CN114212745B

CN114212745B - Aerial work platform, control method and storage medium

Info

Publication number: CN114212745B
Application number: CN202210048520.4A
Authority: CN
Inventors: 汤家升; 苏坤; 唐玉晓; 王晓飞; 靳翠军; 程婷
Original assignee: XCMG Fire Fighting Safety Equipment Co Ltd
Current assignee: XCMG Fire Fighting Safety Equipment Co Ltd
Priority date: 2022-01-17
Filing date: 2022-01-17
Publication date: 2024-10-11
Anticipated expiration: 2042-01-17
Also published as: CN114212745A

Abstract

The present disclosure relates to an aerial work platform, a control method, and a storage medium, the aerial work platform including: the mechanism of getting off and setting are in the revolving stage of mechanism of getting off, its characterized in that, aerial work platform still includes: a plurality of first sensors disposed on the turntable and configured to detect obstacles around the turntable; and the processor is in signal connection with the first sensor and the getting-off mechanism and is configured to adjust the moving speed of the getting-off mechanism according to the distance signal of the obstacle detected by the first sensor.

Description

Aerial work platform, control method and storage medium

Technical Field

The present disclosure relates to the field of aerial work, and in particular, to an aerial work platform, a control method, and a storage medium.

Background

The aerial work platform utilizes self power to move in short distance between work sites or between sites for transporting operators and using equipment to a designated height for work. The aerial working platform in the related art has extremely high requirements on operators mainly through the operators observing the barriers around the platform and the turntable.

Disclosure of Invention

The inventor finds that, in the process of moving, lifting or extending the arm, once an operator carelessly observes the surrounding environment, collision accidents are easily caused, and even casualties are caused in serious conditions, so that the reliability and stability of the operation of the aerial working platform cannot be ensured.

In view of the above, the embodiments of the present disclosure provide an aerial working platform, a control method, and a storage medium, which effectively ensure the safety of operators and improve the operation stability of the aerial working platform.

In one aspect of the present disclosure, there is provided an aerial work platform comprising:

the mechanism of getting off and setting are in the revolving stage of mechanism of getting off, aerial working platform still includes:

A plurality of first sensors disposed on the turntable and configured to detect obstacles around the turntable;

And the processor is in signal connection with the first sensor and is configured to adjust the moving speed of the getting-off mechanism according to the distance signal of the obstacle detected by the first sensor.

In some embodiments, the first sensor is disposed on a counterweight side of the turntable.

In some embodiments, the processor is configured to slow down movement of the get-off mechanism in response to a signal from the first sensor greater than a first distance threshold and less than a second distance threshold;

Wherein the first distance threshold is less than the second distance threshold.

In some embodiments, the processor is configured to stop the movement of the get-off mechanism in response to a signal from the first sensor that is less than the first distance threshold.

In some embodiments, the aerial work platform further comprises:

the buzzer is in signal connection with the processor;

Wherein the processor is further configured to trigger the buzzer to emit an alarm signal in response to a signal emitted by the first sensor being less than the first distance threshold.

In some embodiments, the processor is further configured to cause the get-off mechanism to move in response to an externally entered get-off mechanism movement action trigger instruction.

In some embodiments, the aerial work platform further comprises:

The arm support is connected with the turntable;

The platform is arranged at the top end of the arm support and is provided with an operation box;

a plurality of second sensors disposed on the platform and configured to detect obstacles around the top of the operator's head;

the processor is in signal connection with the second sensor and is configured to adjust the amplitude changing speed of the arm support and/or the telescopic speed of the arm support according to the obstacle distance signal detected by the second sensor.

In some embodiments, the second sensors are disposed on a guardrail of the operation box, and cone-shaped detection spaces formed by the plurality of second sensors overlap to completely cover a space around the top of the head of the operator.

In some embodiments, the processor is configured to:

when the boom amplitude is changed, responding to a signal which is sent by the second sensor and is larger than a third distance threshold value and smaller than a fourth distance threshold value, so that the boom amplitude speed is reduced; and/or the number of the groups of groups,

When the arm support stretches, responding to a signal which is sent by the second sensor and is larger than the third distance threshold and smaller than the fourth distance threshold, so that the stretching speed of the arm support is slowed down;

wherein the third distance threshold is less than the fourth distance threshold.

In some embodiments, the processor is configured to:

when the arm support is variable in amplitude, responding to a signal which is smaller than the third distance threshold and sent by the second sensor, and stopping the arm support from variable in amplitude; and/or the number of the groups of groups,

And when the arm support stretches, responding to a signal which is smaller than the third distance threshold and sent by the second sensor, and stopping stretching the arm support.

In some embodiments, the aerial work platform further comprises:

the buzzer is in signal connection with the processor;

Wherein the processor is further configured to trigger the buzzer to emit an alarm signal in response to a signal emitted by the second sensor being less than the third distance threshold.

In some embodiments, the processor is further configured to cause the boom to luffing and/or the boom to telescope in response to an externally input trigger instruction of the boom luffing and/or boom telescoping action.

In some embodiments, the aerial work platform further comprises:

A plurality of third sensors disposed on guardrails of the platform and configured to detect obstacles in a back direction of an operator;

Wherein the conical detection spaces formed by the plurality of third sensors overlap to completely cover the surrounding space of the back of the operator;

The processor is in signal connection with the third sensor and is configured to adjust the moving speed of the getting-off mechanism and/or the telescopic speed of the arm support according to the distance signal of the obstacle detected by the third sensor.

In some embodiments, the processor is configured to:

When the arm support changes amplitude, responding to a signal which is sent by the third sensor and is larger than a fifth distance threshold value and smaller than a sixth distance threshold value, so that the moving speed of the getting-off mechanism is slowed down; and/or the number of the groups of groups,

When the arm support stretches, responding to a signal which is sent by the third sensor and is larger than the fifth distance threshold and smaller than the sixth distance threshold, so that the stretching speed of the arm support is reduced;

Wherein the sixth distance threshold is greater than the fifth distance threshold.

In some embodiments, the processor is configured to:

When the getting-off mechanism moves, responding to a signal which is smaller than the fifth distance threshold and sent by the third sensor, and stopping the getting-off mechanism from moving; and/or the number of the groups of groups,

And when the arm support stretches, responding to a signal which is smaller than the fifth distance threshold and sent by the third sensor, and stopping stretching the arm support.

In some embodiments, the aerial work platform further comprises:

the buzzer is in signal connection with the processor;

Wherein the processor is configured to trigger the buzzer to emit an alarm signal in response to a signal emitted by the third sensor being less than the fifth distance threshold.

In some embodiments, the processor is further configured to cause the get-off mechanism to move and/or the boom to telescope in response to an externally entered trigger instruction of the move motion of the get-off mechanism and/or the telescopic motion of the boom.

In some embodiments, the aerial work platform further comprises:

And the man-machine interaction unit is arranged on the operation box, is in signal connection with the processor, and is configured to determine the first distance threshold value and the second distance threshold value according to the calibration result of the first sensor and display the distance signal of the obstacle detected by the first sensor in real time.

In another aspect of the present disclosure, there is provided an aerial work platform control method including:

receiving a distance signal of an obstacle detected by the first sensor;

And adjusting the moving speed of the getting-off mechanism according to the signal of the obstacle distance.

In some embodiments, the step of adjusting the speed of movement of the get-off mechanism based on the signal of the obstacle distance comprises:

when receiving a signal which is sent by the first sensor and is larger than a first distance threshold value and smaller than a second distance threshold value, slowing down the moving speed of the getting-off mechanism;

Wherein the second distance threshold is greater than the first distance threshold.

In some embodiments, the aerial work platform control method further comprises:

When receiving a signal which is sent by the second sensor and is larger than a third distance threshold and smaller than a fourth distance threshold, slowing down the telescopic speed and/or the luffing speed of the arm support;

wherein the fourth distance threshold is greater than the third distance threshold.

In some embodiments, the aerial work platform control method further comprises:

When receiving a signal which is sent by the third sensor and is larger than a fifth distance threshold and smaller than a sixth distance threshold, slowing down the moving speed of the getting-off mechanism and/or the telescopic speed of the arm support;

In yet another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, wherein the program, when executed by a processor, implements any of the aerial work platform control methods described above.

Therefore, according to the embodiment of the disclosure, the obstacle in the visual field blind area of the operator of the aerial work platform can be detected by the plurality of sensors, the operation speed of the aerial work platform is correspondingly adjusted, the aerial work platform and the operator are timely prevented from colliding with the obstacle, and the safety of the aerial work platform is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

The disclosure may be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings in which:

FIG. 1 is a control relationship diagram of some embodiments of an aerial work platform of the present disclosure;

FIG. 2 is a schematic overall structure of some embodiments of the aerial work platform of the present disclosure;

FIG. 3 is a partial side view of a get-off mechanism and turntable in some embodiments of the aerial platform of the present disclosure;

FIG. 4 is a schematic view of the alighting mechanism and turret from the perspective of direction A in FIG. 3;

FIG. 5 is a control relationship diagram of other embodiments of the aerial work platform of the present disclosure;

FIG. 6 is a top plan view of a platform in some embodiments of the aerial work platform of the present disclosure;

FIG. 7 is a schematic view of the platform structure from the view in the direction B in FIG. 6;

fig. 8 is a flow chart of some embodiments of a aerial work platform control method of the present disclosure.

It should be understood that the dimensions of the various elements shown in the figures are not drawn to actual scale. Further, the same or similar reference numerals denote the same or similar members.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments should be construed as exemplary only and not limiting unless otherwise specifically stated.

The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

In this disclosure, when a particular device is described as being located between a first device and a second device, there may or may not be an intervening device between the particular device and either the first device or the second device. When it is described that a particular device is connected to other devices, the particular device may be directly connected to the other devices without intervening devices, or may be directly connected to the other devices without intervening devices.

All terms (including technical or scientific terms) used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

The aerial working platform can move between working sites or sites in a short distance by utilizing self power and is used for conveying operators and equipment to a designated height for working. Some aerial work platforms in the related art require operators to visually observe the surrounding environment, and have more visual field dead angles. The visual field blind area of the arm frame type aerial work platform is mainly concentrated at three positions: an operator overhead area, an operator back area, and an area around the get-off mechanism 1. Operators can easily observe accidents caused by negligence in the operation processes of telescoping and luffing the arm support 5, moving the getting-off mechanism 1 and the like, and the operation reliability of the aerial working platform cannot be ensured.

In view of this, the embodiments of the present disclosure provide an aerial working platform, a control method, and a storage medium, which aim at a blind area of a field of view of an operator, more reliably detect obstacles around the aerial working platform, correspondingly adjust a working state of the aerial working platform, and ensure safety of the operator.

Fig. 1 is a control relationship diagram of an aerial work platform according to some embodiments of the present disclosure. Fig. 2 is a schematic overall structure of an aerial work platform according to some embodiments of the present disclosure. Fig. 3 is a partial side view of a drop down mechanism and turntable in some embodiments of the aerial work platform of the present disclosure. Fig. 4 is a schematic structural view of the get-off mechanism and the turntable from the view in the direction a in fig. 3.

Referring to fig. 1-4, in one aspect of the present disclosure, there is provided an aerial work platform comprising: the device comprises a get-off mechanism 1, a turntable 11, a plurality of first sensors 2 and a processor 3. The turntable 11 of the aerial work platform is provided on the get-off mechanism 1, and a plurality of first sensors 2 are provided on the turntable 11 and configured to detect obstacles around the turntable 11. The processor 3 is in signal connection with the first sensor 2 and is configured to adjust the speed of movement of the alighting mechanism 1 in dependence of the distance signal of the obstacle detected by the first sensor 2.

When the aerial working platform works, an operator carries out related operations on working conditions such as telescopic and amplitude-variable actions of the arm support 5 on the platform 6, the distance between the operator and the ground is far, the ground condition near the getting-off mechanism 1 cannot be perceived in real time, and if the getting-off mechanism 1 contacts with ground obstacles and collides, serious casualties can be caused.

Therefore, the present embodiment provides the plurality of first sensors 2 on the turntable 11, and can prevent collision accidents caused by careless observation of the operator. The number and arrangement positions of the first sensors 2 can be adaptively adjusted according to different structural parameters and working environments of the aerial work platform, so that when the getting-off mechanism 1 moves in different directions, detection spaces formed by combining the plurality of first sensors 2 can cover dangerous areas in the moving direction of the getting-off mechanism 1 and around the turntable 11, and the obstacles are comprehensively detected.

After detecting that an obstacle exists around the turntable 11, the processor 3 correspondingly adjusts the working speed of the getting-off mechanism 1 according to the distance signal of the obstacle sent by the first sensor 2: when the obstacle appears in the dangerous distance range, the processor 3 slows down the moving speed of the getting-off mechanism 1, and an operator can timely adjust the moving direction, the speed and other working states of the getting-off mechanism 1 after detecting the speed change of the getting-off mechanism 1; when the obstacle is too close to the turntable 11 and is within the dangerous limit distance, the processor 3 adjusts the moving speed of the getting-off mechanism 1 to zero, so that the getting-off mechanism 1 is immediately braked, and the getting-off mechanism 1 is prevented from colliding with the obstacle.

The movement of the getting-off mechanism 1 is controlled by an operator of the aerial work platform through controlling a walking electromagnetic valve, the walking electromagnetic valve is a proportional valve, and the starting, stopping and moving speed of the getting-off mechanism 1 can be adjusted by controlling the walking electromagnetic valve through the processor 3.

Referring to fig. 3-4, in some embodiments, the first sensor 2 is disposed on the counterweight side of the turntable 11. In this embodiment, the first sensor 2 is disposed on the counterweight side of the turntable 11, and the counterweight of the turntable 11 balances the weight of the boom 5, so that the aerial work platform is stably operated.

In some embodiments, the processor 3 is configured to slow down the movement of the drive-down mechanism 1 in response to a signal from the first sensor 2 that is greater than a first distance threshold and less than a second distance threshold. Wherein the first distance threshold is less than the second distance threshold.

In this embodiment, when the distance between the obstacle and the first distance threshold and the second distance threshold is a dangerous distance range, the first sensor 2 detects that the obstacle is within the distance threshold range, the processor 3 slows down the moving speed of the getting-off mechanism 1, prevents the obstacle from approaching too fast to the getting-off mechanism 1 to cause potential injury, reminds the operator to pay attention to safety, and also reserves enough buffer time for the operator to timely adjust the moving direction, speed and the like of the getting-off mechanism 1, so as to reduce collision risk.

In some embodiments, the processor 3 is configured to stop the movement of the alighting mechanism 1 in response to a signal from the first sensor 2 that is less than the first distance threshold. In this embodiment, when the distance between the obstacle and the turntable 11 is within the dangerous limit distance when the distance between the obstacle and the turntable is smaller than the first distance threshold, the first sensor 2 detects that the obstacle is within the above distance range, and the obstacle is too close to the turntable 11, so that the obstacle needs to be avoided immediately, at this time, the processor 3 makes the getting-off mechanism 1 brake immediately, so that collision is avoided in time, and safety of operators and equipment is ensured.

For ease of understanding, referring to fig. 3, the detectable distance of the sensing element of the first sensor 2 is L, the second distance threshold is m, and the first distance threshold is n, where L > m > n.

Referring to fig. 1, in some embodiments, the aerial work platform further comprises: a buzzer 4. The buzzer 4 is in signal connection with the processor 3, the processor 3 being further configured to trigger the buzzer 4 to emit an alarm signal in response to a signal emitted by the first sensor 2 being smaller than the first distance threshold.

In this embodiment, when the obstacle is within the dangerous limit distance smaller than the first distance threshold, the buzzer 4 alarms in time, and further reminds the operator to avoid the danger. In some embodiments, the processor 3 is further configured to cause the get-off mechanism 1 to move in response to an externally input get-off mechanism 1 movement action trigger instruction.

In this embodiment, after the entering mechanism 1 is braked emergently, if the moving needs to be continued, the moving working condition can be recovered by inputting a moving action trigger instruction of the entering mechanism 1 externally. Under the condition of ensuring the safety of operators and equipment, the overall operability of the aerial working platform is improved.

Fig. 5 is a control relationship diagram of other embodiments of the aerial work platform of the present disclosure. Fig. 6 is a top view of a platform in some embodiments of the aerial work platform of the present disclosure, and fig. 7 is a schematic view of the platform from the perspective of fig. 6 in the direction B. Referring to fig. 2 and 5-7, in some embodiments, the aerial work platform further comprises: arm support 5, platform 6 and a plurality of second sensors 8.

The arm support 5 is connected with the rotary table 11, the platform 6 is arranged at the top end of the arm support 5, and the platform 6 is provided with an operation box 7. The operator can control the operation conditions of the structures such as the turntable 11, the arm support 5, the getting-off mechanism 1 and the like on the operation box 7. A plurality of second sensors 8 are provided on the platform 6 configured to detect obstructions around the top of the operator's head. The processor 3 is in signal connection with the second sensor 8 and is configured to adjust the luffing speed of the boom 5 and/or the telescopic speed of the boom 5 according to the obstacle distance signal detected by the second sensor 8.

When operating the operation box 7, the operator cannot consider the vision of overhead and front eyes at the same time, so the overhead is a vision blind area, in this embodiment, a plurality of second sensors 8 are arranged on the platform 6, so that the direct impact and injury of the high-altitude obstacle to the operator can be avoided, and the operator can adjust the amplitude variation speed and/or the telescopic boom speed of the arm support 5 in time according to the distance between the obstacle and the platform 6.

When the obstacle enters the dangerous distance range, the processor 3 slows down the amplitude variation speed of the arm support 5 and/or the speed of the telescopic boom, and an operator can timely adjust the position and/or the operation condition of the arm support 5 after detecting the speed change of the arm support 5. When the distance between the obstacle and the head of the operator is too short and the obstacle is at a dangerous limit distance, the processor 3 can adjust the amplitude variation speed of the arm support 5 and/or the speed of the telescopic arm to zero, so as to carry out emergency braking, avoid the obstacle in time and ensure the safety of the operator.

An operator of the aerial work platform controls telescopic operation of the boom 5 by controlling a boom telescopic electromagnetic valve, and controls luffing operation of the boom 5 by controlling a boom luffing electromagnetic valve. The boom extension electromagnetic valve and the boom amplitude electromagnetic valve are proportional valves, the processor 3 can adjust the start and stop of the extension action and the extension speed of the boom 5 by controlling the boom extension electromagnetic valve, and adjust the start and stop of the amplitude action and the amplitude speed of the boom 5 by controlling the boom amplitude electromagnetic valve.

Referring to fig. 6-7, in some embodiments, the second sensor 8 is disposed on a console rail 71 of the console 7, the console rail 71 being disposed about the console 7. The number of the second sensors 8 and the specific positions on the operation box guard rail 71 can be adaptively adjusted according to the specific structural parameters of the aerial working platform and different working environments, so that the area formed by overlapping the conical detection space combination formed by each second sensor 8 can completely cover the surrounding space of the head top of an operator.

In this embodiment, by providing a plurality of second sensors 8 on the operation box guard rail 71, the blind area of the visual field of the head top of the operator is covered on the whole surface, and personal injury to the operator caused by high-altitude obstacles is prevented.

In some embodiments, upon luffing of the boom 5, the processor 3 is configured to slow down the luffing speed of the boom 5 in response to a signal from the second sensor 8 being greater than a third distance threshold and less than a fourth distance threshold; when the boom 5 is extended, the processor 3 is configured to slow down the extension speed of the boom 5 in response to a signal sent by the second sensor 8 that is greater than the third distance threshold and less than the fourth distance threshold. Wherein the third distance threshold is less than the fourth distance threshold.

In this embodiment, the dangerous distance range is when the distance of the obstacle is between the third distance threshold and the fourth distance threshold. When the second sensor 8 detects that the obstacle is in the distance threshold value interval, if the boom 5 stretches out and draws back the working condition of the boom, the processor 3 slows down the stretching speed of the boom 5; if the boom 5 performs the boom-changing working condition, the processor 3 slows down the boom 5 in the boom-changing speed. The processor 3 adjusts the working state of the arm support 5, so that the arm support 5 can be prevented from driving the platform 6 to approach to an obstacle too fast, an operator is reminded, reaction time is reserved for the operator, the telescopic and/or variable amplitude working condition of the arm support 5 is adjusted, the obstacle is avoided, and potential danger is reduced.

In some embodiments, the processor 3 is configured to stop luffing the boom 5 in response to a signal from the second sensor 8 being less than the third distance threshold when luffing the boom 5. And/or the processor 3 is configured to stop the telescopic boom 5 in response to the signal sent by the second sensor 8 being smaller than the third distance threshold value when the boom 5 is telescopic.

In this embodiment, when the distance between the obstacle and the operator is smaller than the third distance threshold, the obstacle is a dangerous limit distance, and when the second sensor 8 detects that the obstacle is within the above distance range, the distance between the obstacle and the top of the head of the operator is too short, and emergency avoidance is required. If the arm support 5 is in the telescopic arm working condition, the processor 3 immediately brakes the arm support 5, and the arm support 5 stops stretching; if the arm support 5 is in the amplitude-variable working condition, the processor 3 immediately brakes the arm support 5, and the arm support 5 stops amplitude variation. The processor 3 carries out emergency braking on the arm support 5, so that operators and equipment can avoid obstacles in time, and the safety of the operators and the equipment is improved.

Referring to fig. 5, in some embodiments, the aerial work platform further comprises: a buzzer 4. The buzzer 4 is in signal connection with the processor 3. Wherein the processor 3 is further configured to trigger the buzzer 4 to emit an alarm signal in response to a signal emitted by the second sensor 8 being smaller than the third distance threshold.

In this embodiment, when the obstacle is at the limit dangerous distance smaller than the third distance threshold, the buzzer 4 alarms in time, further reminds the operator of noticing the danger, and adjusts the position or the moving direction of the arm support 5 in time to avoid the obstacle.

In some embodiments, the processor 3 is further configured to cause the boom 5 to luffing and/or the boom 5 to telescope in response to an externally input trigger instruction of the boom 5 luffing and/or boom 5 telescoping.

In the embodiment, after the boom 5 is braked in an emergency, if the luffing needs to be continued, the luffing working condition can be recovered by externally inputting a luffing action triggering instruction of the boom 5; if the arm is required to be extended or retracted continuously, the working condition of the telescopic arm can be recovered by externally inputting a telescopic action triggering instruction of the arm support 5. Under the condition of ensuring safety, the whole operability of the aerial working platform is improved.

Referring to fig. 5-7, in some embodiments, the aerial work platform further comprises: a plurality of third sensors 9. The plurality of third sensors 9 are arranged on the platform guard rails 61 of the platform 6, and the platform guard rails 61 are arranged around the platform 6. The plurality of third sensors 9 are configured to detect an obstacle in the back direction of the operator. Wherein the taper detection spaces formed by the plurality of third sensors 9 overlap to completely cover the space around the back of the operator. The processor 3 is in signal connection with the third sensor 9 and is configured to adjust the moving speed of the getting-off mechanism 1 and/or the telescopic speed of the arm support 5 according to the distance signal of the obstacle detected by the third sensor 9.

The operator stands on the platform facing the operation box 7, and cannot perceive danger after the body when the telescopic action of the arm support 5 is controlled. In addition, when the alighting mechanism 1 moves in the operator's back direction, the operator stands back to the moving direction of the alighting mechanism 1, and the approach of the obstacle in the moving direction of the alighting mechanism 1 cannot be perceived. Therefore, in this embodiment, the plurality of third sensors 9 are provided on the platform guard rail 61, so that the impact of the high-altitude obstacle on the back of the operator can be avoided, and the injury of the obstacle to the operator in the moving direction of the get-off mechanism 1 can be avoided.

The processor 3 can also adjust the speed of the telescopic boom of the boom 5 and/or the moving speed of the getting-off mechanism in time according to the distance between the obstacle and the platform guard rail 61: when the obstacle is in the dangerous distance range, the processor 3 slows down the telescopic speed of the arm support 5 and/or the moving speed of the getting-off mechanism 1, and an operator can timely adjust the position, the moving direction and the like of the arm support 5 and/or the getting-off mechanism 1 after detecting the speed change of the arm support 5 and/or the getting-off mechanism 1; when the obstacle is too close to the operator and is in a limit dangerous distance, the processor 3 can adjust the telescopic speed of the arm support 5 and/or the moving speed of the getting-off mechanism 1 to zero, and emergency braking is carried out, so that the safety of the operator is ensured.

In some embodiments, the processor 3 is configured to slow the movement speed of the alighting mechanism 1 in response to a signal from the third sensor 9 greater than a fifth distance threshold and less than a sixth distance threshold when the boom 5 is luffing; and/or the processor 3 is configured to slow the telescopic speed of the boom 5 in response to the signal sent by the third sensor 9 being greater than the fifth distance threshold and less than the sixth distance threshold when the boom 5 is telescopic. Wherein the sixth distance threshold is greater than the fifth distance threshold.

In this embodiment, when the distance between the obstacle and the fifth distance threshold is a dangerous distance range, and when the third sensor 9 detects that the obstacle is within the distance threshold range, if the boom 5 stretches out and draws back the working condition of the boom, the processor 3 slows down the stretching speed of the boom 5, so as to prevent the boom 5 from driving the platform 6 to approach too fast with the obstacle, thereby causing potential injury; if the getting-off mechanism 1 is under the moving condition, the processor 3 slows down the moving speed of the getting-off mechanism 1. The processor 3 adjusts the working states of the arm support 5 and the getting-off mechanism 1, so that the rotating table 11 and the obstacle can be prevented from approaching too fast, an operator is reminded of timely adjusting the working condition, and the risk of accidents is reduced.

In some embodiments, the processor 3 is configured to stop the movement of the get-off mechanism 1 in response to a signal from the third sensor 9 being less than the fifth distance threshold when the get-off mechanism 1 is moving; and/or the processor 3 is configured to stop the telescopic boom 5 in response to the signal sent by the third sensor 9 being smaller than the fifth distance threshold value when the boom 5 is telescopic.

In this embodiment, when the distance between the obstacle and the operator is smaller than the fifth distance threshold, the obstacle is a dangerous limit distance, and when the third sensor 9 detects that the obstacle is within the above distance range, the obstacle is too close to the back of the operator, and the obstacle needs to be avoided immediately. If the arm support 5 is in the telescopic arm working condition, the processor 3 immediately brakes the arm support 5, and the arm support 5 stops stretching; if the getting-off mechanism 1 is in the moving working condition, the processor 3 makes the getting-off mechanism 1 brake immediately, and the getting-off mechanism 1 stops moving, so that the collision between an operator and an obstacle is avoided in time.

Referring to fig. 5, in some embodiments, the aerial work platform further comprises: a buzzer 4. The buzzer 4 is in signal connection with the processor 3. Wherein the processor 3 is further configured to trigger the buzzer 4 to emit an alarm signal in response to a signal emitted by the third sensor 9 being smaller than the fifth distance threshold.

In this embodiment, when the obstacle is at a dangerous distance less than the fifth distance threshold, the buzzer 4 alarms in time, further reminding the operator to pay attention to the danger, and adjusting the position, moving direction and other parameters of the arm support 5 and/or the getting-off mechanism 1, so as to avoid the obstacle.

In some embodiments, the processor 3 is further configured to cause the get-off mechanism 1 to move and/or the boom 5 to telescope in response to an externally input trigger instruction of a movement motion of the get-off mechanism 1 and/or a telescoping motion of the boom 5.

In this embodiment, after the boom 5 is braked emergently, if the boom is required to be extended or retracted, the working condition of the telescopic boom can be recovered by inputting a telescopic action triggering instruction of the boom 5 from the outside; after the getting-off mechanism 1 is braked emergently, if the getting-off mechanism needs to move continuously, the moving working condition can be recovered by inputting a moving action trigger instruction of the getting-off mechanism 1 externally. Under the condition of ensuring safety, the whole operability of the aerial working platform is improved.

In some embodiments, the aerial work platform further comprises: and a man-machine interaction unit. The man-machine interaction unit is arranged on the operation box 7, is in signal connection with the processor 3, and is configured to determine the first distance threshold value and the second distance threshold value according to the calibration result of the first sensor 2, and display the distance signal of the obstacle detected by the first sensor 2 in real time.

In this embodiment, the man-machine interaction unit includes, but is not limited to, buttons, keys, an operation screen and the like on the operation box 7, and can calibrate the aerial work platform with different structural parameters and each visual field blind area of the operator under different working conditions, record and analyze the obstacle distance data under various conditions, thereby determining the distance threshold value of each sensor and dividing the detection range. Meanwhile, the man-machine interaction unit can display distance signals of the obstacles detected by the sensors, so that an operator can timely notice the distance of the obstacles while operating the arm support 5 and the getting-off mechanism 1 of the aerial work platform, and safety is improved.

The above-described first sensor 2, second sensor 8, and third sensor 9 include, but are not limited to, an ultrasonic sensor and an infrared sensor. The buzzer 4 may have a single action, or may include a plurality of buzzers independent of each other, and each of the buzzers may emit an alarm signal in a corresponding blind area of the visual field.

The processor 3 may comprise a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

Based on the foregoing embodiment, as shown in the flowchart of fig. 8, in another aspect of the disclosure, there is also provided an aerial work platform control method, including steps S10 to S20.

In step S10, a distance signal of the obstacle detected by the first sensor 2 is received;

in step S20, the moving speed of the get-off mechanism 1 is adjusted based on the signal of the obstacle distance.

In some embodiments, the step of adjusting the movement speed of the get-off mechanism 1 according to the signal of the obstacle distance comprises: and when receiving the signal which is sent by the first sensor 2 and is larger than the first distance threshold value and smaller than the second distance threshold value, slowing down the moving speed of the getting-off mechanism 1. Wherein the second distance threshold is greater than the first distance threshold.

In some embodiments, the aerial work platform control method further comprises: and when receiving a signal which is sent out by the second sensor 8 and is larger than a third distance threshold and smaller than a fourth distance threshold, slowing down the telescopic speed and/or the luffing speed of the arm support 5. Wherein the fourth distance threshold is greater than the third distance threshold.

In some embodiments, the aerial work platform control method further comprises: and when receiving a signal which is sent by the third sensor 9 and is larger than a fifth distance threshold and smaller than a sixth distance threshold, slowing down the moving speed of the getting-off mechanism 1 and/or the telescopic speed of the arm support 5. Wherein the sixth distance threshold is greater than the fifth distance threshold.

According to the embodiment, through the arrangement of the first sensor 2, the second sensor 8 and the third sensor 9, comprehensive obstacle detection is carried out on the top of the head of an operator, the back and the visual field blind area around the turntable 11 of the aerial work platform, the operation conditions of the arm support 5 and the get-off mechanism 1 are correspondingly adjusted according to the signals of the sensors, when the obstacle approaches, the operation speed of the arm support 5 and/or the get-off mechanism 1 is adjusted, the damage to the operator and the aerial work platform caused by the collision of the obstacle in the operation environment can be avoided, and the operation safety is ensured.

During the operation of the aerial platform, when the getting-off mechanism 1 is under a moving working condition, if the first sensor 2 sends out a signal greater than the first distance threshold value and less than the second distance threshold value and/or the third sensor 9 sends out a signal greater than the fifth distance threshold value and less than the sixth distance threshold value, the moving speed of the getting-off mechanism 1 is slowed down.

When the arm support 5 is in the telescopic working condition, if the second sensor 8 sends out a signal which is larger than the third distance threshold and smaller than the fourth distance threshold and/or the third sensor 9 sends out a signal which is larger than the fifth distance threshold and smaller than the sixth distance threshold, the telescopic speed of the arm support 5 is slowed down. When the arm support 5 is in the amplitude variation working condition, if the second sensor 8 sends out a signal which is larger than the third distance threshold and smaller than the fourth distance threshold, the amplitude variation speed of the arm support 5 is reduced.

In accordance with the foregoing embodiments, in yet another aspect of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements any of the aerial work platform control methods described above.

In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disk) as used herein include Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disk) usually reproduce data magnetically, while discs (disk) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

Thus, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that the foregoing embodiments may be modified and equivalents substituted for elements thereof without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. An aerial work platform comprising: the platform comprises a get-off mechanism (1) and a turntable (11) arranged on the get-off mechanism (1), and is characterized in that the platform further comprises:

A plurality of first sensors (2) provided on the turntable (11) and configured to detect an obstacle around the turntable (11), a detection space formed by combining the plurality of first sensors (2) being capable of covering a dangerous area in a moving direction of the get-off mechanism (1) and around the turntable (11);

The arm support (5) is connected with the rotary table (11);

the platform (6) is arranged at the top end of the arm support (5), and the platform (6) is provided with an operation box (7);

A plurality of second sensors (8) provided on an operation box guard rail (71) of the operation box (7) and configured to detect an obstacle around the top of the head of the operator, the taper detection spaces formed by the plurality of second sensors (8) overlapping to completely cover the space around the top of the head of the operator;

the man-machine interaction unit is arranged on the operation box (7), is in signal connection with the processor (3), is configured to be used for calibrating all visual field blind areas of operators under different structural parameters and different working conditions, records and analyzes barrier distance data under various conditions, determines a first distance threshold value and a second distance threshold value according to the calibration result of the first sensor (2), and displays distance signals of barriers detected by the first sensor (2) in real time;

The processor (3) is in signal connection with the first sensor (2), the getting-off mechanism (1), the second sensor (8) and the arm support (5), and is configured to adjust the moving speed of the getting-off mechanism (1) according to the distance signal of the obstacle detected by the first sensor (2), and adjust the amplitude changing speed of the arm support (5) and/or the telescopic speed of the arm support (5) according to the distance signal of the obstacle detected by the second sensor (8).

2. Aerial work platform according to claim 1, characterised in that the first sensor (2) is arranged on the counterweight side of the turntable (11).

3. The aerial platform of claim 1, wherein the processor (3) is configured to slow down the movement of the alighting mechanism (1) in response to a signal from the first sensor (2) being greater than a first distance threshold and less than a second distance threshold;

4. A platform according to claim 3, wherein the processor (3) is configured to stop the movement of the off-board mechanism (1) in response to a signal from the first sensor (2) being less than the first distance threshold.

5. The aerial work platform of claim 3, further comprising:

A buzzer (4) in signal connection with the processor (3);

Wherein the processor (3) is further configured to trigger the buzzer (4) to emit an alarm signal in response to a signal emitted by the first sensor (2) being smaller than the first distance threshold.

6. The aerial work platform of claim 4, wherein the processor (3) is further configured to cause the drop-off mechanism (1) to move in response to an externally entered drop-off mechanism (1) movement action trigger instruction.

7. Aerial work platform according to claim 1, wherein the processor (3) is configured to:

when the arm support (5) is in amplitude variation, responding to a signal which is sent out by the second sensor (8) and is larger than a third distance threshold value and smaller than a fourth distance threshold value, so that the amplitude variation speed of the arm support (5) is reduced; and/or the number of the groups of groups,

When the arm support (5) stretches, responding to a signal which is sent by the second sensor (8) and is larger than the third distance threshold and smaller than the fourth distance threshold, and slowing down the stretching speed of the arm support (5);

8. Aerial work platform according to claim 7, wherein the processor (3) is configured to:

When the arm support (5) is in amplitude variation, responding to a signal which is smaller than the third distance threshold and is sent by the second sensor (8), and stopping amplitude variation of the arm support (5); and/or the number of the groups of groups,

When the arm support (5) stretches, responding to a signal which is sent by the second sensor (8) and is smaller than the third distance threshold value, and enabling the arm support (5) to stop stretching.

9. The aerial work platform of claim 7, further comprising:

A buzzer (4) in signal connection with the processor (3);

Wherein the processor (3) is further configured to trigger the buzzer (4) to emit an alarm signal in response to a signal emitted by the second sensor (8) being smaller than the third distance threshold.

10. The aerial work platform of claim 8, wherein the processor (3) is further configured to: responding to an externally input triggering instruction of the amplitude changing action of the arm support (5) and/or the telescopic action of the arm support (5), and enabling the arm support (5) to change amplitude and/or the arm support (5) to be telescopic.

11. The aerial work platform of claim 1, further comprising:

a plurality of third sensors (9) provided on a platform guard rail (61) of the platform (6) and configured to detect an obstacle in a back direction of an operator;

Wherein the conical detection spaces formed by the plurality of third sensors (9) overlap to completely cover the surrounding space of the back of the operator;

The processor (3) is in signal connection with the third sensor (9), the getting-off mechanism (1) and the arm support (5), and is configured to adjust the moving speed of the getting-off mechanism (1) and/or the telescopic speed of the arm support (5) according to the distance signal of the obstacle detected by the third sensor (9).

12. The aerial work platform of claim 11, wherein the processor (3) is configured to:

When the arm support (5) is in amplitude variation, responding to a signal which is sent by the third sensor (9) and is larger than a fifth distance threshold value and smaller than a sixth distance threshold value, so that the moving speed of the getting-off mechanism (1) is slowed down; and/or the number of the groups of groups,

When the arm support (5) stretches, responding to a signal which is sent by the third sensor (9) and is larger than the fifth distance threshold and smaller than the sixth distance threshold, and slowing down the stretching speed of the arm support (5);

13. The aerial work platform of claim 12, wherein the processor (3) is configured to:

stopping movement of the getting-off mechanism (1) in response to a signal sent by the third sensor (9) being smaller than the fifth distance threshold while the getting-off mechanism (1) is moving; and/or the number of the groups of groups,

When the arm support (5) stretches, responding to a signal which is smaller than the fifth distance threshold and is sent by the third sensor (9), and stopping stretching of the arm support (5).

14. The aerial work platform of claim 12, further comprising:

A buzzer (4) in signal connection with the processor (3);

Wherein the processor (3) is configured to trigger the buzzer (4) to emit an alarm signal in response to a signal emitted by the third sensor (9) being smaller than the fifth distance threshold.

15. The aerial platform of claim 13, wherein the processor (3) is further configured to cause the lowering mechanism (1) to move and/or the boom (5) to telescope in response to an externally entered trigger instruction of a movement motion of the lowering mechanism (1) and/or a telescoping motion of the boom (5).

16. An aerial work platform control method based on the aerial work platform according to any one of claims 1 to 6, comprising:

receiving a distance signal of an obstacle detected by the first sensor (2);

and adjusting the moving speed of the getting-off mechanism (1) according to the signal of the obstacle distance.

17. The aerial work platform control method according to claim 16, wherein the step of adjusting the moving speed of the getting-off mechanism (1) according to the signal of the obstacle distance includes:

When receiving a signal which is sent by the first sensor (2) and is larger than a first distance threshold value and smaller than a second distance threshold value, slowing down the moving speed of the getting-off mechanism (1);

18. The aerial work platform control method of claim 16, wherein the aerial work platform further comprises:

A plurality of second sensors (8) arranged on the guard rail of a platform operation box (7) of the aerial work platform, connected with the processor (3) in a signal manner and configured to detect obstacles around the top of the head of an operator;

the conical detection spaces formed by the plurality of second sensors (8) are overlapped to completely cover the space around the top of the head of an operator;

the aerial work platform control method further comprises the following steps:

When receiving a signal which is sent by the second sensor (8) and is larger than a third distance threshold and smaller than a fourth distance threshold, slowing down the telescopic speed and/or the luffing speed of the arm support (5);

19. The aerial work platform control method of claim 16, wherein the aerial work platform further comprises:

A plurality of third sensors (9) arranged on a platform guardrail of the aerial working platform, connected with the processor (3) in a signal manner and configured to detect obstacles in the back direction of an operator;

the conical detection spaces formed by the plurality of third sensors (9) are overlapped to completely cover the surrounding space of the back of an operator;

the aerial work platform control method further comprises the following steps:

when receiving a signal which is sent by the third sensor (9) and is larger than a fifth distance threshold and smaller than a sixth distance threshold, slowing down the moving speed of the getting-off mechanism (1) and/or the telescopic speed of the arm support (5);

20. A computer-readable storage medium having stored thereon a computer program, wherein the program when executed by a processor (3) implements the aerial work platform control method of any of claims 16 to 19.