CN106744549A - Prevent the workbench of persistently involuntary operation - Google Patents
Prevent the workbench of persistently involuntary operation Download PDFInfo
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- CN106744549A CN106744549A CN201611035314.0A CN201611035314A CN106744549A CN 106744549 A CN106744549 A CN 106744549A CN 201611035314 A CN201611035314 A CN 201611035314A CN 106744549 A CN106744549 A CN 106744549A
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- Prior art keywords
- platform
- sensor
- control module
- operator
- processor
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
- B66F11/046—Working platforms suspended from booms of the telescoping type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Workbench the present invention relates to prevent persistently involuntary operation.A kind of aerial work platform, including：Control panel, the control panel includes the operator control unit for manipulating the platform；Control module, the control module communicates with the operator control unit and controls the manipulation to the platform based on the signal from the control panel；And barrier sensing system.The barrier sensing system includes sensor, and the sensor is arranged near the platform, the region around the Sensor monitoring operator region, the platform and the platform.The processor treatment signal, with the degree of approach of object in determining operator position on the platform and region around the platform.The control module and the processor communication and it is programmed to control the manipulation to the platform or machine based on the signal from the processor and the input from the operator.
Description
Cross-Reference to Related Applications
The application is the part continuation application of the U.S. Patent Application No. 13/885,720 that on May 16th, 2013 submits to
(CIP), the U.S. Patent application is the PCT International Patent Application PCT/US2011/066122 that on December 20th, 2011 submits to
Number the American National stage, the U.S. Provisional Patent Application that this PCT International Patent Application requirement on December 20th, 2010 submits to
The rights and interests of the U.S. Provisional Patent Application the 61/435th, 558 that 61/424, No. 888 and on January 24th, 2011 submit to, each is beautiful
The full content of state's temporary patent application is incorporated herein by reference in the application.
Technical field
The present invention relates to workbench, relate more specifically to include barrier sensing system reduce and barrier or structure
The workbench of the possibility of collision.
Background technology
Lifting vehicle including aerial work platforms (stretch by rough topography such as with workbench annex flexible fork truck
Contracting arm fork truck) and vehicle-mounted high altitude lift be known, and generally include extendible varistructure suspension rod and in suspension rod
The workbench of end, the extendible varistructure suspension rod can be located at different angles relative to ground.On platform or
Near platform, generally setting includes the console of various control elements, and operator can manipulate the various control elements, to control
System such as suspension rod angle, suspension rod extend, the rotation on a vertical axis of suspension rod and/or platform, engine or other types of power supply
Function, and wherein, lifting vehicle is self-propelled, is also provided with steering gear, actuating speed and direction and control for brake.
Except other positions, when operator is located at platform and can be located between the crown of operator or the structure at rear,
Potential safety hazard may be produced in the lifting vehicle including workbench.For around platform object (such as glass surface, fly
Row device structure and other more fragile or flimsy structures), it is also desirable to collision free.
The content of the invention
Camera sensor etc. can be mounted to aerial work platform to observe region and the operation around the platform, platform
Member.System processes the data from sensor, to determine that operator whether there is and whether operator is in suitable operative position
Put, and also determine the top of the platform, rear, the object of side and below the degree of approach.Based on from the sensor
Data, control module allows to change or prevents that the platform is operated and/or manipulated.
In the exemplary embodiment, workbench and the system in combination for detecting barrier.Workbench includes control
Panel processed, control panel has the functional unit of the position of the control platform.The workbench and system of combination include：Sensing
Device, the sensor is arranged near platform, and monitors at least one of region around operator region, platform and platform；
And processor, the processor receives signal from sensor, and processes the signal, to determine position of the operator on platform
At least one of and the degree of approach of object in the region around platform.The control mould communicated with processor and functional unit
The communication that block is based on processor changes the control signal from control panel.
Processor can determine operator not or be not in suitable operating position, and control module can be programmed to
Prevent from entering platform the operation that guild moves platform.Override switch can be connected with control module, wherein, control module can be with
It is programmed to the activation based on override switch and allows to operate the platform with very slow speed or creep speed.Processor can
To determine that operator is just fixed against on control panel, and control module can be programmed to stop activation function and prevent to platform
Enter the further operation that guild moves platform.Processor can determine that operator is just being fixed against on control panel and persistently make a reservation for
Time, and control module can be programmed to make the last operation function of platform to invert.Processor can determine that operator is present
And there is no object in the region positioned at suitable operating position and around platform, and control module is programmed to allow to platform
Carry out normal operating.
In one embodiment, sensor can be programmed to for the region around platform to divide into warning area and danger
Area, wherein, hazardous area is than warning area closer to platform.Processor can determine there is object, and control module in warning area
Can be programmed to be based on determining there is object in warning area and allow to operate the platform with creep speed.Processor can be with
It is determined that there is object in hazardous area, and control module can be programmed to be based on determining there is object in hazardous area and prevent
Platform is operated.Sensor can be programmed to the operating characteristic based on platform and adjust in warning area and hazardous area to
The depth of few one.Exemplary operation characteristic can include the direction peace that the quantity of the operator on platform, platform are just being advanced
The speed of platform.Control module can with the speed of detection platform, wherein, processor be programmed to treatment from sensor and court
To the related signal of the platform speed of one of the object in the region of platform.In this context, control module can be by
It is programmed for slowing down activation function with the speed of the speed of one of the object relative to platform in the region of the platform.
Control module can be programmed to based on the region of platform in one of object the degree of approach and reduce ordered behaviour
Make speed.
Sensor can include being fixed on the multiple sensing elements near platform.In being arranged at one, platform can include
Platform railing, wherein, sensor is arranged on platform railing.Sensor can be optical pickocff, radar sensor harmony biography
One of sensor.Sensor can be attached to manipulation device, such as pan mechanism and/or leaning device or regard sensor
Open country displacement or the speculum of rotation.
In another exemplary implementation method, a kind of aerial work platform, including：Control panel, the control panel includes
For the operator control unit of manoeuvring platform；Control module, the control module communicates and is based on come automatic control with operator control unit
The signal of panel processed controls the manipulation to platform；And barrier sensing system.The barrier sensing system includes：Sensor,
The sensor is arranged near platform, the region around Sensor monitoring operator region, platform and platform；And processor,
The processor receives signal from sensor, the processor treatment signal, to determine position of the operator on platform and flat
The degree of approach of the object in region around platform.Control module and processor communication and it is programmed to based on the communication with processor
Change the control signal from operator control unit.
In another exemplary embodiment, a kind of method for controlling aerial work platform, including：Step a：Using installation
The region around Sensor monitoring operator region, platform and platform near platform；Step b：Received using from sensor
The degree of approach of the object in the processor detection position of the operator on platform of signal and the region around platform；And step
Rapid c：Control module is based on changing from operator control panel with the communication of processor and based on detection in stepb
Control signal.When operator not or when being not in suitable operating position, by preventing that platform is operable to implement
Step c.Implementation steps b to determine whether operator is just being fixed against on the control panel predetermined hold-time section, and described
During predetermined amount of time or after the predetermined amount of time, by preventing from being operable to platform implementation steps c, so that flat
The last operation function reversion of platform.When object is detected in warning area by allow with creep speed operate the platform come
Implementation steps c, and implementation steps c is operable to the platform by preventing when object is detected in hazardous area.
Brief description of the drawings
Describe the aspect and advantage of these and other in detail below with reference to accompanying drawings, in the accompanying drawings,
Fig. 1 shows to include the exemplary high-altitude lifting vehicle of workbench；
Fig. 2 shows the workbench of preferred embodiment of the invention and the stereogram of barrier sensing system；
Fig. 3 to Figure 16 is shown by the platform and non-self-adapting region and adaptive region of Sensor monitoring；And
Figure 17 to Figure 21 shows the exemplary pan/leaning device and function for sensor unit.
Specific embodiment
Fig. 1 shows that the exemplary typical high-altitude of the vehicle chassis 2 including being supported on wheel 4 lifts vehicle.Although institute
The vehicle for showing includes Telescopic suspension rod, but present invention is equally applicable to include that for example hinge type suspension rod is (without Telescopic suspension rod
Or extensible suspension rod) other vehicles.Rotating disk and counterweight 6 are fixed for being rotated on chassis 2, and extensible (deformable
Arrangement) one end of hanger rod component is pivotally attached to rotating disk 6.Aerial work platform 10 is attached at the another of extensible suspension rod 8
One end.Shown lifting vehicle is self-propelled, therefore also includes driving/control system (in Fig. 1 with reference 12
Schematically show) and console 14 on platform 10, the console 14 has various control elements, and operator can manipulate this
A little control elements, to control the such as extension of suspension rod angle, suspension rod, suspension rod and/or platform rotation, Yi Jiyin on a vertical axis
Hold up, turn to, the function of travel speed and direction and control for brake etc..
Fig. 2 shows the combined type workbench 10 and system 20 for detecting barrier, and the barrier is such as in platform
The barrier of surrounding, including crown barrier.Sensor 22 is arranged on platform nearby and monitoring operator region, platform and platform
At least one of peripheral region.Sensor 22 can be stereo camera sensor, and the stereo camera sensor will be by picture
Prime number is supplied to the computer or processor 24 installed on platform 10 according to the data flow of (rgb value and scope) composition.It is exemplary
Stereo camera sensor is can be from the MultiSense S21 of Carnegie Robotics companies purchase.This area it is common
Technical staff will be understood that alternative sensor is also suitable, and invention is not meant being limited to specific sensor type.
Barrier sensing system 20 can include multiple sensors 22, and the plurality of sensor 22 can together be cooperated and install
In regional near platform 10.In example arrangement, platform 10 includes platform railing and on platform railing
Sensor 22.The static view that can provide platform by the suspension rod gamut being hinged is caused on platform.Sensor
Hanging rod structure can be alternatively or additionally attached to allow to obtain the bigger visual field on platform, and/or be attached to
Platform structure in addition to railing.For example, as illustrated, sensor 22 can be attached to be fixed to the special branch on platform
Frame 23, or sensor 22 can be with the adjacent fixation of control panel 14.
Computer or the treatment pixel coverage data of processor 24, to determine operator position on platform 10 and in platform
At least one of degree of approach of object in 10 peripheral regions.Control module 26 in control panel 14 is formed and drives/control
A part for system processed 12, and communicated with the operation based on the signal control platform from processor 24 with processor 24.One
In a little arrangements, control module 26 communicates with driving/control system 12, and the driving/control system 12 controls the integrated operation of machine.
In this arrangement, control module 26 can collect the input that carrys out self-control device (such as control stick, switch etc.) and by operator
Order is sent to driving/control system 12.
In some embodiments, processor 24 determine be operator be not or operator be not in suitable operation
Position, and if operator not or be not in suitable operating position, then control module 26 is programmed to prevent to platform 10
Operated.If that is, not detecting operator, computer 24 will prevent the data-message for acting or operating from sending out
Be sent to control module 26, or the platform 10 that is stopped all activated function.System can also include override button 28, wherein such as
Fruit override button 28 is activated, then can operate the platform 10 with creep speed.
Processor 24 can determine that operator is just being fixed against on control panel 14, and in this case, control module 26 is compiled
Journey is to prevent from operating platform 10.If processor 24 determines that operator is just being fixed against continues pre- timing on control panel
Between, then control module 26 is programmed to make the last operation function of platform to invert.In this case, system can be sent out alarm
And open warning beacon.
Indicator lamp 29 can be fixed to around platform railing and control panel, and system mode is sent into operator.
Figure 2 illustrates the exemplary position for indicator lamp 29.(the example when control module 26 just influences apparatus control by any way
Such as, when sensor 22 points out that machine is too near to barrier), control module 26 can light indicator lamp 29.
Fig. 3 to Fig. 8 shows showing for the degree of approach for detecting the object in the top of platform 10, rear, lower section and side
Example property sensing region.Sensor 22 is programmed to for the region around platform to divide into warning area (A areas) 30 and hazardous area (B areas
With C areas) 32, wherein, as illustrated, hazardous area 32 is than warning area 30 closer to platform 10.If processor 24 is determined in warning
There is object in area, then control module 26 is programmed to allow to operate the platform 10 with creep speed.If processor 24 determines
There is object in hazardous area 32, then control module 26 is programmed to prevent from operating platform 10 (that is, stop all activated
Function and/or prevent from starting or continuing to any operation).Prevent from operating platform 10 that (operation can draw in control module 26
Rise platform 10 movement) any time, to override switch 28 activation by allow the platform 10 is operated with creep speed.If
Processor 24 determines that operator is present and in the region positioned at suitable operating position and around platform 10 (that is, by specifying
The degree of approach that area is limited) there is no object, then control module 26 allows to carry out platform 10 normal unrestricted operation.Such as
Fruit does not exist operator, then prevent from operating platform (movement that the operation will cause platform), except non-used override switch
28 carry out override.
Distance due to the shape of the real time parsing barrier of processor 24 and with the barrier, therefore processor 24 can be by
It is programmed for estimating moving direction and speed of the platform relative to the barrier for being recognized.Even if processor 24 can be programmed to
Those barriers are also taken action when being in 30 outside of warning area.For example, processor 24 can be programmed to：When processor 24 is known
When being clipped to operator just along the direction full speed driven machine of potential barrier, signal driving/control system 12 and slow down machine
Device function (such as drives).As another example, if the processor determine that machine is just quickly moved towards the point of impingement, then can be more
Promptly slow down suspension rod function (or driving function).
Reference picture 5 to Fig. 8, warning area 30 and hazardous area 32 can be configured as self adaptation area, wherein, based on surrounding environment
Picture, control module 26 can adjust the size and dimension in each area 30,32.Control module sensor based system/control
Device is used to recognize the group of number or the people in platform and material (instrument, equipment) for example (inter alia) in platform
The ability of conjunction and calculate self adaptation area.Fig. 7 and Fig. 8 show the result that controller module is calculated.In fig. 5 and fig., according to specific
Operator and adjust area 30,32.In the figure 7, area 30,32 is adjusted according to there are two operators, and in fig. 8, according to flat
Operator and equipment on platform and adjust the area.
Can be used to reduce platform speed based on detected object distance using various methods.In " rate limitation "
In method, set based on the distance away from detected object and can instruct the limiting value of speed (for example, with reference to Fig. 5 on maximum
To Figure 13).In " speed reduction " method, operator's input is reduced based on the distance away from detected barrier in proportion
(for example, with reference to Figure 14 to Figure 16).Both approaches can cause different machine behaviors.
The area can be made to adapt to speed and the direction of machine movement.If it is determined that machine is with the speed more than threshold velocity
It is mobile, then area can be adjusted to become deeper, or when activation swing or other direction functions, the area is in main traveling side
Upwards can be with " deeper ".Control module can adjust sensor deeper to enter platform side direction.Fig. 9 to Figure 13 shows base
Change the depth in warning area and/or hazardous area in platform speed and direction.More specifically, Fig. 9 shows the platform advanced to the right,
Wherein right side warning area and hazardous area are respectively provided with increased depth.Figure 10 shows that platform declines, wherein warning area and/or danger
Danger zone has increased depth along platform moving direction.System can be programmed to the depth that the speed based on platform adjusts the area
Degree.Figure 11 to Figure 13 shows to increase and proportional increased depth with platform speed.
In related context, self adaptation area can include proportional deceleration area, as shown in Figure 14 to Figure 16.In figure
In 14, the percentage of command speed is reduced with the degree of approach of platform according to potential barrier.Deceleration area shows with discrete steps,
But alternatively, deceleration area can also be continuous.In fig .15, proportional deceleration area and the area for being adapted to speed and direction
Combination.In fig .15, platform forward direction right lateral enters, and correspondingly changes the depth in the area.In figure 16, in platform forward direction right lateral
Enter in the areas of Shi 60% and detect object.Function speed is reduced to the 60% of command speed.
Line sensor 22 and processor can be entered by digital packets (CAN) or discrete signaling (numeral or simulation output)
Communication between 24.Can be using the digital communication of other forms, to allow sensor to provide the letter needed for Evaluation Environment is perceived
Breath.Example includes but is not limited to Ethernet, I2C, RS232/485, digital pulse width modulation (PWM) etc..Control module 26 parses number
Determine whether and how machine makes a response to sensing data according to this.Processor 24 can based on the signal from sensor 22
To determine the need for removing them via built-in testing (Built-In Test, BIT).Sensing element 22 can be based on light
Learn sensing, radar sensing or sound (ultrasound) sensing.Sensing element 22 can be single assembly or with identical or complementary technology
Multiple devices.This provides the redundancy and tolerance to a series of pollution on environmental conditions, sensor and the object to be detected.Pass
Sensor can be that passive sensor (stereoscopic camera, one camera) or active sensor (light detection and ranging (LiDAR), swash
Light detection and ranging (LADAR), 3D vision sensors), radar or sound (ultrasound) sensor.Can be any using one or more
The sensor of suitable type, and invention is not meant being limited to described illustrative embodiments.It is also contemplated that realizing
The alternative sensor arrangement of identical function, including for example to transmitter (by electromagnetic wave or other signals), the zone of reflections (in machine
It is upper and/or be incorporated in the protection dress ornament of operator) etc. the sensor reacted.
Reference picture 17, can be by using suitable pan/leaning device 34 (exemplary pan/leaning device to Figure 21
Being can be from the Multisense S21 of Carnegie Robotics companies purchase) mechanical rotation is carried out to whole sensor (shake
Take the photograph/incline) or by the way that by polygon deflector 36, single reflection device 38, a pair of reflectors 40 (are used for camera and LiDAR
One or more optical frames, one or more metallic plates for radar and acoustics) grasp visual field mechanical displacement/rotation etc.
Vertical sensor 22 (camera, LiDAR, RADAR etc.).Can control to manipulate by processor 24, control module 26, sensor 22
Device, or be autonomous in manipulation device.Manipulate sensor or sensor field of view allow each sensor cover platform and/
Or more peripheral regions around hanging rod structure.
Platform and barrier sensing system are devoted to avoiding between the barrier around the platform for moving and platform
Collision.Compared to the reaction equation system being adjusted after barrier has touched operator and/or platform structure, according to preferred reality
The proactive system for applying mode is favourable.
It is presently considered to be most practical and preferred embodiment implementation method and describes the present invention although combined,
It is to be understood that the invention is not restricted to disclosed implementation method, being wanted on the contrary, it is intended to cover and be included in appended right
Seek various modifications and the equivalent arrangements in the spirit and scope of book.
Claims (27)
1. a kind of combined type workbench and system for detecting adjacent barrier, the workbench includes control panel,
The control panel has the functional unit of the position of the control platform, and the combined type workbench and system include：
Sensor, the sensor is arranged near the platform, the Sensor monitoring operator region, the platform and institute
State at least one of region around platform；
Processor, the processor receives signal from the sensor, and the processor processes the signal, to determine operator
At least one of degree of approach of object in position and the region around the platform on the platform；And
Control module, the control module communicates with the processor and the functional unit, and based on the processor
Communication changes the control signal from the control panel.
2. combined type workbench according to claim 1 and system, wherein, the processor determines the operator not
Or be not in suitable operating position, and the control module is programmed to prevent to enter guild to the platform and makes the platform
Mobile operation.
3. combined type workbench according to claim 2 and system, the also override including being connected with the control module
Switch, wherein, the control module is programmed to the activation based on override switch and allows described with creep speed operation
Platform.
4. combined type workbench according to claim 2 and system, wherein, the processor is determining the operator just
It is fixed against on the control panel, and the control module is programmed to stop activation function and prevent from entering guild to the platform
Make the further operation of the platform movement.
5. combined type workbench according to claim 4 and system, wherein, the processor is determining the operator just
Predetermined hold-time on the control panel is fixed against, and the control module is programmed to make the last operation work(of the platform
Can reversion.
6. combined type workbench according to claim 1 and system, wherein, the processor determines that the operator deposits
And positioned at not having object in suitable operating position and the region around the platform, and the control module is programmed
To allow to carry out normal operating to the platform.
7. combined type workbench according to claim 1 and system, wherein, the sensor is programmed to will be described flat
Warning area and hazardous area are divided into region around platform, the hazardous area than the warning area closer to the platform, and wherein,
The processor determines there is object in the warning area, and the control module is programmed to based on determination in the warning
There is object in area and allow to operate the platform with creep speed.
8. combined type workbench according to claim 7 and system, wherein, the processor is determined in the hazardous area
In there is object, and the control module is programmed to based on determining there is object in the hazardous area and stop activation function
And prevent from entering the platform the further operation that guild moves the platform.
9. combined type workbench according to claim 8 and system, the also override including being connected with the control module
Switch, wherein, the control module is programmed to the activation based on override switch and allows described with creep speed operation
Platform.
10. combined type workbench according to claim 7 and system, wherein, the sensor is programmed to based on institute
State the operating characteristic of platform and adjust the depth of at least one of the warning area and the hazardous area.
11. combined type workbenches according to claim 10 and system, wherein, the operating characteristic includes the platform
On the quantity of operator, the direction that the platform is just being advanced and the platform speed.
12. combined type workbenches according to claim 1 and system, wherein, the control module detects the platform
Speed, and wherein, the processor be programmed to treatment from sensor and towards described in the region of the platform
The related signal of the platform speed of one of object, the control module is programmed to relative to the platform close to the platform
Region in the speed of speed of one of the object slow down activation function.
13. combined type workbenches according to claim 1 and system, wherein, the control module is programmed to be based on
Reduce ordered service speed with the degree of approach of one of the object in the region of the platform.
14. combined type workbenches according to claim 1 and system, wherein, the sensor is described including being fixed on
Multiple sensing elements near platform.
15. combined type workbenches according to claim 1 and system, wherein, the platform includes platform railing, and its
In, the sensor is arranged on the platform railing.
16. combined type workbenches according to claim 1 and system, wherein, the sensor include optical pickocff,
One of radar sensor and sonic transducer.
17. combined type workbenches according to claim 1 and system, the manipulation also including being attached with the sensor are filled
Put.
18. combined type workbenches according to claim 17 and system, wherein, the manipulation device includes pan mechanism
And/or leaning device.
19. combined type workbenches according to claim 17 and system, wherein, the manipulation device includes making sensor
The speculum that the visual field shifts or rotates.
A kind of 20. aerial work platforms, including：
Control panel, the control panel includes the operator control unit for manipulating the platform；
Control module, the control module communicates and based on the signal control from the control panel with the operator control unit
Make the manipulation to the platform；And
Barrier sensing system, the barrier sensing system includes：
Sensor, the sensor is arranged near the platform, the Sensor monitoring operator region, the platform and institute
State the region around platform；And
Processor, the processor receives signal from the sensor, and the processor processes the signal, to determine operator
The degree of approach of the object in position and the region around the platform on the platform,
Wherein, the control module is changed from the behaviour with the processor communication and based on the communication with the processor
The control signal of work person's controller.
21. aerial work platforms according to claim 20, wherein, the sensor is programmed to around the platform
Region divide into warning area and hazardous area, the hazardous area than the warning area closer to the platform, and wherein, the control
Molding block is programmed to still detect object in the hazardous area and differently control to institute according in the warning area
State the operation of platform.
22. aerial work platforms according to claim 21, wherein, the control module is programmed to：When the operation
Member not or be not in suitable operating position and prevent from when object is detected in the hazardous area carrying out the platform
Operation, wherein, the control module is programmed to：Allow to be operated with creep speed when object is detected in the warning area
The platform, and wherein, the control module is programmed to：When not detecting thing in the warning area or the hazardous area
Body and exist and during positioned at suitable operating position as the operator, it is allowed to which normal operating is carried out to the platform.
23. aerial work platforms according to claim 20, wherein, the sensor includes being fixed near the platform
Multiple sensing elements.
A kind of 24. methods for controlling aerial work platform, methods described includes：
a：Using the area around the Sensor monitoring operator region near the platform, the platform and the platform
Domain；
b：The processor detection operator position on the platform of signal is received using from the sensor and described flat
The degree of approach of the object in region around platform；And
c：Control module is based on changing with the communication of the processor and based on detection in stepb from operator's control
The control signal of panel processed.
25. methods according to claim 24, wherein, when operator not or when being not in suitable operating position, lead to
Crossing prevents from being operable to implementation steps c to the platform.
26. methods according to claim 25, wherein, implementation steps b is determining whether the operator is just being fixed against institute
Predetermined hold-time section on control panel is stated, and wherein, during the predetermined amount of time or after the predetermined amount of time,
By preventing from being operable to implementation steps c to the platform, invert the last operation function of the platform.
27. methods according to claim 25, wherein, the region around the platform includes warning area and danger
Area, the hazardous area leads to than the warning area closer to the platform, and wherein when object is detected in the warning area
Cross permission operates the platform to carry out implementation steps c with creep speed, and when object is detected in the hazardous area by anti-
Implementation steps c only is operable to the platform.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US14/950,845 US10358331B2 (en) | 2010-12-20 | 2015-11-24 | Work platform with protection against sustained involuntary operation |
| US14/950,845 | 2015-11-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106744549A true CN106744549A (en) | 2017-05-31 |
| CN106744549B CN106744549B (en) | 2019-04-23 |
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ID=57286357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611035314.0A Active CN106744549B (en) | 2015-11-24 | 2016-11-23 | Prevent the workbench of persistently involuntary operation |
Country Status (6)
| Country | Link |
|---|---|
| EP (2) | EP3725733A1 (en) |
| JP (2) | JP6411434B2 (en) |
| CN (1) | CN106744549B (en) |
| AU (1) | AU2016256781B2 (en) |
| CA (1) | CA2946013C (en) |
| ES (1) | ES2802462T3 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702699A (en) * | 2017-10-02 | 2019-05-03 | 斯贝斯克商业解决方案有限公司 | System for reducing pinch zones (Pinch Zone) injury from height-adjustable work assembly parts |
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Also Published As
| Publication number | Publication date |
|---|---|
| CA2946013A1 (en) | 2017-05-24 |
| JP6411434B2 (en) | 2018-10-24 |
| JP2019034857A (en) | 2019-03-07 |
| JP7014692B2 (en) | 2022-02-01 |
| ES2802462T3 (en) | 2021-01-19 |
| JP2017095093A (en) | 2017-06-01 |
| EP3173369A1 (en) | 2017-05-31 |
| CA2946013C (en) | 2019-10-01 |
| CN106744549B (en) | 2019-04-23 |
| EP3725733A1 (en) | 2020-10-21 |
| EP3173369B1 (en) | 2020-05-27 |
| AU2016256781A1 (en) | 2017-06-08 |
| AU2016256781B2 (en) | 2018-07-19 |
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