CN103303240A - Anti-collision device, elevating platform fire truck and anti-collision method thereof - Google Patents
Anti-collision device, elevating platform fire truck and anti-collision method thereof Download PDFInfo
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- CN103303240A CN103303240A CN2013102561862A CN201310256186A CN103303240A CN 103303240 A CN103303240 A CN 103303240A CN 2013102561862 A CN2013102561862 A CN 2013102561862A CN 201310256186 A CN201310256186 A CN 201310256186A CN 103303240 A CN103303240 A CN 103303240A
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Abstract
The invention discloses an anti-collision device, an elevating platform fire truck and the anti-collision method thereof, relates to the technical field of construction machinery, and solves the technical problem, in the prior art, that a control method is worse in stationarity for a rescue platform. The anti-collision device comprises a barrier position detecting element, a motion platform, a platform driving mechanism and a power supply. The elevating platform fire truck comprises the anti-collision device provided by the invention, and the motion platform is a rescue platform for the elevating platform fire truck. The anti-collision method for the elevating platform fire truck comprises the following steps: when the distance between a barrier and the rescue platform is less than or equal to a far point detection distance, the control platform driving mechanism drives the motion platform to advance slowly at a normal speed, and when the distance between the barrier and the motion platform is less than or equal to a near-point detection distance, the control platform driving mechanism maintains the motion platform to be motionless. The anti-collision device provided by the invention is used for improving the stationarity of the rescue platform of the elevating platform fire truck.
Description
Technical field
The present invention relates to technical field of engineering machinery, be specifically related to a kind of device of anticollision, a kind of Elevating platform fire truck of the device that this anticollision is set and the collision-proof method of this Elevating platform fire truck.
Background technology
Elevating platform fire truck (or claim: lift high platform fire extinguishing tanker) be a kind of be used to the high-rise fire of putting out a fire to save life and property, carry out height rescue, the special equipment of protection citizen's the security of the lives and property.
Existing Elevating platform fire truck comprises collapsible or the folding and telescopic combined jib of equipment, manned platform, turntable and fire extinguisher plant, and it is a kind of be used to the special-use vehicle that puts out fire of high-rise building and rescue.Important rescue facility in the existing Elevating platform fire truck is except the supporting leg that vehicle can be carried out vertical support, with the jib of vehicle lifting to certain altitude, another is exactly the rescue platform that is articulated in Elevating platform fire truck jib front end, the front of rescue platform has dodge gate, when near the window of skyscraper, can put down the rescue that overturning pedal carries out personnel.
Since Elevating platform fire truck be provided with rescue platform and fire water monitor (or claim: hydraulic giant), the fire such as skyscraper, tall and big facility of putting out a fire to save life and property so the fire fighter can ascend a height, the rescue trapped personnel rescues valuable goods and materials and finishes other rescue tasks.
Because the rescue platform is articulated in Elevating platform fire truck jib front end, when the vehicle amplitude is big, a bit rock in the vehicle rescue process and all can amplify the platform place and rock, all can cause certain psychological discomfort for the personnel that rescue, therefore need carry out stationarity to whole rescue process handles, existing Elevating platform fire truck is generally all flexible at jib, jib rises and falls, turntable revolution place is provided with the slow processing of motion, but the anxious place that stops does not all take effective measures for rescue platform anti-collision, operator's misoperation only relies on the operator manually to slow down action by handle and gets a desired effect, if but will cause very big the rocking of platform.
Therefore finding a kind of platform of rescuing can anticollision can be very important at the method, device that slows down near collision place also both.
For this reason, the single signal ultrasonic transduter 5 that the rescue platform in the prior art on Elevating platform fire truck as shown in Figure 1 is equipped with the switching value output type to be detecting obstacle, and restriction continues to move to the obstacle direction when vehicle in front.The sensor of switching value output type refers to that after sensor detects signal sensor can be exported a BS Binary Scale information, and just state switches, and for example disconnects or from being disconnected to closure from being closed into.Storage battery 1 is used for to controller 4 and 5 power supplies of single signal ultrasonic transduter, if power-on switch 3 closures, controller 4, single signal ultrasonic transduter 5 are started working, detect the obstacle of setpoint distance when single signal ultrasonic transduter 5 after, the signal of output switchtype is given controller 4, controller 4 drives corresponding control cock group 6 by preset program and stops to work as the action that the forward direction obstacle moves immediately, guarantees that the rescue platform can not collide with obstacle.
There is following technical matters at least in prior art:
Prior art can be carried out detection of obstacles by the single signal ultrasonic transduter, and detects and can stop the action of moving to the obstacle direction behind the obstacle.But, because the control method that prior art provides is single signal ultrasonic transduter detection mode, because this moment, action adopted urgency to stop mode, if operator's misoperation, can make the generation of rescue platform rock the stationarity of influence operation if stop action in the vehicle quick travel process suddenly; Single single signal ultrasonic transduter detection mode can not detect when front sensor error condition whether occurs in addition, so the control method that prior art provides can only be carried out the anticollision processing to the rescue platform on function, detect problem but can not solve stationarity and the sensor of rescuing platform in the operational process effectively.
Summary of the invention
The objective of the invention is to propose a kind of device of anticollision, a kind of Elevating platform fire truck of the device that this anticollision is set and the collision-proof method of this Elevating platform fire truck, there is the poor technical matters of rescue platform stationarity in the control method that having solved prior art provides.
For achieving the above object, the invention provides following technical scheme:
The device of the anticollision that the embodiment of the invention provides comprises obstacle position detecting element, motion platform, stage driving and power supply, wherein:
Described motion platform is connected with described stage driving, and described stage driving can drive described motion platform and advance with predetermined path and maybe can keep described motion platform static;
Described power supply is electrically connected with described obstacle position detecting element and is described obstacle position detecting element power supply;
Described obstacle position detecting element is for detection of the position of obstacle, and the distance between obstacle and described motion platform be less than or equal to far point detect apart from the time send remote detection signal, the distance between described obstacle and described motion platform be less than or equal to the near point detection apart from the time send closely detection signal;
Described far point detects distance and detects distance greater than described near point.
Described obstacle position detecting element is the dual signal ultrasonic transduter preferably or alternatively among the embodiment at one, perhaps,
Described obstacle position detecting element comprises the single signal ultrasonic transduter of two switching value output types, the distance of one of them described single signal ultrasonic transduter between described obstacle and described motion platform be less than or equal to described far point detect apart from the time send described remote detection signal, wherein the distance of another described single signal ultrasonic transduter between described obstacle and described motion platform be less than or equal to described near point detection apart from the time send described closely detection signal; Perhaps,
The single signal ultrasonic transduter that described obstacle position detecting element is the analog quantity output type.
Described stage driving comprises propulsion source, power switch and kinematic mechanism preferably or alternatively among the embodiment at one, wherein:
Described kinematic mechanism is connected with described motion platform, and described power switch is connected between described propulsion source and the described kinematic mechanism, and whether described power switch is used for the described propulsion source of control is that described kinematic mechanism supplying power and described propulsion source are the size of the power of described kinematic mechanism supply.
At one preferably or alternatively among the embodiment, described propulsion source is Hydraulic Pump, described power switch is the control cock group, and described kinematic mechanism comprises hydraulic ram and the jib that is connected with cylinder bar or the cylinder barrel of described hydraulic ram, and described motion platform is connected with described jib.
The device of described anticollision also comprises the controller that is electrically connected with described power supply and described stage driving preferably or alternatively among the embodiment at one, wherein:
Described power supply is used to described controller power supply, described controller be used for to receive described remote detection signal and described closely detection signal, and the described stage driving of control drives described motion platform and advances slowly with the speed that is slower than normal speed after receiving described remote detection signal;
Described controller is used for that the described stage driving of control keeps described motion platform static after not only receiving described remote detection signal but also receive described closely detection signal; Perhaps, described controller is used for after not only receiving described remote detection signal but also receive described closely detection signal, whether the sense of motion of judging described motion platform is the direction that moves to described obstacle, if, then controlling described stage driving keeps described motion platform static, otherwise, control the described motion platform of described stage driving continuation drive and move.
At one preferably or alternatively among the embodiment, the device of described anticollision also comprises the alarm module that is electrically connected with described controller, wherein: described controller also is used for when receiving described closely detection signal but not receiving described remote detection signal described alarm module being sent alarm command, alarm to show failure message or the mode of blowing a whistle by described alarm module, and control described stage driving and keep described motion platform static.
Described controller also is used for both not receiving described remote detection signal preferably or alternatively among the embodiment at one, when also not receiving described closely detection signal, controls described stage driving and drives described motion platform with normal speed and advance.
Elevating platform fire truck provided by the invention comprises the device of the anticollision that the arbitrary technical scheme of the present invention provides, and wherein: described motion platform is the rescue platform of Elevating platform fire truck.
The collision-proof method of Elevating platform fire truck provided by the invention may further comprise the steps:
Detect the position of described obstacle by described obstacle position detecting element;
Controlling described stage driving when described obstacle position detecting element sends described remote detection signal drives described motion platform and advances slowly with the speed that is slower than normal speed;
The described stage driving of control keeps described motion platform static after described obstacle position detecting element sends described remote detection signal and described closely detection signal; Perhaps, after described obstacle position detecting element sends described remote detection signal and described closely detection signal, whether the sense of motion of judging described motion platform is the direction that moves to described obstacle, if, then controlling described stage driving keeps described motion platform static, otherwise, control the described motion platform of described stage driving continuation drive and move.
At one preferably or alternatively among the embodiment, the collision-proof method of Elevating platform fire truck provided by the invention, further comprising the steps of:
Do not send described remote detection signal at described obstacle position detecting element, control described stage driving when not sending described closely detection signal yet and drive described motion platform normal speed and advance.
Based on technique scheme, the embodiment of the invention can produce following technique effect at least:
Because the obstacle position detecting element that the embodiment of the invention provides can detect the position of obstacle, and the distance between obstacle and motion platform be less than or equal to far point detect apart from the time send remote detection signal, distance between obstacle and motion platform be less than or equal near point detect apart from the time send closely detection signal, thus can according to the obstacle position detecting element whether send remote detection signal and closely detection signal draw the size of the distance between motion platform and the obstacle, thereby being less than or equal near point in the distance between obstacle and the motion platform, to detect distance be that obstacle is just controlled motion platform before near motion platform slowly, the speed of advance that makes motion platform is just lower before near obstacle the time, the controlled motion platform stops can not to occur anxious stopping and the shaking phenomenon that causes again at this moment, so there is the poor technical matters of rescue platform stationarity in the control method that has solved prior art and provide.
Compared with prior art at least also there is following technical matters in optimal technical scheme provided by the invention:
1, the present invention has adopted the dual signal ultrasonic transduter to rescue the anti-collision protection of platform; one road signal (the generation circuit of near point detection signal) is set to the obstacle near point and detects; another road signal (the generation circuit of far point detection signal) is set to the obstacle far point and detects; slow processing when detecting realization rescue platform near obstacle by far point; detect the anti-collision protection that realizes the rescue platform by near point, thereby improved original problem that can only rely on manual operation to realize slow control.
2, the present invention has adopted dual signal ultrasonic transduter detection mode, when not receiving the far point detection signal when only receiving the near point detection signal, can infer that there is fault in far point detection signal generation circuit, that is to say: differentiate the current normal condition that whether is in of far point detection signal by the near point detection signal, after the near point detection signal detects obstacle, and the far point detection signal does not move, just can differentiate the far point detection signal and go wrong, feed back to the user by alarm (or claiming: report to the police).
Description of drawings
Accompanying drawing described herein is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not constitute improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the electrical connection scheme drawing between the chief component of the device of the anticollision that arranges on the Elevating platform fire truck in the prior art;
Electrical connection scheme drawing between the chief component of the device of the anticollision that arranges on the Elevating platform fire truck that Fig. 2 provides for the embodiment of the invention;
The schematic flow sheet of the preferred implementation of the collision-proof method of the Elevating platform fire truck that Fig. 3 provides for the embodiment of the invention;
Reference numeral: 1, storage battery; 11, power supply; 2, wire fuse; 3, power-on switch; 4, controller; 5, single signal ultrasonic transduter; 51, obstacle position detecting element; 6, control cock group; 61, power switch.
The specific embodiment
Can understand distinctive points between content of the present invention and the present invention and the prior art with reference to accompanying drawing Fig. 1～Fig. 3 and word content below.Hereinafter by accompanying drawing and the mode of enumerating optional embodiment more of the present invention, technical scheme of the present invention (comprising optimal technical scheme) is described in further detail.Need to prove: any technical characterictic in the present embodiment; any technical scheme all is the technical characterictic of plurality of optional or in the optional technical scheme one or more; can't exhaustive all alternative technical characterictics of the present invention and alternative technical scheme in order to describe succinct need in the presents; the embodiment that also is not easy to each technical characterictic emphasizes that all it is one of optional numerous embodiments; so those skilled in the art should know: any technical characterictic and any technical scheme in the present embodiment all do not limit protection scope of the present invention, and protection scope of the present invention should comprise that those skilled in the art do not pay the thinkable any alternate embodiments of creative work.
The embodiment of the invention provides a kind of stationarity even more ideal, and has the device of the anticollision of alarm function, a kind of Elevating platform fire truck of the device that this anticollision is set and the collision-proof method of this Elevating platform fire truck.
Below in conjunction with Fig. 2～Fig. 3 technical scheme provided by the invention is carried out more detailed elaboration, the technical scheme of arbitrary technological means provided by the invention being replaced or two or more technological means provided by the invention being made up mutually and obtain all should be within protection scope of the present invention.
As Fig. 2～shown in Figure 3, the device of the anticollision that the embodiment of the invention provides, comprise obstacle position detecting element (being preferably the dual signal ultrasonic transduter) 51, motion platform (being preferably the rescue platform), stage driving and power supply (being preferably storage battery) 11, wherein:
Motion platform is connected with stage driving, and stage driving can drive motion platform and advance with predetermined path and maybe can keep motion platform static.
Power supply 11 is electrically connected with obstacle position detecting element 51 and is 51 power supplies of obstacle position detecting element.
Obstacle position detecting element 51 is for detection of the position of obstacle, and the distance between obstacle and motion platform be less than or equal near point detect apart from the time send closely detection signal (in this example closely the generation circuit of detection signal can abbreviate as: first via signal), the distance between obstacle and motion platform be less than or equal to far point detect apart from the time send remote detection signal (the generation circuit of this routine medium and long distance detection signal can abbreviate as: the second road signal).
The present invention can according to obstacle position detecting element 51 whether send remote detection signal and closely detection signal draw the size of the distance between motion platform and the obstacle, thereby being less than or equal near point in the distance between obstacle and the motion platform, to detect distance be that obstacle is just controlled motion platform before near motion platform slowly, the speed of advance that makes motion platform is just lower before near obstacle the time, thus at this moment again the controlled motion platform stop anxious stopping to occur and the shaking phenomenon that causes.
The dual signal ultrasonic transduter is that a kind of ultrasonic signal principle of reflection of utilizing that can generate two-way processing signals (detection signal and closely detection signal at a distance) detects the testing agency whether the place ahead exists obstacle.
Certainly, obstacle position detecting element 51 also can use following embodiment to substitute above-mentioned dual signal ultrasonic transduter in the present embodiment, for example: obstacle position detecting element 51 can comprise the single signal ultrasonic transduter of two switching value output types, in the single signal ultrasonic transduter of two switching value output types the distance of one of them single signal ultrasonic transduter between obstacle and motion platform be less than or equal to far point detect apart from the time send remote detection signal, wherein the distance of another single signal ultrasonic transduter between obstacle and motion platform be less than or equal near point detect apart from the time send closely detection signal.In addition, obstacle position detecting element 51 also can be the single signal ultrasonic transduter of analog quantity output type.The single signal ultrasonic transduter of analog quantity output type can detect the position of current obstacle, and can represent the location information of current obstacle and continue output with a plurality of binary digits.
The embodiment that the embodiment of above-mentioned obstacle position detecting element 51 only can be realized for part does not constitute the restriction to obstacle position detecting element 51 functions.Those skilled in the art can use other embodiments to realize 51 functions that can realize of obstacle position detecting element.Also need to prove: remote detection signal and closely the type of detection signal also be not limited to the form that controller 4 or other electronic machines can be identified, remote detection signal and closely detection signal also can be photosignal or the aud. snl. that the staff can audiovisual arrives.
As preferably a kind of or embodiment alternatively, stage driving comprises propulsion source, power switch 61 and kinematic mechanism, wherein:
Kinematic mechanism is connected with motion platform, and power switch 61 is connected between propulsion source and the kinematic mechanism, and whether power switch 61 is used for the control propulsion source is that kinematic mechanism supplying power and propulsion source are the size of the power of kinematic mechanism supply.
Whether be kinematic mechanism supplying power and propulsion source be the size of the power of kinematic mechanism supply, and then the controlled motion platform speed of whether advancing (retreat herein can be considered as reversing sense advance) and advancing if can control propulsion source by control power switch 61.
As preferably a kind of or embodiment alternatively, propulsion source can be Hydraulic Pump, and power switch 61 is the control cock group, and kinematic mechanism comprises hydraulic ram and the jib that is connected with cylinder bar or the cylinder barrel of hydraulic ram, motion platform is connected with jib, is preferably to be hinged.
Above-mentioned stage driving is a kind of telescoping mechanism of fluid pressure type.Certainly, with electronic telescoping mechanism (for example electric pushrod) with the embodiment that replaces above-mentioned hydraulic telescopic machanism also within protection scope of the present invention.
As preferably a kind of or embodiment alternatively, the device of anticollision also comprises the controller 4 that is electrically connected with power supply 11 and stage driving, wherein:
Power supply 11 is used to controller 4 power supplies.Controller 4 is preferably with the power switch 61 of stage driving and is electrically connected.
Controller 4 is used for receiving remote detection signal and detection signal closely, and the control stage driving drives motion platform and advances slowly with the speed that is slower than normal speed after receiving remote detection signal, and the control stage driving keeps motion platform static after not only receiving remote detection signal but also receiving closely detection signal.
Explanation obstacle distance motion platform this moment has approached after controller 4 receives remote detection signal, so can control stage driving drive motion platform this moment advances slowly with the speed that is slower than normal speed, if after controller 4 had not only received remote detection signal but also had received closely detection signal the explanation obstacle very near motion platform or else stop then can the collision movement platform, keep motion platform static so control stage driving this moment, can avoid obstacle collision movement platform, because braking this moment, the speed of motion platform has been significantly less than normal speed, so be not prone to shaking phenomenon, stationarity is even more ideal.
As preferably a kind of or embodiment alternatively, the device of anticollision also comprise the alarm module that is electrically connected with controller 4 (or claim: alarm module), wherein:
Controller 4 also is used for when receiving closely detection signal but not receiving remote detection signal alarm module being sent alarm command, alarm to indicate the generation circuit of remote detection signal to break down by alarm module to show failure message or the mode of blowing a whistle, and the control stage driving keep motion platform static.
(or claim: the second road signal) distance that detects, scope (or claim: first via signal) greater than detection signal generation circuit closely distance signal generation circuit in the dual signal ultrasonic transduter, so when controller 4 receives closely detection signal but do not receive remote detection signal, illustrate that fault has appearred in the generation circuit of remote detection signal, at this moment, alarm module alarm, the staff can keep in repair, the distance signal generation circuit in the emat sensor more.
As preferably a kind of or embodiment alternatively, controller 4 also is used for not receiving remote detection signal and closely during detection signal, the control stage driving drives motion platform with normal speed and advances.When controller 4 does not receive remote detection signal and closely during detection signal, the account for motion platform is also distant apart from obstacle, so motion platform can advance with normal speed or faster speed.
The Elevating platform fire truck that the embodiment of the invention provides comprises the device of the anticollision that the arbitrary technical scheme of the present invention provides, and wherein: motion platform is the rescue platform of Elevating platform fire truck.
Emergency braking causes and rocks in the time of can avoiding motion platform near obstacle effectively owing to the device of anticollision provided by the invention, so suitablely be applied to Elevating platform fire truck provided by the invention to improve the stationarity of rescue platform.
Certainly, the device of the anticollision that the arbitrary technical scheme of the present invention provides also can be applied to the anticollision of other framing members of fire extinguishing tanker, that is to say that motion platform is not limited in the rescue platform.
As shown in Figures 2 and 3, the collision-proof method of the Elevating platform fire truck that the embodiment of the invention provides may further comprise the steps:
The position detecting element 51 that breaks the barriers detects the position of obstacle.
Control stage driving drive motion platform advances slowly with the speed that is slower than normal speed when the obstacle position detecting element sends remote detection signal;
The obstacle position detecting element send remote detection signal and closely behind the detection signal control stage driving keep motion platform static.That is: at obstacle and rescue the distance between the platform be less than or equal to far point detect apart from the time control stage driving drive motion platform and advance slowly with the speed that is slower than normal speed, the distance between obstacle and motion platform be less than or equal near point detect apart from the time control stage driving keep motion platform static.
The present invention is less than or equal near point in the distance between obstacle and the motion platform, and to detect distance be that obstacle is just controlled motion platform before near motion platform slowly, the speed of advance that makes motion platform is just lower before near obstacle the time, and the controlled motion platform stops anxious stopping to occur and the shaking phenomenon that causes again at this moment.
As preferably a kind of or embodiment alternatively, the collision-proof method of the Elevating platform fire truck that present embodiment provides is further comprising the steps of:
At obstacle and rescue the distance between the platform greater than far point detect distance and near point detect apart from the time control stage driving drive the motion platform normal speed and advance.That is: the control stage driving drives the motion platform normal speed and advances when the obstacle position detecting element does not send remote detection signal and do not send closely detection signal yet.
The collision-proof method of above-mentioned Elevating platform fire truck can improve the moving velocity of rescue platform when obstacle and rescue platform apart from each other, thereby improves the work efficiency of fire extinguishing tanker.
The disclosed arbitrary technical scheme of the invention described above unless otherwise stated outside, if it discloses number range, so disclosed number range is preferred number range, any it should be appreciated by those skilled in the art: preferred number range only is the apparent in view or representative numerical value of technique effect in many enforceable numerical value.Because numerical value is more, can't be exhaustive, so the present invention just discloses part numerical value with casehistory technical scheme of the present invention, and the above-mentioned numerical value of enumerating should not constitute the restriction to the invention protection domain.
If used words such as " first ", " second " to limit parts herein, those skilled in the art should know: the use of " first ", " second " only is to go up for convenience of description parts are distinguished as not having outside the Stated otherwise, and above-mentioned word does not have special implication.
Simultaneously, if the invention described above discloses or has related to parts or the framing member of connection fastened to each other, so, unless otherwise stated, captive joint can be understood as: can dismantle ground captive joint (for example using bolt or screw to connect), also can be understood as: non-removable captive joint (for example rivet, weld), certainly, connection fastened to each other also can be replaced (obviously can't adopt except the integrally formed technology) by integral structure (for example use foundry technique is integrally formed to create).
In addition, in the disclosed arbitrary technical scheme of the invention described above applied term for expression position relation or shape unless otherwise stated outer its implication comprise and its approximate, similar or approaching state or shape.Arbitrary parts provided by the invention both can be to be assembled by a plurality of independent component parts, the produced separate part of the technology that also can be one of the forming.
Should be noted that at last: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; Although with reference to preferred embodiment the present invention is had been described in detail, those of ordinary skill in the field are to be understood that: still can make amendment or the part technical characterictic is equal to replacement the specific embodiment of the present invention; And not breaking away from the spirit of technical solution of the present invention, it all should be encompassed in the middle of the technical scheme scope that the present invention asks for protection.
Claims (10)
1. the device of an anticollision is characterized in that, comprises obstacle position detecting element, motion platform, stage driving and power supply, wherein:
Described motion platform is connected with described stage driving, and described stage driving can drive described motion platform and advance with predetermined path and maybe can keep described motion platform static;
Described power supply is electrically connected with described obstacle position detecting element and is described obstacle position detecting element power supply;
Described obstacle position detecting element is for detection of the position of obstacle, and the distance between obstacle and described motion platform be less than or equal to far point detect apart from the time send remote detection signal, the distance between described obstacle and described motion platform be less than or equal to the near point detection apart from the time send closely detection signal;
Described far point detects distance and detects distance greater than described near point.
2. the device of anticollision according to claim 1 is characterized in that, described obstacle position detecting element is the dual signal ultrasonic transduter, perhaps,
Described obstacle position detecting element comprises the single signal ultrasonic transduter of two switching value output types, the distance of one of them described single signal ultrasonic transduter between described obstacle and described motion platform be less than or equal to described far point detect apart from the time send described remote detection signal, wherein the distance of another described single signal ultrasonic transduter between described obstacle and described motion platform be less than or equal to described near point detection apart from the time send described closely detection signal; Perhaps,
The single signal ultrasonic transduter that described obstacle position detecting element is the analog quantity output type.
3. the device of anticollision according to claim 2 is characterized in that, described stage driving comprises propulsion source, power switch and kinematic mechanism, wherein:
Described kinematic mechanism is connected with described motion platform, and described power switch is connected between described propulsion source and the described kinematic mechanism, and whether described power switch is used for the described propulsion source of control is that described kinematic mechanism supplying power and described propulsion source are the size of the power of described kinematic mechanism supply.
4. the device of anticollision according to claim 3, it is characterized in that, described propulsion source is Hydraulic Pump, described power switch is the control cock group, described kinematic mechanism comprises hydraulic ram and the jib that is connected with cylinder bar or the cylinder barrel of described hydraulic ram, and described motion platform is connected with described jib.
5. according to the device of the arbitrary described anticollision of claim 1-4, it is characterized in that the device of described anticollision also comprises the controller that is electrically connected with described power supply and described stage driving, wherein:
Described power supply is used to described controller power supply, described controller be used for to receive described remote detection signal and described closely detection signal, and the described stage driving of control drives described motion platform and advances slowly with the speed that is slower than normal speed after receiving described remote detection signal;
Described controller is used for that the described stage driving of control keeps described motion platform static after not only receiving described remote detection signal but also receive described closely detection signal; Perhaps, described controller is used for after not only receiving described remote detection signal but also receive described closely detection signal, whether the sense of motion of judging described motion platform is the direction that moves to described obstacle, if, then controlling described stage driving keeps described motion platform static, otherwise, control the described motion platform of described stage driving continuation drive and move.
6. the device of anticollision according to claim 5 is characterized in that, the device of described anticollision also comprises the alarm module that is electrically connected with described controller, wherein:
Described controller also is used for when receiving described closely detection signal but not receiving described remote detection signal described alarm module being sent alarm command, alarm to show failure message or the mode of blowing a whistle by described alarm module, and control described stage driving and keep described motion platform static.
7. the device of anticollision according to claim 5, it is characterized in that, described controller also is used for both not receiving described remote detection signal, when also not receiving described closely detection signal, controls described stage driving and drives described motion platform with normal speed and advance.
8. an Elevating platform fire truck is characterized in that, comprises the device of the arbitrary described anticollision of claim 1-7, and wherein: described motion platform is the rescue platform of Elevating platform fire truck.
9. the collision-proof method of the described Elevating platform fire truck of claim 8 is characterized in that, may further comprise the steps:
Detect the position of described obstacle by described obstacle position detecting element;
Controlling described stage driving when described obstacle position detecting element sends described remote detection signal drives described motion platform and advances slowly with the speed that is slower than normal speed;
The described stage driving of control keeps described motion platform static after described obstacle position detecting element sends described remote detection signal and described closely detection signal; Perhaps, after described obstacle position detecting element sends described remote detection signal and described closely detection signal, whether the sense of motion of judging described motion platform is the direction that moves to described obstacle, if, then controlling described stage driving keeps described motion platform static, otherwise, control the described motion platform of described stage driving continuation drive and move.
10. the collision-proof method of Elevating platform fire truck according to claim 9 is characterized in that, and is further comprising the steps of:
Do not send described remote detection signal at described obstacle position detecting element, control described stage driving when not sending described closely detection signal yet and drive described motion platform normal speed and advance.
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| CN103663304A (en) * | 2013-12-13 | 2014-03-26 | 中联重科股份有限公司 | Device, method and system for collision prevention control over boom and engineering machine |
| CN105675939A (en) * | 2016-03-06 | 2016-06-15 | 李志刚 | Bistable electric energy meter signal socket connector |
| CN105807250A (en) * | 2016-03-06 | 2016-07-27 | 任红霞 | Application method of electric energy meter error checking system |
| CN108237997A (en) * | 2016-12-27 | 2018-07-03 | 比亚迪股份有限公司 | Homing guidance transportation fork-truck and its protection system and guard method |
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| CN103663304A (en) * | 2013-12-13 | 2014-03-26 | 中联重科股份有限公司 | Device, method and system for collision prevention control over boom and engineering machine |
| CN103663304B (en) * | 2013-12-13 | 2015-12-30 | 中联重科股份有限公司 | A kind of collision prevention control over boom, method, system and construction machinery and equipment |
| CN105675939A (en) * | 2016-03-06 | 2016-06-15 | 李志刚 | Bistable electric energy meter signal socket connector |
| CN105807250A (en) * | 2016-03-06 | 2016-07-27 | 任红霞 | Application method of electric energy meter error checking system |
| CN108237997A (en) * | 2016-12-27 | 2018-07-03 | 比亚迪股份有限公司 | Homing guidance transportation fork-truck and its protection system and guard method |
| CN108237997B (en) * | 2016-12-27 | 2020-08-07 | 比亚迪股份有限公司 | Automatic guide carrying forklift and protection system and protection method thereof |
| CN109848968A (en) * | 2019-02-27 | 2019-06-07 | 广汽本田汽车有限公司 | A kind of control method for movement, device, equipment and the system of grip device |
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| CN103303240B (en) | 2016-06-29 |
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Effective date of registration: 20170124 Address after: 221004 Jiangsu Province, Xuzhou City Yunlong District No. 165 Patentee after: Xugong fire safety equipment Co. Ltd. Address before: 221004 Xuzhou, Zhejiang Province, Jiangsu Road No. 165 Patentee before: Xuzhou Heavy Machinery Co., Ltd. |