, the control system for the aerial work platform includes sensors and a controller.
The sensor is used for detecting the distance of an obstacle, detecting the moving speed of the working platform and detecting the motion state information of the part.
Wherein the motion state information comprises at least one of: the device comprises an arm support amplitude angle, an arm support angle amplitude speed, an arm support length, a telescopic arm length amplitude speed, a rotary table rotation angle, a rotary table rotation angular speed, a chassis walking speed, a chassis tire steering angular speed, a chassis inclination angle and a working platform rotation angle. The sensors further include a ranging sensor, a speed sensor, and an attitude sensor. The ranging sensor is selected from at least one of an ultrasonic radar, a laser radar, an infrared sensor and an image recognition device, and is used for detecting the distance of the obstacle. The speed sensor is used for detecting the moving speed of the working platform and the walking speed of the chassis. The attitude sensor comprises an angle sensor and a length sensor, wherein the angle sensor can be selectively matched with an angle encoder for use, and is used for detecting the angle and the angular speed of the angular amplitude and the angular rotation action of each component and the inclination angle of the chassis. The length sensor is used for detecting the length of each arm support and the length variable amplitude speed of the telescopic arm. Of course, the partial motion state information can also be obtained in other ways, for example, the chassis walking speed can be obtained by collecting the angular speed of the tires of the chassis and the radius of the tires.
The controller is configured to: determining the influence coefficient of the action of the part on the moving speed of the working platform according to the motion state information and the moving speed of the working platform; and controlling the action of the part according to the moving speed of the working platform, the obstacle distance and the influence coefficient.
Wherein the action of the component comprises at least one of: the method comprises the following steps of arm support action, rotary table angle rotation, chassis walking and working platform angle rotation, wherein the arm support action comprises arm support angle amplitude variation and telescopic arm length amplitude variation.
In some preferred embodiments, the moving speed of the work platform may be divided into a plurality of directions for calculation, and the influence coefficient is a ratio of the moving speed of the work platform generated by the motion of the component in a certain direction to the divided speed of the work platform in the certain direction. For example, the moving speed of the working platform is divided into the component speeds in the up, down, left, right, front and back directions, the motion of each component in a single direction enables the working platform to generate the moving speed component speed, the sum of the component speeds is the moving speed of the working platform in the direction, and then the ratio of the moving speed of the working platform generated by the component motion in a certain direction to the component speed of the working platform in the direction is defined as the influence coefficient of the component motion on the moving speed of the working platform.
For example, when the component motion is taken as boom angle amplitude and telescopic boom length amplitude, the following are obtained by calculation: in the forward direction, the influence coefficient corresponding to the angle amplitude of the arm support is 0.6, and the influence coefficient corresponding to the length amplitude of the telescopic arm is 0.4.
Except for the angular rotation of the working platform, other component actions comprise arm support actions, turntable angular rotation and chassis walking, and are external component actions relative to the working platform, the influence of the external component actions on the moving speed of the working platform is mainly considered in the calculation of influence coefficients, and when the influence coefficients of the external component actions are calculated, the angular rotation of the working platform can also influence the moving speed of the working platform, so that the angular rotation action of the working platform is also considered.
Determining an influence coefficient of the boom action on the moving speed of the working platform, wherein the influence coefficient comprises the following motion state information: the rotation angle of the working platform, the angular amplitude variation speed of the arm support, the length amplitude variation speed of the telescopic arm and the length of the arm support.
Determining the influence coefficient of the rotary table angle rotation on the moving speed of the working platform, wherein the influence coefficient comprises the following motion state information: the rotation angle of the working platform, the amplitude variation angle of the arm support, the length of the arm support and the rotation angular speed of the rotary table. It can be noted that the motion state information of the boom is the boom variable amplitude angle and the boom length, and because only the influence of the rotation of the turntable angle is considered, the motion state information of the boom is a transient value rather than a dynamic value, specifically, the motion state information of the boom is the boom variable amplitude angle and the boom length rather than the boom angle variable amplitude speed and the telescopic boom length variable amplitude speed; and the rotating radius of the working platform can be determined according to the amplitude variation angle of the arm support and the length of the arm support.
Determining the influence coefficient of the chassis walking on the moving speed of the working platform, wherein the influence coefficient comprises the following motion state information: the rotary angle of the working platform, the amplitude variation angle of the arm support, the length of the arm support, the rotary angle of the rotary table, the inclination angle of the chassis, the steering angular speed of tires of the chassis and the walking speed of the chassis. And when only the influence of chassis walking is considered, the motion state information of the arm support and the rotary table is a transient value rather than a dynamic value.
After determining the influence coefficient, the controller controls the action of the component according to the moving speed of the working platform, the obstacle distance and the influence coefficient. The method specifically comprises the following steps: and determining expected collision time according to the moving speed of the working platform and the distance between the obstacles, and then determining the deceleration acceleration by combining the influence coefficient, so that the working platform decelerates until the obstacles approach to a certain degree and stops moving.
The influence coefficient enables the controller to carry out quantitative analysis on the influence of the movement of the component on the moving speed of the working platform when determining the speed limiting strategy, so that the movement speed of the working platform is more accurately limited, and the change of the moving speed of the aerial work platform is more gradual.
The system further comprises: and the execution mechanism is used for controlling the action of the component according to the control instruction of the controller and comprises an electromagnetic valve and a motor.
The invention also provides an aerial work platform which comprises the control system for the aerial work platform in any one of the embodiments.
The invention also provides a control method for the aerial work platform, which corresponds to the control system for the aerial work platform in the above embodiment, and as shown in fig. 3, the method comprises steps S101-S103:
s101, obtaining the distance of an obstacle, the moving speed of the working platform and the motion state information of the part;
s102, determining an influence coefficient of the action of the part on the moving speed of the working platform according to the motion state information and the moving speed of the working platform;
and S103, controlling the action of the part according to the moving speed of the working platform, the obstacle distance and the influence coefficient.
Wherein the action of the component comprises at least one of: the method comprises the following steps of arm support action, rotary table angle rotation, chassis walking and working platform angle rotation, wherein the arm support action comprises arm support angle amplitude variation and telescopic arm length amplitude variation.
The motion state information comprising at least one of: the device comprises an arm support amplitude angle, an arm support angle amplitude speed, an arm support length, a telescopic arm length amplitude speed, a rotary table rotation angle, a rotary table rotation angular speed, a chassis walking speed, a chassis tire steering angular speed, a chassis inclination angle and a working platform rotation angle.
The S102 may further specifically include determining influence coefficients of the actions of the three components, i.e., the boom action, the rotation of the turntable angle, and the chassis walking, on the moving speed of the working platform, specifically:
determining the influence coefficient of the boom action on the moving speed of the working platform according to the rotation angle of the working platform, the angular amplitude variation speed of the boom, the length amplitude variation speed of the telescopic boom, the length of the boom and the moving speed of the working platform;
determining the influence coefficient of the rotary table angle rotation on the moving speed of the working platform according to the rotary angle of the working platform, the amplitude variation angle of the arm support, the length of the arm support, the rotary angular speed of the rotary table and the moving speed of the working platform;
and determining the influence coefficient of the chassis walking on the moving speed of the working platform according to the rotating angle of the working platform, the amplitude variation angle of the arm support, the length of the arm support, the rotating angle of the rotary table, the inclination angle of the chassis, the steering angular speed of the tires of the chassis, the walking speed of the chassis and the moving speed of the working platform.
In some preferred embodiments, since the velocity decomposition is more convenient to calculate, the work platform moving velocity is selected to be divided into a plurality of directions, and the influence coefficient is a ratio of the work platform moving velocity generated by the motion of the component in a certain direction to the divided velocity of the work platform in the direction.
The beneficial effects and other preferred embodiments of the control method for the aerial work platform refer to the control system for the aerial work platform, which is not described herein again.
It is to 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 phrase "comprising an … …" does not exclude the presence of other identical elements in the 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 system for an aerial work platform, characterized in that the components of the aerial work platform comprise a chassis, a turntable, an arm support and a work platform, wherein the arm support comprises a folding arm, a telescopic arm and a flying arm, the system comprises:
a sensor for detecting a distance to an obstacle, detecting a moving speed of the work platform, and detecting motion state information of the part;
a controller to:
determining the influence coefficient of the action of the part on the moving speed of the working platform according to the motion state information and the moving speed of the working platform;
and controlling the action of the part according to the moving speed of the working platform, the distance of the obstacle and the influence coefficient.
2. A control system for an aerial work platform as claimed in claim 1 wherein the action of the component comprises at least one of:
the method comprises the following steps of arm support action, rotary table angle rotation, chassis walking and working platform angle rotation, wherein the arm support action comprises arm support angle amplitude variation and telescopic arm length amplitude variation;
the motion state information comprising at least one of:
the device comprises an arm support amplitude angle, an arm support angle amplitude speed, an arm support length, a telescopic arm length amplitude speed, a rotary table rotation angle, a rotary table rotation angular speed, a chassis walking speed, a chassis tire steering angular speed, a chassis inclination angle and a working platform rotation angle.
3. The control system for an aerial work platform as defined in claim 2 wherein determining the coefficient of influence of the movement of the component on the speed of movement of the work platform based on the motion state information and the speed of movement of the work platform comprises:
determining the influence coefficient of the boom action on the moving speed of the working platform according to the rotation angle of the working platform, the angular amplitude variation speed of the boom, the length amplitude variation speed of the telescopic boom, the length of the boom and the moving speed of the working platform;
determining the influence coefficient of the rotary table angle rotation on the moving speed of the working platform according to the rotary angle of the working platform, the amplitude variation angle of the arm support, the length of the arm support, the rotary angular speed of the rotary table and the moving speed of the working platform;
and determining the influence coefficient of the chassis walking on the moving speed of the working platform according to the rotating angle of the working platform, the amplitude variation angle of the arm support, the length of the arm support, the rotating angle of the rotary table, the inclination angle of the chassis, the steering angular speed of the tires of the chassis, the walking speed of the chassis and the moving speed of the working platform.
4. The anti-collision control system for an aerial work platform of claim 3, wherein the work platform movement speed is divided into a plurality of directional component speeds,
the influence coefficient is the ratio of the moving speed of the working platform generated by the action of the component in a certain direction to the component speed of the working platform in the direction.
5. A control system for an aerial work platform as claimed in any one of claims 1 to 4 wherein the system further comprises:
and the execution mechanism is used for controlling the action of the component according to the control instruction of the controller and comprises an electromagnetic valve and a motor.
6. A control system for an aerial work platform as claimed in claim 1 wherein the sensors include a range sensor, a speed sensor and an attitude sensor,
the distance measuring sensor is selected from at least one of an ultrasonic radar, a laser radar, an infrared sensor and an image recognition device and is used for detecting the distance of an obstacle;
the attitude sensor includes an angle sensor and a length sensor.
7. An aerial work platform comprising a control system for an aerial work platform as claimed in any one of claims 1 to 6.
8. A control method for an aerial work platform is characterized in that components of the aerial work platform comprise a chassis, a rotary table, an arm support and a work platform, wherein the arm support comprises a folding arm, a telescopic arm and a flying arm, and the method comprises the following steps:
acquiring the distance of an obstacle, the moving speed of the working platform and the motion state information of the part;
determining the influence coefficient of the action of the part on the moving speed of the working platform according to the motion state information and the moving speed of the working platform;
and controlling the action of the part according to the moving speed of the working platform, the distance of the obstacle and the influence coefficient.
9. A control method for an aerial work platform as claimed in claim 8 wherein the action of the component comprises at least one of:
the method comprises the following steps of arm support action, rotary table angle rotation, chassis walking and working platform angle rotation, wherein the arm support action comprises arm support angle amplitude variation and telescopic arm length amplitude variation;
the motion state information comprising at least one of:
the device comprises an arm support amplitude angle, an arm support angle amplitude speed, an arm support length, a telescopic arm length amplitude speed, a rotary table rotation angle, a rotary table rotation angular speed, a chassis walking speed, a chassis tire steering angular speed, a chassis inclination angle and a working platform rotation angle.
10. The method of claim 9, wherein determining the coefficient of influence of the motion of the component on the speed of movement of the work platform based on the motion state information and the speed of movement of the work platform comprises:
determining the influence coefficient of the boom action on the moving speed of the working platform according to the rotation angle of the working platform, the angular amplitude variation speed of the boom, the length amplitude variation speed of the telescopic boom, the length of the boom and the moving speed of the working platform;
determining the influence coefficient of the rotary table angle rotation on the moving speed of the working platform according to the rotary angle of the working platform, the amplitude variation angle of the arm support, the length of the arm support, the rotary angular speed of the rotary table and the moving speed of the working platform;
and determining the influence coefficient of the chassis walking on the moving speed of the working platform according to the rotating angle of the working platform, the amplitude variation angle of the arm support, the length of the arm support, the rotating angle of the rotary table, the inclination angle of the chassis, the steering angular speed of the tires of the chassis, the walking speed of the chassis and the moving speed of the working platform.
11. A control method for an aerial work platform as claimed in claim 10 wherein the speed of movement of the work platform is divided into a plurality of directional component speeds,
the influence coefficient is the ratio of the moving speed of the working platform generated by the action of the component in a certain direction to the component speed of the working platform in the direction.
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| EP4269322A1 (en) * | 2022-04-27 | 2023-11-01 | Hunan Sinoboom Intelligent Equipment Co., Ltd. | Anti-collision detection and control method and system, forklift system, and forklift |
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| CN115228022B (en) * | 2022-07-27 | 2023-02-21 | 徐工消防安全装备有限公司 | Automatic bridging system for elevating fire truck working platform and control method |
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