CN111170238B - Control system and control method for aerial work platform and aerial work platform - Google Patents
Control system and control method for aerial work platform and aerial work platform Download PDFInfo
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- CN111170238B CN111170238B CN201911416410.3A CN201911416410A CN111170238B CN 111170238 B CN111170238 B CN 111170238B CN 201911416410 A CN201911416410 A CN 201911416410A CN 111170238 B CN111170238 B CN 111170238B
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- 230000008569 process Effects 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 2
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- 238000009434 installation Methods 0.000 description 2
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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
- B66F13/00—Common constructional features or accessories
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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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Abstract
The invention relates to the technical field of engineering machinery, and discloses a control system and method for an aerial work platform and the aerial work platform. The control system includes: the distance detection device is used for detecting a first average distance from a first position of the operation platform to a corresponding first sub-area on the surface to be operated, a second average distance from a second position of the operation platform to a corresponding second sub-area on the surface to be operated and a third average distance from a third position of the operation platform to a corresponding third sub-area on the surface to be operated; and the control device is used for controlling the execution structure to perform corresponding operation according to the first average distance, the second average distance, the third average distance and a preset distance range, so that the distance between the aerial work platform and the tangent plane of the work surface to be worked is always kept within the preset distance range in the running process. The invention can control the operation of the operation platform and any wall surface to keep a fixed distance and has high safety.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a control system and a control method for an aerial work platform and the aerial work platform.
Background
When the arm type aerial work platform performs wall surface operation, workers need to constantly adjust the amplitude and the length of the arm support, the angle of the platform and the angle of the rotary table, the operation is complicated, and particularly, collision safety accidents are more prone to occurring during irregular wall surface operation.
Disclosure of Invention
The invention aims to provide a control system and a control method for an aerial work platform and the aerial work platform, which can control the work platform to keep a fixed distance from any wall surface to run and have high safety.
In order to achieve the above object, the present invention provides a control system for an aerial work platform, the control system comprising: the distance detection device is used for detecting a first average distance from a first position of the aerial work platform to a first subregion corresponding to the first position on a surface to be worked, a second average distance from a second position of the aerial work platform to a second subregion corresponding to the second position on the surface to be worked and a third average distance from a third position of the aerial work platform to a third subregion corresponding to the third position on the surface to be worked, wherein the second position is located between the first position and the third position; and the control device is used for controlling the execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the second average distance, the third average distance and a preset distance range, so that the distance between the aerial work platform and the tangent plane of the surface to be worked is always kept within the preset distance range in the running process.
Preferably, the control device includes: the judging module is used for judging the size relationship between the second average distance and the maximum value and the minimum value of the preset distance range; and the control module is used for executing the following operations according to the judgment result: under the condition that the second average distance is larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the third average distance and the preset distance range, so that the aerial work platform is continuously close to the surface to be worked, or the distance between the aerial work platform and a tangent plane of the surface to be worked is always kept within the preset distance range in the running process; or under the condition that the second average distance is within the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the third average distance and the preset distance range, so that the distance between the aerial work platform and the tangent plane of the surface to be worked is always kept within the preset distance range in the running process, or controlling the aerial work platform to stop running.
Preferably, the first position and the third position are symmetrical about the second position, and the control module comprises: the first judging unit is used for judging the magnitude relation between the first average distance and the third average distance and the maximum value of the preset distance range; and a first control unit, configured to, when the second average distance is greater than or equal to a maximum value of the preset distance range, perform the following operations according to a determination result: under the condition that the first average distance and the third average distance are larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the aerial work platform to continuously approach the surface to be worked; or under the condition that the first average distance or the third average distance is smaller than the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the first average distance and the third average distance to be equal to any value in the preset distance range.
Preferably, the first position and the third position are symmetrical about the second position, and the control module comprises: a second determining unit, configured to determine a magnitude relationship between the first average distance and the third average distance and a maximum value and a minimum value of the preset distance range; and the second control unit is used for executing the following operations according to a judgment result under the condition that the second average distance is within the preset distance range: when the first average distance or the third average distance is larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the first average distance to be equal to the third average distance; or under the condition that the first average distance and the third average distance are within the preset distance range, controlling the aerial work platform to stop running so as to allow an operator to execute corresponding work.
Preferably, the distance detection device is a first distance detection sensor, a second distance detection sensor and a third distance detection sensor respectively installed at the first position, the second position and the third position, wherein the first distance detection sensor, the second distance detection sensor and the third distance detection sensor are laser radar or ultrasonic sensors; or a lidar mounted at the second location.
Preferably, the surface to be worked comprises a surface to be worked and a curved surface to be worked.
Correspondingly, the invention also provides a control method for the aerial work platform, which comprises the following steps: detecting a first average distance from a first position of the aerial work platform to a first subregion of the work surface corresponding to the first position, a second average distance from a second position of the aerial work platform to a second subregion of the work surface corresponding to the second position, and a third average distance from a third position of the aerial work platform to a third subregion of the work surface corresponding to the third position, wherein the second position is located between the first position and the third position; and controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the second average distance, the third average distance and a preset distance range, so that the distance between the aerial work platform and the tangent plane of the surface to be worked is always kept within the preset distance range in the running process.
Preferably, the controlling the execution structure of the aerial work platform to perform corresponding operations includes: judging whether the second average distance is within the preset distance range; and executing the following operations according to the judgment result: under the condition that the second average distance is larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the third average distance and the preset distance range, so that the aerial work platform is continuously close to the surface to be worked, or the distance between the aerial work platform and a tangent plane of the surface to be worked is always kept within the preset distance range in the running process; or under the condition that the second average distance is within the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the third average distance and the preset distance range, so that the distance between the aerial work platform and the tangent plane of the surface to be worked is always kept within the preset distance range in the running process, or controlling the aerial work platform to stop running.
Preferably, the first position and the third position are symmetrical about the second position, and accordingly, the controlling the aerial work platform to perform the corresponding operation includes: judging the magnitude relation between the first average distance and the third average distance and the maximum value of the preset distance range; and when the second average distance is larger than or equal to the maximum value of the preset distance range, executing the following operations according to a judgment result: under the condition that the first average distance and the third average distance are larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the aerial work platform to continuously approach the surface to be worked; or under the condition that the first average distance or the third average distance is smaller than the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the first average distance and the third average distance to be equal to any value in the preset distance range.
Preferably, the first position and the third position are symmetrical about the second position, and accordingly, the controlling the aerial work platform to perform the corresponding operation includes: judging the magnitude relation between the first average distance and the third average distance and the maximum value and the minimum value of the preset distance range; and under the condition that the second average distance is within the preset distance range, executing the following operations according to a judgment result: when the first average distance or the third average distance is larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the first average distance to be equal to the third average distance; or under the condition that the first average distance and the third average distance are within the preset distance range, controlling the aerial work platform to stop running so as to allow an operator to execute corresponding work.
Correspondingly, the invention also provides an aerial work platform, which comprises: the control system for the aerial work platform.
Through the technical scheme, the invention creatively detects the first average distance, the second average distance and the third average distance between the first position, the second position and the third position of the aerial work platform and the corresponding area on the surface to be worked, and then controls the executing mechanism to carry out corresponding operation according to the detected first average distance, second average distance and third average distance and the preset distance range, so that the distance between the aerial work platform and the tangent plane of the surface to be worked is always kept in the preset distance range in the running process. Therefore, the invention can control the operation platform to keep a fixed distance from any wall surface (plane or wall surface with any curved surface) and has high safety.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of a control system for an aerial work platform according to one embodiment of the present invention;
FIG. 2A is a schematic diagram illustrating a ranging principle of an aerial work platform according to an embodiment of the present invention;
FIG. 2B is a schematic view of the outboard planar surface of the aerial work platform of FIG. 2A from the perspective of the side to be worked;
FIG. 3 is a schematic diagram of a tangent plane of a work surface provided by an embodiment of the invention;
fig. 4 is a block diagram of a control device according to an embodiment of the present invention;
FIG. 5 is a flow chart of a control process for the aerial work platform provided by one embodiment of the present invention; and
fig. 6 is a flowchart of a control method for an aerial work platform according to an embodiment of the present invention.
Description of the reference numerals
1 aerial work platform 2 outside plane
3 first distance detecting sensor 4 second distance detecting sensor
5 third distance detecting sensor 10 distance detecting device
20 control device 21 judging module
22 control module
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a block diagram of a control system for an aerial work platform according to an embodiment of the present invention. As shown in fig. 1, the control system for the aerial work platform may comprise: a distance detecting device 10, configured to detect a first average distance from a first position of the aerial work platform to a first sub-area on a work surface corresponding to the first position, a second average distance from a second position of the aerial work platform to a second sub-area on the work surface corresponding to the second position, and a third average distance from a third position of the aerial work platform to a third sub-area on the work surface corresponding to the third position, where the second position is located between the first position and the third position; and the control device 20 is configured to control the execution structure of the aerial work platform to perform corresponding operations according to the first average distance, the second average distance, the third average distance and a preset distance range, so that the distance between the aerial work platform and the tangent plane of the work plane to be worked is always kept within the preset distance range in the operation process.
As shown in fig. 2A or 2B, the distance detecting means 10 may be a first distance detecting sensor 3 installed at a position near a left edge of the outer plane 2 of the aerial work platform 1 (the plane opposite and closest to the surface to be worked), preferably, a center point a of the left edge of the outer plane 2 of the aerial work platform 1, a second distance detection sensor 4 mounted at the second location (e.g. a location near the central region of the outboard plane 2 of the aerial work platform 1, preferably the centre point B of the outboard plane 2 of the aerial work platform 1) and a third distance detection sensor 5 mounted at the third location (e.g. a location near the right side edge of the outboard plane 2 of the aerial work platform 1, preferably the centre point C of the right side edge of the outboard plane 2 of the aerial work platform 1). The first distance detection sensor 3, the second distance detection sensor 4, and the third distance detection sensor 5 may be a laser radar or an ultrasonic sensor. Of course, the left and right edges in the present invention may be used interchangeably.
In addition, the distance detection device 10 may also be a laser radar installed at the second position. Since the lidar can detect the distance to any point in a sector area, the distance from the installation position of the lidar to the first sub-area can be converted into the first distance from the first position to the first sub-area and the distance from the installation position of the lidar to the third sub-area can be converted into the distance from the third position to the third sub-area through simple trigonometric function formula calculation.
Of course, in order to obtain more accurate distance detection results, a plurality of distance detection sensors may be disposed at the left edge, the center region and the right edge of the outer plane 2 of the aerial work platform 1, respectively, and an average value of a plurality of distances detected by the plurality of distance detection sensors is used as an average distance. And whether the danger of collision to the barrier exists can be monitored through the real-time distance detected by each distance detection sensor, so that the execution of corresponding operation can be stopped in time under the condition of possible collision, and the safety of the operation can be greatly improved.
The surface to be worked can comprise a surface to be worked and a curved surface to be worked. And for the plane to be operated, the tangent plane of any area of the plane to be operated is the plane to be operated. For the curved surface to be operated, the real-time position of the central point of the outer side plane 2 of the aerial work platform 1 is taken as a reference point, the sub-curved surface of the curved surface to be operated, which corresponds to the outer side plane 2 of the aerial work platform 1 in real time, has at least one intersection point, and the plane on which any point on the sub-curved surface is positioned on the same side is taken as a tangent plane. For example, the tangent plane to the sub-surface a1 of the surface to be worked is S1 (shown by a dotted line); the tangent plane of the sub-curved surface A2 of the curved surface to be worked is S2 (shown by a dotted line); and the tangent plane of the sub-surface a3 of the surface to be worked is S3 (shown by a dotted line), as shown in fig. 3.
In order to enable the entire aerial work platform to be kept within a preset distance range from the tangent plane of the work surface to be worked, the second average distance needs to be preferentially judged so as to ensure that the attitude of the aerial work platform can be controlled (for example, the aerial work platform can rotate around a rotation center O as shown in fig. 3) by adjusting the first average distance and/or the third average distance under the condition that the second average distance is larger than the maximum value within the preset distance range or is within the preset distance range, so that the distance between the aerial work platform and the tangent plane of the work surface to be worked is always kept within the preset distance range.
As shown in fig. 4, the control device 20 may include: a judging module 21, configured to judge whether the second average distance is within the preset distance range; and a control module 22, configured to perform the following operations according to the determination result:
under the condition that the second average distance is larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the third average distance and the preset distance range, so that the aerial work platform is continuously close to the surface to be worked, or the distance between the aerial work platform and a tangent plane of the surface to be worked is always kept within the preset distance range in the running process; or under the condition that the second average distance is within the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the third average distance and the preset distance range, so that the distance between the aerial work platform and the tangent plane of the surface to be worked is always kept within the preset distance range in the running process, or controlling the aerial work platform to stop running.
The control device 20 may be a separate control unit or may be an existing control device for the aerial work equipment.
In an embodiment of the present invention, the second position is located in a predetermined central region of the outer plane 2 of the aerial work platform 1, and the first position and the third position may be symmetrical with respect to the second position, and the platform may be parallel to the tangent plane of the work surface by adjusting the first average distance and the third average distance. Therefore, the distance between the aerial work platform and the tangent plane of the surface to be worked can be always kept within the preset distance range by controlling the second average distance to be larger than or equal to the maximum value of the preset distance range and the first average distance and the third average distance to be equal to any value within the preset distance range, or controlling the second average distance to be within the preset distance range and the first average distance to be equal to the third average distance.
In the case that it is confirmed that the second average distance is greater than or equal to the maximum value of the preset distance range, the control may be performed by a first average distance and a third average distance such that the first average distance and the third average distance are equal to any value within the preset distance range.
Specifically, the control module 22 may include: a first judging unit (not shown) for judging a magnitude relation between the first average distance and the third average distance and a maximum value of the preset distance range; and a first control unit (not shown) for performing the following operations according to a determination result in a case where the second average distance is greater than or equal to a maximum value of the preset distance range: under the condition that the first average distance and the third average distance are larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the aerial work platform to continuously approach the surface to be worked; or under the condition that the first average distance or the third average distance is smaller than the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the first average distance and the third average distance to be equal to any value in the preset distance range.
Under the condition that the second average distance is confirmed to be within the preset distance range, the rotation of the aerial work platform can be controlled through the first average distance and the third average distance (the center of the rotation circle is O, as shown in fig. 3), so that the first average distance is equal to the third average distance.
Specifically, the control module 22 may further include: a second determining unit (not shown) for determining a magnitude relationship between the first average distance and the third average distance and a maximum value and a minimum value of the preset distance range; and a second control unit (not shown) for performing the following operations according to a judgment result in a case where the second average distance is within the preset distance range: when the first average distance or the third average distance is larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the first average distance to be equal to the third average distance; or under the condition that the first average distance and the third average distance are within the preset distance range, controlling the aerial work platform to stop running so as to allow an operator to execute corresponding work.
In addition, in another embodiment of the present invention, the first position and the third position may be disposed at other asymmetric positions with respect to the second position, but when the first average distance and the third average distance are calculated according to the distance ratio between the first position and the third position to the second position and satisfy the corresponding proportional relationship, the aerial work platform and the tangent plane of the surface to be worked can be kept parallel. Thus, in the above-described embodiment, the particular arrangement of the first position, the second position, and the third position greatly simplifies the calculations involved in the control process.
In the above embodiments, the execution structure of the aerial work platform is controlled to perform corresponding operations, so as to achieve different control purposes, and the control method in the prior art can be used for executing the operations. For example, corresponding control purposes may be achieved by controlling a rotary turret valve, a boom luffing valve, a boom extension valve and/or a platform swing valve.
Specifically, the control process of the aerial work platform will be explained and explained in detail by taking the flowchart shown in fig. 5 as an example. The second position is located at a center point B of an outer plane 2 of the aerial work platform 1, the first position is located at a center point a of a left side edge of the outer plane 2, and the third position is located at a center point C of a right side edge of the outer plane 2. Further, the preset distance range may be (d-e, d + e), where d is a specific distance and e is an allowable error of the distance detection sensor.
The control process for the aerial work platform may include the following steps S501-S509.
And S501, controlling the aerial work platform to move towards the wall to be worked.
Step S502, judging whether the second average distance is larger than or equal to d + e, if so, executing step S503; otherwise, step S505 is executed.
Step S503, determining whether the first average distance or the third average distance is smaller than d + e, if yes, executing step S504; otherwise, step S501 is executed.
The aerial work platform can be enabled to continuously approach the wall surface to be worked through the step S501.
Step S504, controlling the actuator to perform corresponding operations so that the first average distance and the third average distance are within the range of (d-e, d + e), and performing step S508.
For example, in a crank-type aerial work platform, the working platform moves equidistantly along the wall surface, generally, the control purpose is maintained by the linkage of the left and right swing valves of the rotary table, the lifting valve of the main arm, the telescopic valve of the main arm, the lifting valve of the tower arm and the left and right swing valves of the working platform, and the required purpose can be achieved only by adjusting the left and right swing valves of the working platform in step S504.
Step S505, judging whether the second average distance is in the range of (d-e, d + e); if so, go to step S506, otherwise, go to step S508.
In the case where the second average distance is less than or equal to d-e, it is indicated that any action performed at this time may possibly cause a collision accident, and thus, it is necessary to stop the control to perform any action.
Step S506, determining whether the first average distance or the third average distance is greater than or equal to d + e, if yes, performing step S507; otherwise, step S508 is performed.
Step S507, controlling the executing mechanism to execute corresponding operations so that the first average distance is equal to the third average distance, and executing step S508.
And step S508, controlling the aerial work platform to stop running.
That is, the current state of the aerial work platform is maintained (i.e. the distance between the aerial work platform and the tangent plane of the wall surface to be worked is maintained within the range of (d-e, d + e)), so that the corresponding worker can conveniently perform the work.
Step S509, in the case where the work is completed, controlling the aerial work device to move to the next position of the wall surface to be worked.
In summary, the present invention creatively detects the first average distance, the second average distance and the third average distance between the first position, the second position and the third position of the aerial work platform and the corresponding area on the work surface, and then controls the actuator to perform corresponding operations according to the detected first average distance, the detected second average distance and the detected third average distance and the preset distance range, so that the distance between the aerial work platform and the tangent plane of the work surface is always kept within the preset distance range during the operation process. Therefore, the invention can control the operation platform to keep a fixed distance from any wall surface (plane or wall surface with any curved surface) and has high safety.
Fig. 6 is a flowchart of a control method for an aerial work platform according to an embodiment of the present invention. The control method may include: step S601, detecting a first average distance from a first position of the aerial work platform to a first sub-area corresponding to the first position on a surface to be worked, a second average distance from a second position of the aerial work platform to a second sub-area corresponding to the second position on the surface to be worked and a third average distance from a third position of the aerial work platform to a third sub-area corresponding to the third position on the surface to be worked, wherein the second position is located between the first position and the third position; and step S602, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the second average distance, the third average distance and a preset distance range, so that the distance between the aerial work platform and a tangent plane of the surface to be worked is always kept within the preset distance range in the running process.
Preferably, the controlling the execution structure of the aerial work platform to perform corresponding operations includes: judging whether the second average distance is within the preset distance range; and executing the following operations according to the judgment result: under the condition that the second average distance is larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the third average distance and the preset distance range, so that the aerial work platform is continuously close to the surface to be worked, or the distance between the aerial work platform and a tangent plane of the surface to be worked is always kept within the preset distance range in the running process; or under the condition that the second average distance is within the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the third average distance and the preset distance range, so that the distance between the aerial work platform and the tangent plane of the surface to be worked is always kept within the preset distance range in the running process, or controlling the aerial work platform to stop running.
Preferably, the first position and the third position are symmetrical about the second position, and accordingly, the controlling the aerial work platform to perform the corresponding operation includes: judging the magnitude relation between the first average distance and the third average distance and the maximum value of the preset distance range; and when the second average distance is larger than or equal to the maximum value of the preset distance range, executing the following operations according to a judgment result: under the condition that the first average distance and the third average distance are larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the aerial work platform to continuously approach the surface to be worked; or under the condition that the first average distance or the third average distance is smaller than the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the first average distance and the third average distance to be equal to any value in the preset distance range.
Preferably, the first position and the third position are symmetrical about the second position, and accordingly, the controlling the aerial work platform to perform the corresponding operation includes: judging the magnitude relation between the first average distance and the third average distance and the maximum value and the minimum value of the preset distance range; and under the condition that the second average distance is within the preset distance range, executing the following operations according to a judgment result: when the first average distance or the third average distance is larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the first average distance to be equal to the third average distance; or under the condition that the first average distance and the third average distance are within the preset distance range, controlling the aerial work platform to stop running so as to allow an operator to execute corresponding work.
For specific details and benefits of the control method for an aerial work platform provided by the present invention, reference may be made to the above description of the control system for an aerial work platform, and details are not described herein.
Accordingly, another embodiment of the present invention further provides an aerial work platform, including: the control system for the aerial work platform.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (8)
1. A control system for an aerial work platform, the control system comprising:
the distance detection device is used for detecting a first average distance from a first position of the aerial work platform to a first subregion corresponding to the first position on a surface to be worked, a second average distance from a second position of the aerial work platform to a second subregion corresponding to the second position on the surface to be worked and a third average distance from a third position of the aerial work platform to a third subregion corresponding to the third position on the surface to be worked, wherein the second position is located between the first position and the third position; and
the control device is used for controlling the execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the second average distance, the third average distance and a preset distance range so as to keep the distance between the aerial work platform and the tangent plane of the surface to be worked in the running process within the preset distance range all the time,
wherein the surface to be operated comprises a surface to be operated and a curved surface to be operated,
wherein the control device includes:
the judging module is used for judging the size relationship between the second average distance and the maximum value and the minimum value of the preset distance range; and
the control module is used for executing the following operations according to the judgment result:
under the condition that the second average distance is larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the third average distance and the preset distance range, so that the aerial work platform is continuously close to the surface to be worked, or the distance between the aerial work platform and a tangent plane of the surface to be worked is always kept within the preset distance range in the running process; or
And under the condition that the second average distance is within the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the third average distance and the preset distance range, so that the distance between the aerial work platform and the tangent plane of the surface to be worked is always kept within the preset distance range in the running process, or the aerial work platform is controlled to stop running.
2. The control system for the aerial work platform of claim 1 wherein the first position and the third position are symmetrical about the second position,
accordingly, the control module comprises:
the first judging unit is used for judging the magnitude relation between the first average distance and the third average distance and the maximum value of the preset distance range; and
a first control unit, configured to, when the second average distance is greater than or equal to a maximum value of the preset distance range, perform the following operations according to a determination result:
under the condition that the first average distance and the third average distance are larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the aerial work platform to continuously approach the surface to be worked; or
And under the condition that the first average distance or the third average distance is smaller than the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the first average distance and the third average distance to be equal to any value in the preset distance range.
3. The control system for the aerial work platform of claim 1 wherein the first position and the third position are symmetrical about the second position,
accordingly, the control module comprises:
a second determining unit, configured to determine a magnitude relationship between the first average distance and the third average distance and a maximum value and a minimum value of the preset distance range; and
the second control unit is used for executing the following operations according to a judgment result under the condition that the second average distance is within the preset distance range:
when the first average distance or the third average distance is larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the first average distance to be equal to the third average distance; or
And under the condition that the first average distance and the third average distance are within the preset distance range, controlling the aerial work platform to stop running so as to allow an operator to perform corresponding work.
4. The control system for the aerial work platform of claim 1, wherein the distance detection devices are first, second and third distance detection sensors mounted at the first, second and third positions, respectively, wherein the first, second and third distance detection sensors are lidar or ultrasonic sensors; or a lidar mounted at the second location.
5. A control method for an aerial work platform, the control method comprising:
detecting a first average distance from a first position of the aerial work platform to a first subregion of the work surface corresponding to the first position, a second average distance from a second position of the aerial work platform to a second subregion of the work surface corresponding to the second position, and a third average distance from a third position of the aerial work platform to a third subregion of the work surface corresponding to the third position, wherein the second position is located between the first position and the third position; and
controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the second average distance, the third average distance and a preset distance range so as to keep the distance between the aerial work platform and the tangent plane of the surface to be worked in the running process within the preset distance range all the time,
wherein the surface to be operated comprises a surface to be operated and a curved surface to be operated,
wherein, the control of the execution structure of the aerial work platform to perform corresponding operations comprises:
judging whether the second average distance is within the preset distance range; and
and executing the following operations according to the judgment result:
under the condition that the second average distance is larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the third average distance and the preset distance range, so that the aerial work platform is continuously close to the surface to be worked, or the distance between the aerial work platform and a tangent plane of the surface to be worked is always kept within the preset distance range in the running process; or
And under the condition that the second average distance is within the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation according to the first average distance, the third average distance and the preset distance range, so that the distance between the aerial work platform and the tangent plane of the surface to be worked is always kept within the preset distance range in the running process, or the aerial work platform is controlled to stop running.
6. The control method for an aerial work platform of claim 5 wherein the first position and the third position are symmetrical about the second position,
correspondingly, the controlling the execution structure of the aerial work platform to perform corresponding operations comprises:
judging the magnitude relation between the first average distance and the third average distance and the maximum value of the preset distance range; and
and when the second average distance is greater than or equal to the maximum value of the preset distance range, executing the following operations according to a judgment result:
under the condition that the first average distance and the third average distance are larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the aerial work platform to continuously approach the surface to be worked; or
And under the condition that the first average distance or the third average distance is smaller than the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the first average distance and the third average distance to be equal to any value in the preset distance range.
7. The control method for an aerial work platform of claim 5 wherein the first position and the third position are symmetrical about the second position,
correspondingly, the controlling the execution structure of the aerial work platform to perform corresponding operations comprises:
judging the magnitude relation between the first average distance and the third average distance and the maximum value and the minimum value of the preset distance range; and
and under the condition that the second average distance is within the preset distance range, executing the following operations according to a judgment result:
when the first average distance or the third average distance is larger than or equal to the maximum value of the preset distance range, controlling an execution structure of the aerial work platform to perform corresponding operation so as to enable the first average distance to be equal to the third average distance; or
And under the condition that the first average distance and the third average distance are within the preset distance range, controlling the aerial work platform to stop running so as to allow an operator to perform corresponding work.
8. An aerial work platform, comprising: a control system for an aerial work platform as claimed in any one of claims 1 to 4.
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