CN109019454A - A kind of intelligence aerial ladder system - Google Patents
A kind of intelligence aerial ladder system Download PDFInfo
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- CN109019454A CN109019454A CN201810888825.XA CN201810888825A CN109019454A CN 109019454 A CN109019454 A CN 109019454A CN 201810888825 A CN201810888825 A CN 201810888825A CN 109019454 A CN109019454 A CN 109019454A
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Classifications
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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
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a kind of intelligent aerial ladder systems, including aerial work platform, ground surface end and master control set, it further include the transmitting ranging signals module and ranging signal reception module being connect with master control set, transmitting ranging signals module and ranging signal reception module are respectively arranged on aerial work platform and ground surface end, transmitting ranging signals module includes three not in collinear emission part, ranging signal reception module includes three not in collinear receiving unit, and the corresponding receiving unit of emission part, to form a ranging information, master control set controls aerial work platform movement by least three ranging informations.The present invention is compared with the system that tradition is controlled by gyroscope, precision is higher, stationarity is more preferable, the control of flight driving unit is more simply easy, coordinated levelling effect is more preferable between each flight driving unit, conducive to the setting of operation area on aerial work platform and the performance of effect, structure is simple, securely and reliably, easy to operate, it is low in cost.
Description
Technical field
The present invention relates to aerial ladder fields, and in particular to a kind of intelligence aerial ladder system.
Background technique
Aerial ladder, modern times refer to the one kind for climbing up by holding on to ascending tool, the purposes such as mainly do fire-fighting and speedily carry out rescue work.
Current aerial ladder, it is a kind of for common fire-fighting mechanical telescopic, fireman can stand carried out in lifting platform it is related
Operation, lift height is highest up to more than 100 meters, correspondingly, the mechanical structure also the complicated stupid with the increase of lift height
Again, it is difficult to adapt to heavy traffic situation flexiblely when responding, it is longer the time required to reaching the destination；To field when deployment expansion
The requirement on ground is also higher, and the ground the horizontal solid, grabs ground stationarity and security performance is also higher.The height of super high-rise building in the world
Degree is constantly refreshed, and current highest building Burj Dubai is up to 828 meters, it is clear that is lifted only more than 100 meters of aerial ladder and has been difficult to meet
The demand of super-high buildings.
There are also one kind to disclose one kind and speedily carry out rescue work for flight formula aerial ladder such as the patent document of Publication No. CN108238251A
Disaster relief flight carrier passes through the setting of flying unit, flight control assemblies and multi-functional storehouse, realizes taking for aerial work platform
It builds, can satisfy the demand of super-high buildings to a certain extent, level control multi-pass is crossed gyroscope and realized, gyroscope is angle
Control, stability and accuracy be not also high.
The aerial work platform of flight formula aerial ladder is in flight course, the not only effect by various physical effects, also very
It is easy the interference by external environments such as air-flows, is difficult to obtain its accurate performance parameter.By taking four axis unmanned vehicles as an example,
Being one has six-freedom degree, and only there are four the under-actuated systems of control input, have multivariable, non-linear, close coupling
The sensitive characteristic with interference, so that the design of flight control system becomes extremely difficult, carrying out attitude detection using gyroscope is needed
The elimination of cumulative errors is carried out, how establishing error model and correcting accumulated error by integrated navigation is an engineering difficulty
Topic.
PID be ratio, integral, differential English word initial abbreviation.Ratio (P) control is a kind of most simple
Control mode, the output of controller relationship proportional to input error signal, when only proportional control system output deposit
At steady-state error (Steady-state error)；Integrate (I) control, the output of controller and being integrated into for input error signal
Proportional relation, to an automatic control system, if claiming this control system is to have there are steady-state error after entering stable state
Steady-state error or referred to as have poor system (System with Steady-state Error)；In order to eliminate steady-state error,
It must be introduced into controller " integral term ", integral term depends on the integral of time, as time increases, integral term meeting to error
Increase, even if it pushes the output of controller to increase in this way, error very little, integral term can also increase as time increases
Further decrease steady-state error, until being equal to zero.
Summary of the invention
If inventor by flight formula aerial ladder the study found that when operation aerial work platform because itself and/or its with
It is connected between ground and causes frequent gravity center shift, gyroscope can be made to be constantly in dynamic change environment, make each flying unit
Output is in frequent stress state, is difficult to cooperate with leveling, the horizontal control effect of aerial work platform between each flying unit
Fruit is also further had a greatly reduced quality, and this restrict the setting in aerial work area and the performances of effect, and there is also the equal safety out of control that transfinites
Hidden danger, it is therefore, above-mentioned in order to overcome the shortcomings of, inventors herein propose a kind of intelligent aerial ladder system, can or at least certain
The horizontal control performance of aerial work platform is improved in degree.The invention is realized by the following technical scheme: a kind of intelligence aerial ladder
System, including aerial work platform, ground surface end and master control set further include the equal distance measuring signal hair connecting with the master control set
Module and ranging signal reception module are penetrated, the transmitting ranging signals module and the ranging signal reception module are respectively arranged on institute
State aerial work platform and the ground surface end, the transmitting ranging signals module includes three not in collinear emission part,
The ranging signal reception module includes three not in collinear receiving unit, and an emission part corresponds to a reception
Portion, to form a ranging information, the master control set controls the aerial work platform fortune by least three ranging informations
It is dynamic.
Preferably, the emission part or the receiving unit are located at the ground surface end, and are located at same level.
Preferably, the receiving plane of the receiving unit towards the emission part the surface of emission, at the receiving plane of the receiving unit
Equipped with induction receiving element, multiple induction receiving element arrangements are in planar.
Preferably, the transmitting ranging signals module further includes the adjustment seat connecting with the master control set, the transmitting
Portion is set in the adjustment seat, and the adjustment seat is used to adjust the direction of the emission part.
Preferably, the master control set controls the aerial work platform translation or flat turn by the adjustment seat.
Preferably, the distance measuring signal that the transmitting ranging signals module is launched includes optical signal, and the distance measuring signal connects
The received optical signal of module is received to handle through filter plate and/or filtering algorithm.
Preferably, the spot diameter that the optical signal is formed is 10mm or more, at the emission part and/or the receiving unit
The pillar for being 100mm or more equipped with diameter.
Preferably, parachute is additionally provided on the aerial work platform, the parachute passes through to be triggered manually, or is passed through
Acceleration transducer and/or inclination sensor on the aerial work platform are triggered and are opened.
Preferably, operation post is equipped at the top surface of the aerial work platform, the operation post is all around equipped with guardrail
And wind isolation board.
It preferably, further include motor vehicle, the automobile-use is in the delivery aerial work platform and/or as describedly
Face end.
The present invention is compared with the system that tradition is controlled by gyroscope, and precision is higher, and stationary performance is more preferable, drives to flight
The control of unit more simply be easy, between each flight driving unit can coordinated and levelling effect it is more preferable, be conducive to aerial work
The performance of the larger range of setting in operation area and effect on platform, structure is simple, securely and reliably, easy to operate, low in cost.
Detailed description of the invention
Invention is further described in detail in the following with reference to the drawings and specific embodiments.
Fig. 1 is the forward sight structural schematic diagram of the embodiment of the present invention；
Fig. 2 is the schematic perspective view of the embodiment of the present invention；
Fig. 3 is the control system schematic diagram of the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of transmitting ranging signals of embodiment of the present invention module；
Fig. 5 is the structural schematic diagram of the receiving plane of receiving unit of the embodiment of the present invention；
Fig. 6 is the horizontal movement overhead schematic illustration of aerial work platform of the embodiment of the present invention.
Corresponding as follows, the first ranging signal reception module 11 of each label in Fig. 1 to 2, the second ranging signal reception module 12,
Operation post 13, guardrail 14, aerial ladder frame 15, flight driving unit 16, soft pipeline 2, the first transmitting ranging signals module 31, second surveys
Away from signal emission module 32, third transmitting ranging signals module 33, vehicular platform 34, emission part 301, adjustment seat 302, pillar
303。
Specific embodiment
The present invention is further described With reference to embodiment:
As an example, the intelligent aerial ladder system of the present embodiment, as shown in Figs. 1-2, including it is aerial work platform, vehicle-mounted
Platform 34 and master control set.
As shown in Figs. 1-2, aerial work platform includes 16,12 flight driving units of aerial ladder frame 15 and flight driving unit
16 are equably set on aerial ladder frame 15 by two rows, six column mode, and the outline border of aerial ladder frame 15 is in rectangular shape, and outline border is equipped at bottom surface
Ranging signal reception module, a ranging signal reception module include a receiving unit, and 6 ranging signal reception modules are arranged in two rows three
Mode is arranged and is located at the quadrangle and middle part of outline border.Since the aerial work platform of the present embodiment runs more steady, institute
It can be set at the top surface of aerial ladder frame 15 with operation post 13, and between rotor, the range of setting is bigger, it is more conducively aerial to make
The performance of industry platform action；The surrounding of operation post 13 is preferably provided with guardrail 14 and wind isolation board, to promote safety and comfort, takes
Manned member can be linked together by safety belt and guardrail, be moved on operation post 13 by the hook of mobile security band, every wind
The setting of plate can cut down influence of the wind-force of rotor generation to aerial work, while can be further assured that operation safety.Join together
Examine Fig. 3, several parachutes be preferably also provided on aerial work platform, when meeting in the event of failure, parachute can by triggering manually, or
Person is opened by acceleration transducer and/or the inclination sensor triggering being set on aerial work platform, specifically, can be used and be added
Velocity sensor judges the weightlessness or swift and violent flight of aerial work platform, it is also possible to which inclination sensor judges aerial work platform mistake
Degree inclination, triggering release a parachute mechanism parachute-opening, and parachute turns on, and allow aerial work platform stable landing.Flown based on four axis
The control problem of row device, aerial work platform preferably include six or more rotors when implementing.
As shown in Figs. 1-2, vehicular platform 34 is set on fire fighting truck as ground surface end, and vehicular platform 34 is equipped with distance measuring signal
Transmitting module, a transmitting ranging signals module include a receiving unit, and 6 transmitting ranging signals modules are arranged in two rows, three column mode
And be fixedly correspondingly arranged one by one with ranging signal reception module respectively, for example, the first transmitting ranging signals module 31 and first
Ranging signal reception module 11 is corresponding and cooperates, the second transmitting ranging signals module 32 and the second ranging signal reception module
12 correspond to and cooperate, and third transmitting ranging signals module 33 is corresponding with third ranging signal reception module and cooperates,
First, second, third transmitting ranging signals module 31,32,33 not in same straight line to be used to form ground reference face, the ground
The plane of reference can be flushed and the adjustment to vehicular platform 34 or transmitting ranging signals module position with horizontal plane.Correspondingly,
One, the second ranging signal reception module 11,12 and third ranging signal reception module are used for not in same straight line with being used to form
Level aerial work platform referenced by aerial adjustment face, before aerial work platform takes off, preferably first to the ground plane of reference into
Row leveling is to play the role of surface water platform, it is of course also possible to be played by algorithm the same or similar.Other one
In a little embodiments, fire fighting truck can also be transformed to other kinds of motor vehicle, using for deliver aerial work platform and/or as
Ground surface end, it should be noted that when the present embodiment does not include motor vehicle, can also implement, fix position for 3 or more at this time
Transmitting ranging signals module can be set to ground or roof.
It should be understood that in other embodiments, transmitting ranging signals module can also be flat set on aerial work
Platform, ranging signal reception module can also correspondingly be set to ground surface end, as a preferred implementation manner, the emission part of ground surface end
And/or receiving unit is located at same level.
As shown in Figs. 1-2, aerial work platform is connect by soft pipeline 2 with vehicular platform 34, and the flight of the present embodiment is driven
Moving cell 16 is to be driven by electricity, therefore soft pipeline 2 preferably includes power supply line, and power supply line can take electricity from ground surface end, is aerial work
The operation of platform provides primary or stand-by electric energy, and power supply line and power supply unit preferred disposition multiple (redundancy backups) are to ensure to pacify
Entirely；If flight driving unit 16 is fuel oil or gas driven, fuel container is preferably installed on aerial ladder frame 15.Soft pipeline 2 is excellent
Choosing includes fire extinguishing material delivery tubes, such as send water hose, and fire extinguishing material delivery tubes are delivered to sky from ground surface end for that will put out a fire material
Middle job platform uses for fire extinguishing.
As shown in figure 3, each transmitting ranging signals module and each ranging signal reception module are connect with central processing unit, one
The fixed corresponding ranging signal reception module of transmitting ranging signals module, launch time and receiving time are by central processing unit reality
When measurement be used as a ranging information, central processing unit be based on the ranging information calculate transmitting-receiving the used time so that can get a distance measuring signal
Linear distance between transmitting module and a ranging signal reception module, central processing unit can be based on minimum three ranging informations to sky
Middle job platform is leveled.Master control set includes central processing unit, and central processing unit is preferably disposed to aerial work platform, master control
Device further includes monitoring center, and monitoring center is preferably disposed to ground surface end, and can be with central processing unit two-way communication, so that in monitoring
The heart can real-time monitoring intelligent aerial ladder system operating status, carry out crisis processing, manipulate aerial work platform according to actual needs.
Height input terminal is connect with central processing unit, and is preferably disposed to aerial work platform, so that carrying personnel are controlled as needed in real time
The lifting of aerial work platform processed.The driving motor of each flight driving unit passes through electron speed regulator and central processing unit connects
It connects, central processing unit respectively can control the output of each flight driving unit by electron speed regulator.
As shown in figure 4, a transmitting ranging signals module includes an emission part 301 and an adjustment seat 302, emission part 301 is pacified
In movement portion loaded on 302 upper end of adjustment seat, the fixed part of adjustment seat 302 is installed on vehicular platform 34, refers to Fig. 3 institute together
Show, adjustment seat 302 (being equivalent to angle controller) is connect with central processing unit, and central processing unit can be by adjustment seat 302
Control, realizes the control for emitting emission part 301 direction, the movement portion of adjustment seat 302 preferably can flat turn within 360 °, 180 ° with
Interior overturning.Correspondingly, the angle input terminal for controlling to adjust seat 302 is connect with central processing unit, and it is flat to be preferably disposed to aerial work
Platform can also be set to monitoring center end, for manipulation instruction is manually entered.
The present embodiment transmitting and received distance measuring signal include optical signal, as shown in figure 5, several induction receiving elements are in point
Battle array arrangement shape is set at the receiving unit of ranging signal reception module, and the receiving plane formed is in planar, and forms location coordinate,
XY axis point of intersection is origin (or being axle center), the surface of emission of the receiving plane of receiving unit towards emission part, the light letter of transmitting in figure
Number projection on the receiving surface when can form hot spot, receiving plane can position hot spot, specifically, as a kind of positioning method,
Ranging signal reception module includes surveying axle center module, surveys the XY value offset that axle center module is used to measure hot spot relative to axle center, positioning
Precision, so that central processing unit is according to the co-ordinate position information of location spot, carries out aerial work platform up within 1 centimetre
Adjustment.
The setting of adjustment seat 302 can make aerial work platform do translation and/or flat turn campaign, specifically, refer to Fig. 6 together
Shown, the emission part of transmitting ranging signals module determines that A ' B ' C ' D ' is flat at D ' at 1 points in A ', B ', C ',
Face, correspondingly, the receiving unit of ranging signal reception module are set in A, B, C, D point at corresponding 1 point with determination
ABCD plane, the surface of emission of emission part towards receiving unit receiving plane, when lifting, central processing unit by control AA ', BB ',
CC ' is equal at least three spacing in DD ' spacing, that is, can ensure that the steady lifting of aerial work platform, and specific manipulation is chosen as
Automatic mode or artificial mode can keep position in A, B, C, D point constant, so as a kind of artificial leveling mode
Adjust the lifting of other points one by one by one-dimensional pid algorithm afterwards, the personnel that leveling instruction can be carried by aerial work platform send out
Out, it can also be issued by monitoring center end, central processing unit is big by the lift that pid algorithm adjusts the output of flight driving unit
It is small, make two planes to parastate, horizontal accuracy is can be controlled within 5 centimetres；When translation, central processing unit passes through unified same
Step controls to adjust seat 302, and make the transmitting of emission part 301 synchronizes identical variation towards angle, and the process of variation is to form
Hot spot be advisable without departing from receiving plane, central processing unit changes according to the co-ordinate position information of hot spot, and correspondingly adjustment is aerial makees
The position of industry platform, and then can realize and smoothly translate, with reference to above-mentioned principle, also can by the control to each adjustment seat 302
Realize the flat turn of aerial work platform.
It is deposited when abnormal when receiving and dispatching distance measuring signal, such as optical signal is blocked by foreign object (such as flying bird, tree), in order to ensure peace
Entirely, preferably aerial work platform can automatically keep floating state, and the monitoring personnel intervention of the personnel or ground surface end that wait carrying are simultaneously
Manipulation.When the distance measuring signal of transmitting-receiving includes optical signal, preferably central processing unit is based on the ranging letter greater than 3 (redundancy backup)
Breath leveling aerial work platform, reliability when operation is leveled to improve；The interference of other light waves such as sunlight in order to prevent,
The received optical signal of ranging signal reception module is preferably through filter plate and/or filtering algorithm processing to filter out, to improve reference
The quality of optical signal；Insect, smog, ash, water droplet etc. block interference in order to prevent, and the spot diameter that optical signal is formed is preferably
10mm or more；Other angles sunlight or other high frequency radios interfere in order to prevent, preferably set at emission part and/or receiving unit
Having diameter is the pillar of 100mm or more, when it is implemented, by taking emission part as an example, as shown in figure 4, pillar 303 is in cylindrical tube shape,
It is set in outside emission part 301 and adjustment seat 302, and be fixedly arranged on vehicular platform 34 in bottom end, at emission part and receiving unit
When being respectively provided with pillar, the pillar in preferred emission portion can be mutually nested with the pillar of receiving unit, and emission part when nesting together
It is not contacted between receiving unit, in this way, fixation of the aerial work platform on vehicular platform 34 can be facilitated, and is conducive to take off and drop
It falls.The setting of pillar can also transmitting to optical signal and receiving angle be defined, be further conducive to filtering interference signals.
It should be noted that by least three ranging informations to cannot be only used for leveling the aerial work flat for master control set
Platform, but also can need according to the actual situation for controlling aerial work platform in the arbitrary motion track of three-dimensional space.
Aerial work platform lifting capacity of the invention up to a few tons of goods and materials, as rescue rope, life jacket, extinguishing device,
Mapping, communication, command system etc., when being applied to fire extinguishing, aerial work platform can steadily be moved to high building ignition point and be rescued
Extinguishing operation, structure is simple, securely and reliably, easy to operate, low in cost.It can make in the occasion of any required high altitude operation
With such as high-altitude power line, mobile base station, high building, chimney, water tower on high tower, weather station processing, (such as border is supervised for high-altitude monitoring
Control, forest fire prevention and control, harbour, environment, traffic, pasture).
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Illustrative description is carried out to the invention patent above, it is clear that the realization of the invention patent is not by aforesaid way
Limitation, as long as use the invention patent method concept and technical solution carry out various improvement, or it is not improved will this
The conception and technical scheme of patent of invention directly apply to other occasions, are within the scope of the invention.
Claims (10)
1. a kind of intelligence aerial ladder system, including aerial work platform, ground surface end and master control set, which is characterized in that further include equal
The transmitting ranging signals module and ranging signal reception module being connect with the master control set, the transmitting ranging signals module and
The ranging signal reception module is respectively arranged on the aerial work platform and the ground surface end, the transmitting ranging signals module
Including three not in collinear emission part, the ranging signal reception module includes three not in collinear reception
Portion, and the corresponding receiving unit of an emission part, to form a ranging information, the master control set passes through at least described in three
Ranging information controls the aerial work platform movement.
2. a kind of intelligent aerial ladder system according to claim 1, which is characterized in that the emission part or the reception position
In the ground surface end, and it is located at same level.
3. a kind of intelligent aerial ladder system according to claim 1, which is characterized in that the receiving plane of the receiving unit is towards institute
The surface of emission of emission part is stated, induction receiving element, multiple induction receiving element rows are equipped at the receiving plane of the receiving unit
Column are in planar.
4. a kind of intelligent aerial ladder system according to claim 3, which is characterized in that the transmitting ranging signals module is also wrapped
The adjustment seat connecting with the master control set is included, the emission part is set in the adjustment seat, and the adjustment seat is for adjusting institute
State the direction of emission part.
5. a kind of intelligent aerial ladder system according to claim 4, which is characterized in that the master control set passes through the adjusting
Seat controls the aerial work platform translation or flat turn.
6. a kind of intelligent aerial ladder system according to claim 1, which is characterized in that the transmitting ranging signals module transmitting
Distance measuring signal out includes optical signal, and the received optical signal of ranging signal reception module is through filter plate and/or filtering algorithm
Processing.
7. a kind of intelligent aerial ladder system according to claim 6, which is characterized in that the spot diameter that the optical signal is formed
The pillar that diameter is 100mm or more is equipped with for 10mm or more, at the emission part and/or the receiving unit.
8. a kind of intelligent aerial ladder system according to claim 1, which is characterized in that be additionally provided on the aerial work platform
Parachute, the parachute by triggering manually, or the acceleration transducer by being set on the aerial work platform and/
Or inclination sensor is triggered and is opened.
9. a kind of intelligent aerial ladder system according to claim 1, which is characterized in that at the top surface of the aerial work platform
Equipped with operation post, the operation post is all around equipped with guardrail and wind isolation board.
10. a kind of intelligent aerial ladder system according to claim 1, which is characterized in that it further include motor vehicle, the motor vehicle
For delivering the aerial work platform and/or as the ground surface end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810888825.XA CN109019454B (en) | 2018-08-07 | 2018-08-07 | Intelligent aerial ladder system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810888825.XA CN109019454B (en) | 2018-08-07 | 2018-08-07 | Intelligent aerial ladder system |
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| CN109019454A true CN109019454A (en) | 2018-12-18 |
| CN109019454B CN109019454B (en) | 2020-06-30 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111524325A (en) * | 2020-03-30 | 2020-08-11 | 天津光电通信技术有限公司 | Multifunctional moving vehicle for scaling ladder |
| CN113800436A (en) * | 2021-09-16 | 2021-12-17 | 中集物联科技有限公司 | Elevating platform and inclination detection method thereof |
| CN115218723A (en) * | 2022-06-28 | 2022-10-21 | 安徽阿拉丁航空航天有限公司 | High-energy directional beam weapon system with continuous power supply |
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| CN113800436A (en) * | 2021-09-16 | 2021-12-17 | 中集物联科技有限公司 | Elevating platform and inclination detection method thereof |
| CN115218723A (en) * | 2022-06-28 | 2022-10-21 | 安徽阿拉丁航空航天有限公司 | High-energy directional beam weapon system with continuous power supply |
| CN115218723B (en) * | 2022-06-28 | 2024-07-23 | 安徽阿拉丁航空航天有限公司 | High-energy directional beam weapon system with continuous electric energy supply |
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| CN109019454B (en) | 2020-06-30 |
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