CN115268505A - Anti-collision method for working platform of aerial work platform and aerial work platform - Google Patents
Anti-collision method for working platform of aerial work platform and aerial work platform Download PDFInfo
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Abstract
The invention belongs to the technical field of aerial work equipment, and discloses a working platform anti-collision method of an aerial work vehicle and the aerial work vehicle, wherein the working platform anti-collision method of the aerial work vehicle mainly comprises the following steps: generating a virtual boundary line capable of opening a barrier, and generating a safe working area according to the virtual boundary line and a safe working boundary line of the working platform; acquiring real-time azimuth coordinates of the working platform in the moving process; judging whether the working platform is about to exceed a safe working area or not according to the real-time azimuth coordinate; if not, controlling the working platform to normally move; if so, controlling the working platform to stop moving continuously outside the safe working area; the high-altitude operation vehicle comprises the anti-collision method for the working platform of the high-altitude operation vehicle. The working platform anti-collision method of the aerial work platform is applied to the aerial work vehicle, can effectively avoid the risk of collision between the working platform and obstacles in a safe working boundary line, and guarantees the safety and the reliability of the aerial work process.
Description
Technical Field
The invention relates to the technical field of aerial work equipment, in particular to an anti-collision method for a working platform of an aerial work vehicle and the aerial work vehicle.
Background
The working platform on the overhead working truck can be lifted under the action of the jib assembly so as to move in a certain range. At present, a safe working boundary line is generally preset in a controller in an overhead working truck. The safe working boundary line is a closed fan-ring-shaped loop line which is formed by a track of the working platform in the process of changing the amplitude from the lowest elevation position to the highest elevation position when the working length of the arm support assembly is shortest, a track of the working platform in the process of changing the amplitude from the lowest elevation position to the highest elevation position when the working length of the arm support assembly reaches the longest elevation length which does not enable the overhead working truck to tip, a track of the working platform in the process of extending the shortest length of the arm extension assembly from the lowest elevation position to the longest elevation length which does not enable the overhead working truck to tip, and a track of the working platform in the process of extending the shortest length of the arm extension assembly from the highest elevation position to the longest elevation position. When the working platform moves in the safe working boundary line, the overhead working truck can be kept stable, and the tilting risk can not occur. And the high-altitude operation vehicle is also provided with an alarm device, when the working platform moves to the outside of the safe working boundary line, the controller can control the alarm device to give an alarm, and the movement of the arm extension assembly is properly limited, so that the working platform is prevented from moving to the outside of the safe working boundary line.
When the working platform is used for high-altitude operation, obstacles such as electric wires, glass wall surfaces and the like may exist in the safe working boundary line. In the prior art, the obstacle is avoided mainly by observing and reminding relevant personnel on site, but the method has low efficiency, and when the observation is not in place, the collision risk can occur, so that the safety and the reliability of the high-altitude operation are influenced.
Disclosure of Invention
The invention aims to provide a working platform anti-collision method of an aerial work vehicle and the aerial work vehicle, which can effectively avoid the risk that the working platform collides with an obstacle in a safe working boundary line.
In order to achieve the purpose, the invention adopts the following technical scheme:
an anti-collision method for a working platform of an aerial work platform mainly comprises the following steps:
s100, generating a virtual boundary line capable of avoiding obstacles, and generating a safe working area according to the virtual boundary line and a safe working boundary line of a working platform;
s200, acquiring a real-time azimuth coordinate of the working platform in the moving process;
s300, judging whether the working platform is about to exceed the safe working area or not according to the real-time azimuth coordinate;
if not, controlling the working platform to normally move; if so, controlling the working platform to stop moving continuously outside the safe working area;
the method of generating the virtual boundary line that can avoid the obstacle is:
receiving a horizontal distance value a and a vertical distance value b;
generating the virtual boundary line according to the received horizontal distance value a and the vertical distance value b;
step S200 specifically includes: acquiring a horizontal coordinate x and a vertical coordinate y of the working platform in the moving process, and generating real-time azimuth coordinates (x, y) according to the horizontal coordinate x and the vertical coordinate y;
the aerial working truck comprises a chassis and a boom assembly, the boom assembly comprises a main boom rotatably arranged on the chassis and a secondary boom rotatably arranged at the end part of the main boom, the working platform is arranged at the end part of the secondary boom, and the main boom is telescopic;
step S200 specifically includes: acquiring the working length L of the main arm support, the inclination angle alpha of the main arm support relative to the horizontal plane and the inclination angle beta of the secondary arm support relative to the horizontal plane, obtaining the horizontal coordinate x and the vertical coordinate y according to the working length L of the main arm support, the inclination angle alpha of the main arm support relative to the horizontal plane and the inclination angle beta of the secondary arm support relative to the horizontal plane, and generating the real-time azimuth coordinate (x, y);
wherein L is 0 Is the length of the secondary boom, a 0 The horizontal length dimension of the working platform;
Optionally, in step S200, the working length L of the main boom is obtained by a length sensor, the tilt angle α of the main boom is obtained by a first angle sensor, and the tilt angle β of the sub boom is obtained by a second angle sensor.
Optionally, in step S300, a safety pre-warning sideline is disposed in the safety working area, and the method for determining whether the working platform is about to exceed the safety working area includes: and judging whether the working platform moves to a safety early warning sideline or not.
Optionally, the working platform is controlled to stop moving out of the safety early warning sideline by controlling the working length L of the main boom, the inclination angle α of the main boom and the inclination angle β of the secondary boom.
Optionally, the aerial platform further comprises an alarm device configured to alarm when the working platform moves to the safety pre-warning sideline.
Optionally, the alarm device is provided as an alarm lamp and/or a buzzer.
An aerial work platform vehicle adopts the anti-collision method for the working platform of the aerial work platform vehicle.
Has the advantages that:
the invention provides an anti-collision method for a working platform of an aerial work vehicle, which comprises the steps of firstly, generating a virtual boundary line capable of avoiding an obstacle according to the position of the obstacle, and generating a safe working area according to the virtual boundary line and the safe working boundary line of the working platform, wherein the safe working area is a closed area which is formed by the virtual boundary line and the safe working boundary line in a combined mode, and in the safe working area, the aerial work vehicle cannot tip over, and the working platform cannot collide with the obstacle; then controlling the work of the aerial working platform, acquiring real-time azimuth coordinates of the working platform in the moving process of the working platform, and recording the real-time position of the working platform; and then, judging whether the working platform is about to exceed the safe working area or not according to the real-time position coordinates, wherein when the working platform is not about to exceed the safe working area, the working platform normally moves, and when the working platform is about to exceed the safe working area, the working platform is controlled to stop moving outside the safe working area, so that when the working platform is applied to an aerial work vehicle, the working platform can be prevented from moving outside the safe working area, the risk of collision between the working platform and a barrier in a safe working boundary line is effectively avoided, and the safety and the reliability of the aerial work process are ensured.
Drawings
FIG. 1 is a flow chart of an anti-collision method for a working platform of an aerial work platform of the invention;
FIG. 2 is a schematic view of the aerial lift platform of the present invention;
fig. 3 is a control diagram of the anti-collision method for the working platform of the aerial work vehicle.
In the figure:
100. a chassis; 111. a main arm support; 112. a secondary arm support; 120. a working platform; 130. a controller; 131. an input module; 141. a length sensor; 142. a first angle sensor; 143. a second angle sensor; 151. a telescoping mechanism; 152. a first luffing mechanism; 153. a second luffing mechanism; 160. an alarm device; 161. an alarm lamp; 162. a buzzer;
210. a virtual boundary line; 220. a safe working boundary line; 230. a safe working area; 240. safety early warning sidelines;
300. an obstacle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
In the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The embodiment provides an anti-collision method for a working platform of an aerial work platform, which is shown in fig. 1 to 2 and mainly comprises the following steps:
s100, generating a virtual boundary line 210 capable of avoiding the obstacle 300, and generating a safe working area 230 according to the virtual boundary line 210 and a safe working boundary line 220 of the working platform 120;
s200, acquiring real-time azimuth coordinates of the working platform 120 in the moving process;
s300, judging whether the working platform 120 is about to exceed the safe working area 230 according to the real-time azimuth coordinate;
if not, the working platform 120 is controlled to move normally; if so, the work platform 120 is controlled to stop moving out of the safe work area 230.
In this embodiment, the safe working area 230 is a closed area defined by the virtual boundary line 210 and the safe working boundary line 220, the aerial platform 120 does not tip over in the safe working area 230, and the obstacle 300 is not collided with the aerial platform 120, and then the aerial platform is controlled to work, and the real-time position coordinates of the aerial platform 120 are obtained during the movement of the aerial platform 120, and the real-time position of the aerial platform 120 is recorded, and then the real-time position of the aerial platform 120 is compared with the safe working area 230, i.e. whether the aerial platform 120 is about to exceed the safe working area 230 is determined according to the real-time position coordinates, when the aerial platform 120 is not about to exceed the safe working area 230, the aerial platform 120 is controlled to move correspondingly according to normal control, when the aerial platform 120 is about to exceed the safe working area 230, the aerial platform 120 is controlled to stop moving out of the safe working area 230, so as to avoid the risk that the aerial platform 120 collides with the obstacle 300 in the safe working boundary line 220, and ensure the safety and reliability of the aerial working process.
Further, in step S100, the method of generating the virtual boundary line 210 capable of avoiding the obstacle 300 includes:
receiving a horizontal distance value a and a vertical distance value b;
a virtual boundary line 210 is generated from the received horizontal distance value a and vertical distance value b.
Referring to fig. 3, the aerial platform is provided with a controller 130 and an input module 131, and the input module 131 is in communication with the controller 130. Specifically, a horizontal distance value a and a vertical distance value b are input in the input module 131, the input module 131 transmits the input horizontal distance value a and vertical distance value b to the controller 130, the controller 130 generates a virtual boundary line 210 according to the received horizontal distance value a and vertical distance value b, and the controller 130 generates a safety work area 230 according to the virtual boundary line 210 and a safety work boundary line 220.
Specifically, referring to fig. 2, the luffing hinge position of the chassis 100 and the boom assembly of the aerial work platform is defined as point a, and the horizontal distance value a is preferably set as the distance between point a and the obstacle 300 in the horizontal direction, and is input according to the actual position of the obstacle 300, and in this embodiment, it is generally considered that when the distance between point a and the obstacle 300 in the horizontal direction is greater than a, the working platform 120 will collide with the obstacle 300 in the horizontal direction. The vertical distance value b is preferably set to be the distance between the horizontal ground on which the aerial work platform is located and the obstacle 300 and the vertical direction, and is input according to the actual position of the obstacle 300, and it is generally considered that when the distance between the horizontal ground on which the aerial work platform is located and the obstacle 300 and the vertical direction is greater than b, the work platform 120 collides with the obstacle 300 in the vertical direction. The safe working boundary line 220 of the working platform 120 is input into the controller 130 in advance, and after the controller 130 receives the horizontal distance value a and the vertical distance value b, the controller 130 generates two intersecting virtual lines in the calculated coordinate region, that is, the virtual boundary line 210. One of the virtual boundary lines 210 extends in the horizontal direction and is spaced apart from the horizontal ground surface by a distance b in the vertical direction, and the other extends in the vertical direction and is spaced apart from the point a by a distance a in the horizontal direction. The virtual boundary line 210 divides the safe working boundary line 220 and encloses a safe working area 230 together with the safe working boundary line 220.
It should be noted that the generation of the two intersecting virtual boundary lines 210 by inputting the horizontal distance value a and the vertical distance value b to the controller 130 is only an alternative embodiment, and the controller 130 may also generate virtual boundary lines 210 of other shapes by calculating by inputting different input values to the controller 130 according to the shape and the position of the obstacle 300, which is not limited herein. In addition, the principle and process of generating the virtual boundary line 210 according to the horizontal distance value a and the vertical distance value b and generating the safe working area 230 according to the virtual boundary line 210 and the safe working boundary line 220 are the prior art, and are not described herein in detail.
Further, step S200 specifically includes: and acquiring a horizontal coordinate x and a vertical coordinate y of the working platform 120 in the moving process, and generating real-time azimuth coordinates (x, y) according to the horizontal coordinate x and the vertical coordinate y. Specifically, the real-time position coordinates (x, y) are obtained by the controller 130, and the real-time position coordinates (x, y) can reflect the real-time position of the working platform 120, so that the controller 130 can detect the real-time position of the working platform 120.
Specifically, as shown in fig. 2, the boom assembly includes a main boom 111 rotatably disposed on the chassis 100 and a secondary boom 112 rotatably disposed at an end of the main boom 111, the work platform 120 is disposed at an end of the secondary boom 112, and the main boom 111 is configured to be telescopic;
step S200 specifically includes: acquiring the working length L of the main arm support 111, the inclination angle alpha of the main arm support 111 relative to the horizontal plane and the inclination angle beta of the secondary arm support 112 relative to the horizontal plane, and obtaining a horizontal coordinate x and a vertical coordinate y according to the working length L of the main arm support 111, the inclination angle alpha of the main arm support 111 relative to the horizontal plane and the inclination angle beta of the secondary arm support 112 relative to the horizontal plane and generating real-time azimuth coordinates (x, y);
wherein L is 0 Is the length of sub-boom 112, a 0 The horizontal length dimension of the work platform 120;
Specifically, the bottom of the work platform 120 is kept horizontal throughout the movement of the work platform 120. The working length of the main boom 111 is L, and the length of the sub boom 112 is L 0 When the main arm frame 111 is inclined in a variable amplitude manner relative to the horizontal plane, the distance component of the main arm frame 111 in the horizontal direction is the sameThe distance component of the main arm frame 111 in the vertical direction isWhen the secondary arm support 112 is inclined in a variable amplitude manner relative to the horizontal plane, the distance component of the secondary arm support 112 in the horizontal direction isThe horizontal distance component of the sub-boom 112 is. The horizontal coordinate x is the sum of the distance component of the main boom 111 in the horizontal direction, the distance component of the sub boom 112 in the horizontal direction, and the horizontal length of the working platform 120; the vertical coordinate y is the sum of the distance component of the main boom 111 in the vertical direction, the distance component of the sub boom 112 in the vertical direction, and the vertical height dimension of the working platform 120.
In the present embodiment, the vertical height of the working platform 120 is the total height of the bottom plate, the rail, and the like of the working platform 120 in the vertical direction.
In this embodiment, the working length L of the main boom 111, the inclination angle α of the main boom 111 relative to the horizontal plane, and the inclination angle β of the sub boom 112 relative to the horizontal plane are obtained by the controller 130. The principle and the specific process of the controller 130 obtaining the horizontal coordinate x and the vertical coordinate y according to the working length L of the main boom frame 111, the inclination angle α of the main boom frame 111 relative to the horizontal plane, and the inclination angle β of the sub boom frame 112 relative to the horizontal plane are the prior art, and are not described in detail herein.
Further, in step S200, the working length L of the main boom 111 is obtained by the length sensor 141, the tilt angle α of the main boom 111 is obtained by the first angle sensor 142, and the tilt angle β of the sub boom 112 is obtained by the second angle sensor 143. Specifically, as shown in fig. 2 to 3, the aerial working platform is provided with a detection module, the detection module includes a length sensor 141 disposed on the main arm support 111, a first angle sensor 142 disposed on the main arm support 111, and a second angle sensor 143 disposed on the sub-arm support 112, and the length sensor 141, the first angle sensor 142, and the second angle sensor 143 are all in communication connection with the controller 130;
in step S200, the controller 130 obtains the working length L of the main arm frame 111, the inclination angle α of the main arm frame 111, and the inclination angle β of the sub arm frame 112, specifically:
the length sensor 141 acquires the working length L of the main boom 111 and sends the working length L to the controller 130; the first angle sensor 142 acquires the inclination angle α of the main boom 111 and sends the inclination angle α to the controller 130; the second angle sensor 143 obtains the tilt angle β of the sub boom 112 and sends it to the controller 130.
In the present embodiment, the length sensor 141, the first angle sensor 142, and the second angle sensor 143 may be, but are not limited to, hall sensors. The communication principle and process of the length sensor 141, the first angle sensor 142 and the second angle sensor 143 with the controller 130 are prior art, and are not described herein in detail.
In this embodiment, in step S300, a safety warning edge line 240 is disposed in the safety working area 230, and the method for determining whether the working platform 120 is about to exceed the safety working area 230 includes: and judging whether the working platform 120 moves to the safety pre-warning edge line 240. Referring to fig. 2, the safety precaution edge line 240 defines a reduced closed area within the safety working area 230. Specifically, each edge line of the safety working area 230 moves towards the inside of the safety working area 230, and each moved edge line intersects with each other to form a safety warning edge line 240. In the present embodiment, when the real-time position coordinates (x, y) move to the safety precaution edge line 240, it is considered that the working platform 120 is about to exceed the safety working area 230, and the working platform 120 may collide with the obstacle 300. The controller 130 generates boundary coordinates (x) of the safety warning edge line 240 according to the range of the safety warning edge line 240 d ,y d ) And generating real-time azimuth coordinates (x, y) and boundary coordinates (x, y) of the work platform 120 d ,y d ) Comparing in real time, when the working platform 120 movesWhen the safety warning edge line 240 is reached, the controller 130 monitors the real-time azimuth coordinates (x, y) and the boundary coordinates (x) of the production safety warning edge line 240 d ,y d ) Satisfies x = x d And y = y d In this case, the controller 130 controls the working platform 120 to stop moving beyond the safety precaution borderline 240, so that the working platform 120 does not move beyond the safety precaution borderline 240, and further ensures that the working platform 120 does not move beyond the safety precaution borderline 230.
In this embodiment, the specific principle and process of the controller 130 generating the safety warning edge 240 according to the safety working area 230 and determining whether the working platform 120 moves to the safety warning edge 240 according to the real-time position coordinate are the prior art.
In this embodiment, the working platform 120 is controlled to stop moving beyond the safety precaution sideline 240 by controlling the working length L of the main arm frame 111, the inclination angle α of the main arm frame 111, and the inclination angle β of the sub arm frame 112. According to the real-time position of the working platform 120, the controller 130 may control one or more of the working length L of the main boom 111, the tilt angle α of the boom 111, and the tilt angle β of the sub-boom 112 to limit the movement of the working platform 120.
Specifically, referring to fig. 3, the aerial work platform includes a telescoping mechanism 151, a first luffing mechanism 152, and a second luffing mechanism 153, where the telescoping mechanism 151, the first luffing mechanism 152, and the second luffing mechanism 153 are all in communication with the controller 130, the telescoping mechanism 151 can control the telescoping of the main boom 111, the first luffing mechanism 152 is used to control the tilt amplitude of the main boom 111, and the second luffing mechanism 153 is used to control the tilt amplitude of the sub boom 112.
In this embodiment, the main arm frame 111 is preferably provided with a plurality of telescopic arms nested in sequence, and the telescopic mechanism 151 may be configured as a driving cylinder, so as to be capable of controlling the extension and retraction between two adjacent telescopic arms of the main arm frame 111, and further adjust the working length of the main arm frame 111. The first luffing mechanism 152 and the second luffing mechanism 153 are preferably arranged as driving cylinders, for the first luffing mechanism 152, the fixed end of the driving cylinder is arranged on the overhead working truck, the telescopic end of the driving cylinder is arranged on the main arm support 111, and the telescopic end of the driving cylinder is telescopic relative to the fixed end, so that the angle between the main arm support 111 and the chassis 100 of the overhead working truck can be adjusted, and further the inclination amplitude of the main arm support 111 relative to the horizontal plane is adjusted; for the second luffing mechanism 153, the fixed end of the driving cylinder is arranged on the main arm frame 111, the telescopic end of the driving cylinder is arranged on the sub-arm frame 112, and the angle between the main arm frame 111 and the sub-arm frame 112 can be adjusted by the telescopic end of the driving cylinder stretching relative to the fixed end, so as to adjust the inclination amplitude of the main arm frame 111 relative to the horizontal plane.
The telescopic mechanism 151, the first horn 152 and the second horn 153 may be provided as other components such as a servo motor in addition to the drive cylinder, and are not limited thereto.
Further, the aerial cage further comprises an alarm device 160, and the alarm device 160 is in communication connection with the controller 130;
when the work platform 120 moves to the safety pre-warning edge line 240, the controller 130 can control the alarm device 160 to alarm.
In this embodiment, by setting the alarm device 160, the present relevant people can be more intuitively reminded, so that the relevant people pay attention to the high-altitude operation to avoid colliding the obstacle 300.
Preferably, the alarm device 160 is provided as an alarm lamp 161 and/or a buzzer 162. Therefore, the relevant personnel can be reminded through two aspects of visual sense and auditory sense, and the alarm function of the alarm device 160 is more reliable and effective.
The embodiment also provides an aerial work platform, which adopts the anti-collision method for the working platform of the aerial work platform. The working platform anti-collision method of the aerial work platform is adopted on the aerial work platform, so that the beneficial effects of the working platform anti-collision method of the aerial work platform are achieved, and redundant description is omitted.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (7)
1. An anti-collision method for a working platform of an aerial work platform is characterized by mainly comprising the following steps:
s100, generating a virtual boundary line (210) capable of avoiding the obstacle (300), and generating a safe working area (230) according to the virtual boundary line (210) and a safe working boundary line (220) of the working platform (120);
s200, acquiring a real-time azimuth coordinate of the working platform (120) in the moving process;
s300, judging whether the working platform (120) is about to exceed the safe working area (230) according to the real-time azimuth coordinate;
if not, controlling the working platform (120) to normally move; if yes, controlling the working platform (120) to stop moving outside the safe working area (230);
the method of generating the virtual boundary line (210) that can avoid the obstacle (300) is:
receiving a horizontal distance value a and a vertical distance value b;
generating the virtual boundary line (210) according to the received horizontal distance value a and the vertical distance value b;
step S200 specifically includes: acquiring a horizontal coordinate x and a vertical coordinate y of the working platform (120) in the moving process, and generating the real-time azimuth coordinate (x, y) according to the horizontal coordinate x and the vertical coordinate y;
the aerial lift truck comprises a chassis (100) and a boom assembly, the boom assembly comprises a main boom (111) and a secondary boom (112), the main boom (111) is rotatably arranged on the chassis (100), the secondary boom (112) is rotatably arranged at the end part of the main boom (111), the working platform (120) is arranged at the end part of the secondary boom (112), and the main boom (111) is telescopic;
step S200 specifically includes: acquiring the working length L of the main arm support (111), the inclination angle alpha of the main arm support (111) relative to the horizontal plane and the inclination angle beta of the secondary arm support (112) relative to the horizontal plane, and obtaining the horizontal coordinate x and the vertical coordinate y according to the working length L of the main arm support (111), the inclination angle alpha of the main arm support (111) relative to the horizontal plane and the inclination angle beta of the secondary arm support (112) relative to the horizontal plane and generating the real-time azimuth coordinate (x, y);
wherein L is 0 Is the length of the secondary arm support (112), a 0 Is the horizontal length dimension of the work platform (120);
2. The method for preventing collision of working platforms of high-altitude operation vehicles according to claim 1, wherein in step S200, the working length L of the main boom (111) is obtained through a length sensor (141), the tilt angle α of the main boom (111) is obtained through a first angle sensor (142), and the tilt angle β of the secondary boom (112) is obtained through a second angle sensor (143).
3. The method for preventing collision of working platform of aerial platform as claimed in claim 1, wherein in step S300, a safety pre-warning edge line (240) is provided in the safety working area (230), and the method for determining whether the working platform (120) is about to exceed the safety working area (230) comprises: and judging whether the working platform (120) moves to the safety early warning sideline (240).
4. The method of claim 3 for collision avoidance of a work platform of an aerial lift truck,
and controlling the working platform (120) to stop moving out of the safety early warning sideline (240) continuously by controlling the working length L of the main arm support (111), the inclination angle alpha of the main arm support (111) and the inclination angle beta of the secondary arm support (112).
5. The method of claim 3, wherein the aerial lift vehicle further comprises an alert device (160), the alert device (160) configured to alert when the aerial lift platform (120) moves to the safety precaution sideline (240).
6. The method for collision avoidance of a working platform of an aerial work platform as claimed in claim 5 wherein the warning device (160) is provided as a warning light (161) and/or a buzzer (162).
7. An aerial lift truck characterized by a method of collision avoidance of a work platform of an aerial lift truck as claimed in any one of claims 1 to 6.
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