CN106744549B - Prevent the workbench of persistently involuntary operation - Google Patents
Prevent the workbench of persistently involuntary operation Download PDFInfo
- Publication number
- CN106744549B CN106744549B CN201611035314.0A CN201611035314A CN106744549B CN 106744549 B CN106744549 B CN 106744549B CN 201611035314 A CN201611035314 A CN 201611035314A CN 106744549 B CN106744549 B CN 106744549B
- Authority
- CN
- China
- Prior art keywords
- platform
- sensor
- control module
- processor
- programmed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
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
-
- 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
-
- 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
Abstract
The present invention relates to the workbenches for preventing persistently involuntary operation.A kind of aerial work platform, comprising: control panel, the control panel include the operator control unit for manipulating the platform；Control module, the control module communicate with the operator control unit and control 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 mounted near the platform, the region around sensor monitoring operation person region, the platform and the platform.The processor processing signal, with determine operator position on the platform and in the region around the platform object the degree of approach.It the control module and the processor communication and 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 U.S. Patent Application No. 13/885,720 part continuation application submitted on May 16th, 2013
(CIP), which is the PCT International Patent Application PCT/US2011/066122 submitted on December 20th, 2011
Number the American National stage, this PCT International Patent Application requires the U.S. Provisional Patent Application submitted on December 20th, 2,010 the
61/424, No. 888 and U.S. Provisional Patent Application the 61/435th, 558 equity submitting on January 24th, 2011, Mei Gemei
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 to reduce and barrier or structure
The workbench of a possibility that collision.
Background technique
(rough topography such as with workbench attachment stretches the stretching of fork truck lifting vehicle including aerial work platforms
Contracting arm fork truck) and vehicle-mounted high altitude elevator be known, and generally include extendible varistructure sunpender and in sunpender
The workbench of end, the extendible varistructure sunpender can be located at different angle relative to ground.On platform or
Near platform, usually console of the setting including various control elements, operator can manipulate the various control elements, with control
System such as sunpender angle, sunpender extend, the rotation on a vertical axis of sunpender and/or platform, engine or other types of power supply
Function, and wherein, lifting vehicle is self-propelled, is also provided with diverter, driving speed and direction and control for brake.
In addition to other positions, when operator is located at platform and can be located between the crown of operator or the structure at rear,
Security risk may be generated in the lifting vehicle for including workbench.For around platform object (such as glass surface, fly
Row device structure and other more fragile or easy to damage structure), it is also desirable to it avoids collision.
Summary of the invention
Camera sensor etc. can be mounted to aerial work platform to observe the platform, the region around platform and operation
Member.System handles the data from sensor, to determine that operator whether there is and whether operator is in suitable operative position
It sets, and also determines the degree of approach in the object of the top of the platform, rear, side and below.Based on from the sensor
Data, control module allows to change or prevent 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 have the operating member for the position for controlling the platform.Combined workbench and system includes: sensing
Device, the sensor are mounted near platform, and at least one of the region around monitoring operation person region, platform and platform；
And processor, which receives signal from sensor, and handles the signal, to determine position of the operator on platform
And at least one of degree of approach of object in the region around platform.The control mould communicated with processor and operating member
Block changes the control signal from control panel based on the communication with processor.
Processor can determine operator not or be not in suitable operating position, and control module can be programmed to
Prevent the operation for carrying out to make platform mobile to platform.Override switch can be connect with control module, wherein control module can be with
It is programmed to allow to operate the platform with very slow speed or creep speed based on the activation that override switchs.Processor can
To determine that operator is just being fixed against on control panel, and control module can be programmed to stop activation function and prevent to platform
Carry out the further operation that platform can be made mobile.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 exists
And it is located at suitable operating position and does not have object in the region around platform, and control module is programmed to allow to platform
Carry out normal operating.
In one embodiment, sensor can be programmed to the region around platform dividing into warning area and danger
Area, wherein danger area is than warning area closer to platform.Processor can determine in warning area there are object, and control module
It can be programmed to allow to operate the platform with creep speed there are object in warning area based on determining.Processor can be with
Determine that there are objects in danger area, and control module can be programmed to prevent in danger area there are object based on determining
Platform is operated.Sensor can be programmed to the operating characteristic based on platform and adjust in warning area and danger area to
The depth of few one.Exemplary operation characteristic may include the direction peace that the quantity of the operator on platform, platform are just being advanced
The speed of platform.Control module can detecte the speed of platform, wherein processor is programmed to handle from sensor and court
The relevant signal of the platform speed of one of object into the region of platform.In this context, control module can be by
It is programmed for slowing down activation function with the rate of the speed of one of object relative to platform in the region of the platform.
Control module can be programmed to the degree of approach based on one of object in the region with platform and reduce ordered behaviour
Make speed.
Sensor may include the multiple sensing elements being fixed near platform.In one arrangement, platform may include
Platform railing, wherein sensor is mounted on platform railing.Sensor can be optical sensor, radar sensor harmony passes
One of sensor.Sensor can be attached to manipulation device, such as panning mechanism and/or leaning device or regard sensor
The reflecting mirror of open country displacement or rotation.
In another exemplary embodiment, a kind of aerial work platform, comprising: control panel, the control panel include
Operator control unit for manoeuvring platform；Control module, the control module communicate with operator control unit and are based on carrying out automatic control
The signal of panel processed controls the manipulation to platform；And barrier sensing system.The barrier sensing system includes: sensor,
The sensor is mounted near platform, the region around sensor monitoring operation person region, platform and platform；And processor,
The processor receives signal from sensor, the processor processing signal, to determine position of the operator on platform and flat
The degree of approach of the object in region around platform.It control module and processor communication and is programmed to based on the communication with processor
Change the control signal from operator control unit.
In another exemplary embodiment, a method of control aerial work platform, comprising: step a: utilizing installation
The region around sensor monitoring operation person region, platform and platform near platform；Step b: it is received using from sensor
The degree of approach of processor detection position of the operator on platform and the object in the region around platform of signal；And step
Rapid c: control module is changed based on the communication with processor and based on detection in stepb from operator control panel
Control signal.When operator not or when being not in suitable operating position, platform is operable to implement by preventing
Step c.Implementation steps b is to determine whether operator is just being fixed against predetermined hold-time section on the control panel, and described
Implementation steps c is operable to platform by preventing after a predetermined period of time during predetermined amount of time or described, so that flat
The last operation function of platform inverts.When detecting object in warning area by allow to operate with creep speed the platform come
Implementation steps c, and implementation steps c is operable to the platform by preventing when detecting object in danger area.
Detailed description of the invention
These and other aspect and advantage are described in detail below with reference to accompanying drawings, in the accompanying drawings,
Fig. 1 shows the lifting of the exemplary high-altitude including workbench vehicle；
Fig. 2 shows the perspective views of workbench and barrier sensing system according to the preferred embodiment of the present invention；
Fig. 3 to Figure 16 is shown by the platform of sensor monitoring and non-adaptive region and adaptive region；And
Figure 17 to Figure 21 shows the exemplary panning/leaning device and function for sensor unit.
Specific embodiment
Fig. 1 shows the exemplary typical high-altitude lifting vehicle of the vehicle chassis 2 including being supported on wheel 4.Although institute
The vehicle shown includes Telescopic suspension rod, but present invention is equally applicable to include that such as hinge type sunpender (does not have Telescopic suspension rod
Or extensible sunpender) other vehicles.Turntable and counterweight 6 are fixed for rotating on chassis 2, and extensible (deformable
Arrangement) one end of hanger rod component is pivotally attached to turntable 6.Aerial work platform 10 is attached at the another of extensible sunpender 8
One end.Shown lifting vehicle is self-propelled, therefore further includes driving/control system (with appended drawing reference 12 in Fig. 1
Schematically show) and console 14 on platform 10, the console 14 there are various control elements, operator can manipulate this
A little control elements are extended, the rotation on a vertical axis of sunpender and/or platform, Yi Jiyin with controlling such as sunpender angle, sunpender
It holds up, turn to, the function of travel speed and direction and control for brake etc..
Fig. 2 shows for detecting the combined type workbench 10 and system 20 of barrier, the barrier is such as in platform
The barrier of surrounding, including crown barrier.Sensor 22 is mounted on platform nearby and monitoring operation person region, platform and platform
At least one of peripheral region.Sensor 22 can be stereo camera sensor, which will be by picture
Prime number is supplied to the computer or processor 24 of installation on platform 10 according to the data flow of (rgb value and range) composition.It is exemplary
Stereo camera sensor is the MultiSense S21 that can be bought from Carnegie Robotics company.This field it is common
The skilled person will understand that alternative sensor is also suitable, and invention is not meant be limited to specific sensor type.
Barrier sensing system 20 may include multiple sensors 22, and multiple sensor 22 can be cooperated and install together
In each region near platform 10.In exemplary structure, platform 10 includes platform railing and is mounted on platform railing
Sensor 22.It is mounted on and makes that the static view of platform can be provided by the hinged gamut of sunpender on platform.Sensor
The bigger visual field for allowing to obtain about platform can be alternatively or additionally installed to hanging rod structure, and/or installation is extremely
Platform structure in addition to railing.For example, as shown, sensor 22 can be installed to the dedicated branch being fixed on platform
Frame 23 or sensor 22 can fixations adjacent with control panel 14.
Computer or processor 24 handle pixel coverage data, to determine operator position on platform 10 and in platform
At least one of the degree of approach of object in 10 peripheral regions.Control module 26 in control panel 14 forms driving/control
A part of system 12 processed, and communicate with processor 24 with the operation based on the signal control platform from processor 24.One
In a little arrangements, control module 26 is communicated with driving/control system 12, which controls the integrated operation of machine.
In this arrangement, control module 26 can collect the input for carrying out self-control device (such as control stick, switch etc.) and by operator
Order is transmitted to driving/control system 12.
In some embodiments, the determination of processor 24 be operator be not or operator be not in suitable operation
Position, and if operator not or be not in suitable operating position, control module 26 is programmed to prevent to platform 10
It is operated.That is, computer 24 sends out the data-message that prevents from acting or operate if not detecting operator
It is sent to control module 26, or all activated function for the platform 10 that stops working.System can also include override button 28, wherein such as
Fruit override button 28 is activated, then the platform 10 can be operated 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, which determines that operator is just being fixed against on control panel, continues pre- timing
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 light 29 can be fixed to around platform railing and control panel, and system mode is sent to operator.
The exemplary position for being used to indicate lamp 29 is shown in FIG. 2.(the example when control module 26 just influences apparatus control in any way
Such as, when sensor 22 points out that machine is too near to barrier), control module 26 can be such that indicator light 29 lights.
Fig. 3 to Fig. 8 shows showing for the degree of approach of the object for detecting the top in platform 10, rear, lower section and side
Example property sensing region.Sensor 22 is programmed to dividing into the region around platform into warning area (area A) 30 and the danger area (area B
With the area C) 32, wherein as shown, danger area 32 is than warning area 30 closer to platform 10.If the determination of processor 24 is alerting
There are objects in area, then control module 26 is programmed to allow to operate the platform 10 with creep speed.If processor 24 determines
There are objects in danger area 32, then control module 26 is programmed to prevent from operating platform 10 (that is, stopping 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
Play the movement of platform 10) any time, with creep speed the platform 10 is operated for permission to the activation of override switch 28.If
Processor 24 determines that operator has and be located at suitable operating position and in the region around platform 10 (that is, by providing
The degree of approach defined by area) there is no object, then control module 26 allows to carry out platform 10 normal unrestricted operation.Such as
Operator is not present in fruit, then prevents from operating platform (movement that the operation will cause platform), except non-used override switchs
28 carry out override.
Due to the shape of 24 real time parsing barrier of processor and at a distance from the barrier, processor 24 can be by
It is programmed for moving direction and speed of the estimation platform relative to the barrier identified.Processor 24 can be programmed to even if
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
Be clipped to operator just along potential barrier direction at full speed drive machine when, signal driving/control system 12 and slow down machine
Device function (such as drives).It as another example, then can be more if the processor determine that machine is just fast moved towards the point of impingement
Promptly slow down sunpender function (or driving function).
Referring to Fig. 5 to Fig. 8, warning area 30 and danger area 32 can be configured as adaptive area, wherein be based on ambient enviroment
Picture, the size and shape in the adjustable each area 30,32 of control module 26.Control module sensor based system/control
The device such as number in platform or the group of people and material (tool, equipment) in platform (inter alia) for identification
The ability of conjunction and calculate adaptive area.Fig. 7 and Fig. 8 shows the result of controller module calculating.In fig. 5 and fig., according to specific
Operator and adjust area 30,32.In Fig. 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.
Various methods can be used for reducing platform speed based on detected object distance.In " rate limitation "
In method, the limiting value of speed can instruct (for example, with reference to Fig. 5 about maximum based on the distance setting away from detected object
To Figure 13).In " speed reduction " method, operator's input is scaled down based on the distance away from detected barrier
(for example, with reference to Figure 14 to Figure 16).Both methods can lead to different machine behaviors.
The area can be made to adapt to the mobile speed of machine and direction.If it is determined that machine is with the speed greater 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
It upwards can " deeper ".The adjustable sensor of control module is deeper to enter platform side direction.Fig. 9 to Figure 13 shows base
Change the depth in warning area and/or danger area in platform speed and direction.More specifically, Fig. 9 shows the platform advanced to the right,
Wherein right side warning area and danger area all have increased depth.Figure 10 shows platform and is declining, 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 is shown as platform speed increases and proportional increased depth.
In related context, adaptive area may include proportional deceleration area, as shown in Figure 14 to Figure 16.Scheming
In 14, reduce the percentage of command speed according to the degree of approach of potential barrier and platform.Deceleration area is shown with discrete steps,
But alternatively, deceleration area is also possible to continuously.In Figure 15, proportional deceleration area and the area for being adapted to speed and direction
Combination.In Figure 15, platform forward direction right lateral is into and correspondingly changing the depth in the area.In Figure 16, in platform forward direction right lateral
Into detecting object in 60%th area Shi.Function speed is reduced to the 60% of command speed.
Sensor 22 and processor can be carried out by digital packets (CAN bus) or discrete signaling (number or simulation output)
Communication between 24.The digital communication of other forms can be used, to allow sensor to provide Evaluation Environment perception required letter
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 accordingly.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 device 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.It passes
Sensor can be passive sensor (stereoscopic camera, one camera) or active sensor, and (light detection and ranging (LiDAR) swashs
Light detection and ranging (LADAR), 3D visual sensor), radar or sound (ultrasound) sensor.It can be used one or more any
The sensor of suitable type, and invention is not meant be 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), reflection band (in machine
It is upper and/or be incorporated in the protection dress ornament of operator) etc. the sensor reacted.
Referring to Fig.1 7 to Figure 21, it can be by using suitable 34 (exemplary panning/leaning device of panning/leaning device
It is the Multisense S21 that can be bought from Carnegie Robotics company) the mechanical rotation of entire sensor progress (is shaken
Take the photograph/tilt) or by the way that by polygon deflector 36, single-lens reflex camera emitter 38, a pair of of reflector 40 (is used for camera and LiDAR
One or more optical frames, for one or more metal plates of radar and acoustics) grasp visual field mechanical displacement/rotation etc.
Vertical sensor 22 (camera, LiDAR, RADAR etc.).Manipulation can be controlled by processor 24, control module 26, sensor 22
Device, or in manipulation device be autonomous.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 dedicated between the barrier around the platform for avoiding moving and platform
Collision.Compared to the reaction equation system being adjusted after operator and/or platform structure has been touched in barrier, according to preferred reality
The proactive system for applying mode is advantageous.
The present invention is described although having been combined and being currently considered to most practical and preferred embodiment embodiment,
It is to be understood that the present invention is not limited to disclosed embodiments, 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 (24)
1. a kind of, for detecting the combined type workbench and system of adjacent barrier, the workbench includes control panel,
The control panel has the operating member for the position for controlling the platform, and the combined type workbench and system include:
Sensor, the sensor are mounted near the platform, sensor monitoring operation person region, the platform and institute
State at least one of the region around platform；
Processor, the processor receive signal from the sensor, and the processor handles the signal, to determine operator
At least one of position on the platform and the degree of approach of object in the region around the platform；And
Control module, the control module are communicated with the processor and the operating member, and based on the processor
Communication changes the control signal from the control panel,
Wherein, the sensor is programmed to dividing into the region around the platform into warning area and danger area, the danger
Area is than the warning area closer to the platform, and wherein, the processor determines in the warning area there are object, and institute
Control module is stated to be programmed to allow to operate the platform with creep speed there are object in the warning area based on determining,
Wherein, the sensor is programmed to the operating characteristic based on the platform and adjusts the warning area and the danger area
At least one of depth.
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 from carrying out the platform that the platform can be made
Mobile operation.
3. combined type workbench according to claim 2 and system further include the override connecting with the control module
Switch, wherein the control module is programmed to based on the activation that the override switchs and described in allowing to operate with creep speed
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 prevents from the platform
The further operation for keeping the platform mobile.
5. combined type workbench according to claim 4 and system, wherein the processor is determining the operator just
It is fixed against predetermined hold-time on the control panel, and the control module is programmed to make the last operation function of the platform
It can reversion.
6. combined type workbench according to claim 1 and system, wherein the processor determines that the operator deposits
There is no and positioned at suitable operating position and in the region around the platform object, 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 processor determines in the danger area
In there are object, and the control module is programmed to stop activation function there are object in the danger area based on determining
And prevent the further operation for carrying out to make the platform mobile to the platform.
8. combined type workbench according to claim 7 and system further include the override connecting with the control module
Switch, wherein the control module is programmed to based on the activation that the override switchs and described in allowing to operate with creep speed
Platform.
9. combined type workbench according to claim 1 and system, wherein the operating characteristic includes on the platform
Operator quantity, the speed in the direction that the platform is just being advanced and the platform.
10. combined type workbench according to claim 1 and system, wherein the control module detects the platform
Speed, and wherein, the processor be programmed to handle it is from sensor, with towards described in the region of the platform
The relevant signal of the platform speed of one of object, the control module be programmed to relative to the platform close to the platform
Region in the rate of speed of one of the object slow down activation function.
11. combined type workbench 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.
12. combined type workbench according to claim 1 and system, wherein the sensor is described including being fixed on
Multiple sensing elements near platform.
13. combined type workbench according to claim 1 and system, wherein the platform includes platform railing, and its
In, the sensor is mounted on the platform railing.
14. combined type workbench according to claim 1 and system, wherein the sensor include optical sensor,
One of radar sensor and sonic transducer.
15. combined type workbench according to claim 1 and system further include the manipulation dress for being attached with the sensor
It sets.
16. combined type workbench according to claim 15 and system, wherein the manipulation device includes panning mechanism
And/or leaning device.
17. combined type workbench according to claim 15 and system, wherein the manipulation device includes making sensor
The reflecting mirror of visual field displacement or rotation.
18. a kind of aerial work platform, comprising:
Control panel, the control panel include the operator control unit for manipulating the platform；
Control module, the control module communicate with the operator control unit and based on the signal controls from the control panel
Make the manipulation to the platform；And
Barrier sensing system, the barrier sensing system include:
Sensor, the sensor are mounted near the platform, sensor monitoring operation person region, the platform and institute
State the region around platform；And
Processor, the processor receive signal from the sensor, and the processor handles the signal, to determine operator
The degree of approach of position on the platform and the object in the region around the platform,
Wherein, the control module and the processor communication and changed based on the communication with the processor from the behaviour
The control signal of work person's controller,
Wherein, the sensor is programmed to dividing into the region around the platform into warning area and danger area, the danger
Area is than the warning area closer to the platform, and the control module is programmed to: when detecting object in the warning area
Allow to operate the platform with creep speed when body,
Wherein, the sensor is programmed to the operating characteristic based on the platform and adjusts the warning area and the danger area
At least one of depth.
19. aerial work platform according to claim 18, wherein the control module is programmed to: when the operation
Member not or be not in suitable operating position and prevented when detecting object in the danger area to the platform carry out
Operation, and wherein, the control module is programmed to: when do not detected in the warning area or the danger area object and
When the operator exists and is located at suitable operating position, allow to carry out normal operating to the platform.
20. aerial work platform according to claim 18, wherein the sensor includes being fixed near the platform
Multiple sensing elements.
21. a kind of method for controlling aerial work platform, which comprises
A: the area around sensor monitoring operation person region, the platform and the platform being mounted near the platform is utilized
Domain；
B: using the processor detection operator position on the platform for receiving signal from the sensor and described flat
The degree of approach of the object in region around platform；And
C: control module is changed based on the communication with the processor and based on detection in stepb to be controlled from operator
The control signal of panel processed,
Wherein, the region around the platform includes warning area and danger area, and the danger area is more leaned on than the warning area
The nearly platform, and wherein, when detecting object in the warning area by allowing to operate the platform with creep speed
Carry out implementation steps c,
Wherein, operating characteristic of the sensor based on the platform and adjust in the warning area and the danger area at least
The depth of one.
22. according to the method for claim 21, 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.
23. according to the method for claim 22, wherein whether implementation steps b is just being fixed against institute with the determination operator
State predetermined hold-time section on control panel, and wherein, during the predetermined amount of time or it is described after a predetermined period of time,
By preventing from being operable to implementation steps c to the platform, invert the last operation function of the platform.
24. according to the method for claim 22, wherein when detecting object in the danger area by preventing to institute
It states platform and is operable to implementation steps c.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US14/950,845 | 2015-11-24 | ||
| US14/950,845 US10358331B2 (en) | 2010-12-20 | 2015-11-24 | Work platform with protection against sustained involuntary operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106744549A CN106744549A (en) | 2017-05-31 |
| CN106744549B true CN106744549B (en) | 2019-04-23 |
Family
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) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITUA20163670A1 (en) * | 2016-05-23 | 2017-11-23 | Iveco Magirus | CONTROL CENTER FOR AN AERIAL DEVICE INCLUDING CONTROL LEVER |
| AU2018236866A1 (en) * | 2017-10-02 | 2019-04-18 | SpaceCo Business Solutions, Inc. | System for reducing injury from pinch zones in adjustable height work surface assemblies |
| WO2020061322A1 (en) * | 2018-09-20 | 2020-03-26 | Oshkosh Corporation | Systems and methods for restricting operation of a lift device |
| US10899538B2 (en) | 2018-10-02 | 2021-01-26 | Oshkosh Corporation | Grabber for a refuse vehicle |
| DE102019117455B3 (en) | 2019-06-28 | 2020-08-06 | Bär Management- und Beteiligungsgesellschaft mbH | Device and method for monitoring a tail lift for a vehicle |
| ES2802418A1 (en) * | 2019-07-08 | 2021-01-19 | Haro Jose Antonio Garcia | Safety device for work at height (Machine-translation by Google Translate, not legally binding) |
| JP7406071B2 (en) | 2019-09-27 | 2023-12-27 | シンフォニアテクノロジー株式会社 | aircraft ground support vehicle |
| DE102019219619B4 (en) * | 2019-12-13 | 2023-02-09 | Moba Mobile Automation Ag | DISTANCE MEASUREMENT SYSTEM FOR A VEHICLE |
| US11919756B2 (en) | 2020-02-04 | 2024-03-05 | Xtreme Manufacturing, Llc | Aerial work vehicle boom auxiliary control panel |
| US20220232649A1 (en) | 2021-01-15 | 2022-07-21 | Oshkosh Corporation | Local fleet connectivity system hub |
| CN114212745A (en) * | 2022-01-17 | 2022-03-22 | 徐工消防安全装备有限公司 | Aerial work platform, control method and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0749360B2 (en) * | 1991-10-31 | 1995-05-31 | 株式会社ジャパニック | Safety mechanism for aerial work vehicles |
| CN201272676Y (en) * | 2008-08-13 | 2009-07-15 | 徐州重型机械有限公司 | Engineering machinery working aloft and its working table monitoring system |
| GB201121586D0 (en) * | 2011-12-15 | 2012-01-25 | Richards Paul | A safety device for an aerial lift, a method of operation thereof, an aerial lift having the safety device, a kit of parts and a method of installation thereo |
| JP2013010589A (en) * | 2011-06-28 | 2013-01-17 | Tadano Ltd | Vehicle for high lift work |
| JP2013052948A (en) * | 2011-09-02 | 2013-03-21 | West Nippon Expressway Co Ltd | Safety device for vehicle for high lift work |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2520284B2 (en) * | 1988-05-11 | 1996-07-31 | 株式会社イーステック | Crane collision prevention method |
| JPH04116282U (en) * | 1991-03-29 | 1992-10-16 | いすゞ自動車株式会社 | Emergency stop device for track running vehicles |
| US5740887A (en) * | 1996-01-18 | 1998-04-21 | Jlg Industries, Inc. | Drive system for vertical mast personnel lift |
| FR2836468B1 (en) * | 2002-02-28 | 2004-10-01 | Pinguely Haulotte | ELEVATOR LIFT WITH IMPROVED SECURITY |
| JP4744838B2 (en) * | 2004-03-10 | 2011-08-10 | 新明和工業株式会社 | Operating range control device for operating device in container handling vehicle |
| JP2011063352A (en) * | 2009-09-16 | 2011-03-31 | Chugoku Electric Power Co Inc:The | High lift work bucket with other object approach monitoring function |
| ES2660253T3 (en) * | 2010-12-20 | 2018-03-21 | Jlg Industries Inc. | Work platform with protection against sustained involuntary operation |
| CN202030492U (en) * | 2011-03-14 | 2011-11-09 | 湖南星邦重工有限公司 | Anticollision detection for operation platform of high-altitude work vehicle |
| JP5897270B2 (en) * | 2011-06-28 | 2016-03-30 | 株式会社タダノ | Aerial work platform |
| US10138102B2 (en) * | 2013-07-23 | 2018-11-27 | Viki V. Walbridge | Warning and message delivery and logging system utilizable in a fall arresting and prevention device and method of same |
-
2016
- 2016-10-21 CA CA2946013A patent/CA2946013C/en active Active
- 2016-11-10 AU AU2016256781A patent/AU2016256781B2/en active Active
- 2016-11-11 EP EP20176631.8A patent/EP3725733A1/en active Pending
- 2016-11-11 EP EP16198347.3A patent/EP3173369B1/en active Active
- 2016-11-11 ES ES16198347T patent/ES2802462T3/en active Active
- 2016-11-17 JP JP2016224158A patent/JP6411434B2/en active Active
- 2016-11-23 CN CN201611035314.0A patent/CN106744549B/en active Active
-
2018
- 2018-09-26 JP JP2018179788A patent/JP7014692B2/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0749360B2 (en) * | 1991-10-31 | 1995-05-31 | 株式会社ジャパニック | Safety mechanism for aerial work vehicles |
| CN201272676Y (en) * | 2008-08-13 | 2009-07-15 | 徐州重型机械有限公司 | Engineering machinery working aloft and its working table monitoring system |
| JP2013010589A (en) * | 2011-06-28 | 2013-01-17 | Tadano Ltd | Vehicle for high lift work |
| JP2013052948A (en) * | 2011-09-02 | 2013-03-21 | West Nippon Expressway Co Ltd | Safety device for vehicle for high lift work |
| GB201121586D0 (en) * | 2011-12-15 | 2012-01-25 | Richards Paul | A safety device for an aerial lift, a method of operation thereof, an aerial lift having the safety device, a kit of parts and a method of installation thereo |
Also Published As
| Publication number | Publication date |
|---|---|
| JP7014692B2 (en) | 2022-02-01 |
| EP3725733A1 (en) | 2020-10-21 |
| JP2019034857A (en) | 2019-03-07 |
| AU2016256781B2 (en) | 2018-07-19 |
| JP6411434B2 (en) | 2018-10-24 |
| CA2946013C (en) | 2019-10-01 |
| JP2017095093A (en) | 2017-06-01 |
| CN106744549A (en) | 2017-05-31 |
| CA2946013A1 (en) | 2017-05-24 |
| EP3173369A1 (en) | 2017-05-31 |
| AU2016256781A1 (en) | 2017-06-08 |
| ES2802462T3 (en) | 2021-01-19 |
| EP3173369B1 (en) | 2020-05-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106744549B (en) | Prevent the workbench of persistently involuntary operation | |
| US10358331B2 (en) | Work platform with protection against sustained involuntary operation | |
| JP6638831B2 (en) | Construction machinery | |
| JP6776058B2 (en) | Autonomous driving vehicle control device, autonomous driving vehicle control system and autonomous driving vehicle control method | |
| US9336660B2 (en) | Overhead hazard warning systems | |
| CN105531996B (en) | The obstacle detector of Work machine | |
| JP2018115078A (en) | Optical detection system for lift crane | |
| JP6389087B2 (en) | Boom collision avoidance device for work equipment | |
| CN108627844A (en) | Obstacle detector, mobile devices, obstacle detection system and method | |
| JP6342705B2 (en) | Boom collision avoidance device for work equipment | |
| WO2020170687A1 (en) | Safety device and construction machine | |
| KR101695723B1 (en) | High place work device for prevention accident, and method for operation thereof | |
| CN108713217B (en) | Interference removing device | |
| US20090114612A1 (en) | Universal collision avoidance override control system for overhead bridge cranes | |
| JP2017224136A (en) | Mobile body and obstacle detector for mobile body | |
| JP3682191B2 (en) | Safety equipment for aerial work platforms | |
| KR102420506B1 (en) | Intelligent Vision Sensor For Crane Collision Prevention | |
| JP3744798B2 (en) | Backhoe | |
| JP2024035297A (en) | working machine | |
| JP2023531581A (en) | Fork arm sensor to detect cross traffic | |
| KR20230153549A (en) | Smart automatic braking device for construction epuipment and method thereof | |
| JP2004155520A (en) | Safety device for high altitude working vehicle | |
| CN113026602A (en) | Intelligent road cone device, system and method based on maintenance operation | |
| JP2009050938A (en) | Suspending structure for leg wheel type robot | |
| JP2019189405A (en) | Safety device for high lift work vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |