CN115321438A - Overload detection method for aerial work platform and aerial work platform - Google Patents
Overload detection method for aerial work platform and aerial work platform Download PDFInfo
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- CN115321438A CN115321438A CN202211058506.9A CN202211058506A CN115321438A CN 115321438 A CN115321438 A CN 115321438A CN 202211058506 A CN202211058506 A CN 202211058506A CN 115321438 A CN115321438 A CN 115321438A
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- 238000001514 detection method Methods 0.000 title claims abstract description 32
- 238000005303 weighing Methods 0.000 claims abstract description 67
- 230000003068 static effect Effects 0.000 claims description 23
- 238000011088 calibration curve Methods 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 7
- 238000010008 shearing Methods 0.000 claims description 6
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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
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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 provides an overload detection method for an aerial work platform and the aerial work platform. The overload detection method of the aerial work platform comprises the following steps: determining a current weighing mode, wherein the pre-stored weighing modes comprise a full-load mode and an underload mode, and an overload threshold corresponding to the full-load mode is greater than an overload threshold corresponding to the underload mode; acquiring data which is detected in real time and used for judging overload; acquiring calibration data corresponding to a current weighing mode; the light load mode corresponds to light load calibration data, and the light load calibration data represent calibration data obtained by placing a load smaller than a rated load and larger than a zero load on the operation platform for calibration; and determining whether the vehicle is overloaded currently or not according to a preset weighing algorithm. The scheme can manually or automatically switch the full-load mode or the underload mode under different working conditions and environments, the overload judgment result is more consistent with the current working conditions and environments, the potential safety hazard caused by using a single overload detection mode is avoided, and the safety of the engineering machinery is improved.
Description
Technical Field
The invention relates to the technical field of aerial work platforms, in particular to an overload detection method of an aerial work platform and the aerial work platform.
Background
At present, the weighing detection method of the aerial work platform in the market can only carry out overload detection according to the rated load of the whole vehicle, calibration data during no-load and real-time detection data. However, if the use environment of the aerial work platform changes, for example, the wind speed inside and outside the room is different or the ground flatness is different, if the entire vehicle is only based on an overload detection method, the vehicle may topple over before the overload is detected, and the like, and there is a potential safety hazard.
Disclosure of Invention
The invention provides an overload detection method for an aerial work platform and the aerial work platform, and aims to solve the technical problem that potential safety hazards exist in the existing overload detection method for the aerial work platform.
In order to solve the technical problem, the invention provides an overload detection method for an aerial work platform, which comprises the following steps:
s1, determining a current weighing mode, wherein the prestored weighing mode comprises a full-load mode and an underload mode, and an overload threshold corresponding to the full-load mode is larger than an overload threshold corresponding to the underload mode;
s2, acquiring data which are detected in real time and used for judging overload;
s3, obtaining calibration data corresponding to a current weighing mode, wherein the full-load mode corresponds to full-load calibration data, and the full-load calibration data refers to calibration data obtained by placing a rated load on the operation platform for calibration; the light load mode corresponds to light load calibration data, and the light load calibration data represents calibration data obtained by placing a load smaller than the rated load and larger than zero on the operation platform for calibration;
and S4, determining whether the current load is overloaded according to a preset weighing algorithm.
Optionally, the method further includes the following steps before S1:
s01, respectively carrying out no-load dynamic calibration, no-load static calibration, light-load dynamic calibration, light-load static calibration, full-load dynamic calibration and full-load static calibration on a controlled object;
and S02, respectively fitting the data obtained by calibration to obtain a no-load dynamic calibration curve, a no-load static calibration curve, a light-load dynamic calibration curve, a light-load static calibration curve, a full-load dynamic calibration curve and a full-load static calibration curve.
Optionally, each curve obtained by fitting in S02 is a corresponding relationship curve between the cylinder pressure and the scissor angle.
Optionally, the S4 specifically includes the following steps:
s21, the data which are detected in real time and used for judging overload comprise actually-measured oil cylinder pressure and actually-measured shearing angle, and no-load calibration pressure corresponding to the actually-measured shearing angle value and load calibration pressure corresponding to the current weighing mode are determined;
s22, taking a difference value between the load calibration pressure and the no-load calibration pressure as an overload threshold value, and taking a difference value between the actually measured oil cylinder pressure and the no-load calibration pressure as an actually measured pressure difference;
s23, judging whether the overload threshold value is larger than or equal to the actual measurement pressure difference or not, and if so, judging that the overload is not generated; if not, determining overload.
Optionally, the following step is further included after S4:
and S5, sending an alarm signal and prohibiting the whole vehicle from acting.
Optionally, the weight of the load used in calibration of the light load calibration is equal to 40% -60% of the weight of the rated load.
The invention also provides an aerial working platform which comprises a processor and a weighing mode switching key, wherein the processor is in communication connection with the weighing mode switching key; the processor is used for executing the overload detection method of the aerial work platform as claimed in any one of claims 1 to 5; the weighing mode switching key is used for manually switching the current weighing mode.
Optionally, the system further comprises a height limit switch, wherein the height limit switch is used for detecting the lifting height of the operation platform, and the height limit switch is in communication connection with the processor; the height limit switch is used for sending the detected height value to the processor; if the height value is larger than a preset height threshold value, the processor automatically switches the current weighing mode into a light-load mode; if the height value is less than or equal to the height threshold, the processor automatically switches the current weighing mode to a full load mode.
Optionally, the wind speed sensor is further included, and the wind speed sensor is in communication connection with the processor; the wind speed sensor is used for sending the detected wind speed value to the processor; if the wind speed value is larger than a preset wind speed threshold value, the processor automatically switches the current weighing mode into a light-load mode; and if the wind speed value is less than or equal to the wind speed threshold value, the processor automatically switches the current weighing mode into a full-load mode.
Optionally, the weighing mode switching key is a lifting key of the aerial work platform; when the lifting key is pressed for a long time, the processor switches the current weighing mode.
According to the overload detection method for the aerial work platform and the aerial work platform, an original single-load calibration mode is optimized by calibrating a mode comprising two different loads, a full-load mode or a light-load mode can be manually or automatically switched under different working conditions and environments, and for example, the full-load mode can be selected when the lifting height is low, the wind speed is low or the ground is level; the light load mode may be selected when the lift height is high, the wind speed is high or the ground is uneven. The switching of the weighing mode can enable the overload threshold value for judging overload to be matched with the current working condition and environment better, and further enable the overload judgment result to be more consistent with the current working condition and environment. The method is suitable for more working scenes, potential safety hazards caused by using a single overload detection mode are avoided, and the safety of the engineering machinery is improved.
Drawings
Fig. 1 is a flowchart of an overload detection method for an aerial platform according to an embodiment of the present invention.
Fig. 2 is a calibration flowchart according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a button of a controller of an aerial work platform according to an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating a full load mode and a light load mode being switched with each other according to an embodiment of the present invention.
Fig. 5 is a double-load pressure-angle curve diagram of a scissor-type aerial work platform according to an embodiment of the invention.
Detailed Description
In order to make the objects, advantages and features of the present invention more clear, the method for detecting overload of an aerial work platform and the aerial work platform according to the present invention will be described in further detail with reference to the accompanying drawings. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
In the description of the present invention, the terms "first", "second", etc. are used for convenience of description and reference, but are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined by a qualifier such as "first," "second," etc., may explicitly or implicitly include one or more of that feature.
As shown in fig. 1, the present embodiment provides an overload detection method for an aerial platform, which can be applied to engineering machinery including an aerial platform and an aerial vehicle, and the like, which include a liftable aerial platform, and the following description mainly takes a scissor-type aerial platform as an example, and the overload detection method for an aerial platform includes the following steps:
s1, determining a current weighing mode, wherein the prestored weighing mode comprises a full-load mode and an underload mode, and an overload threshold corresponding to the full-load mode is larger than an overload threshold corresponding to the underload mode.
Alternatively, as shown in fig. 3 and 4, the weighing mode may be switched manually or automatically, for example, the weighing mode may be switched manually by pressing a lifting button of the aerial work platform manually. In the full load mode, a heavier load can be carried on the work platform than in the light load mode without alarming due to overload. For another example, in order to prevent the aerial platform from toppling, when the lifting height of the aerial platform is below the calibrated height, the full-load mode is automatically used; when the lifting height is higher than the calibration height, a light-load mode is automatically used; the two modes can be seamlessly switched, so that the weighing mode can be automatically switched.
And S2, acquiring data which is detected in real time and used for judging overload.
For the scissor-type aerial work platform, whether overload occurs or not can be judged according to the corresponding relation between the oil cylinder pressure and the scissor angle; whether overload is caused can also be determined and judged according to the corresponding relation between the oil cylinder pressure and the scissor height. The angle of the scissors and the height of the scissors can be converted through a trigonometric function relationship. For other aerial work platforms, other data may be used to determine if there is an overload.
S3, obtaining calibration data corresponding to a current weighing mode, wherein the full-load mode corresponds to full-load calibration data, and the full-load calibration data refers to calibration data obtained by placing a rated load on the operation platform for calibration; the light load mode corresponds to light load calibration data, and the light load calibration data represents calibration data obtained by placing a load smaller than the rated load and larger than zero on the operation platform for calibration.
Step S2 and step S3 may be performed simultaneously, or step S3 may be performed after step S1 and before step S2. The data for calculating the load detected in real time and the calibration data are corresponding, so that the overload can be judged and the load can be calculated by taking the calibration data as a reference.
And S4, determining whether the current load is overloaded according to a preset weighing algorithm.
Optionally, the pressure of an oil cylinder of the scissor-type aerial work platform and the angle of the scissor are used as calibration data, and the oil cylinder is used for controlling the lifting and the falling of the scissor. The calibration can be divided into dynamic calibration and static calibration, wherein the dynamic calibration refers to periodically collecting the oil cylinder pressure and the shear fork angle in the continuous rising process of the operation platform, and the static calibration refers to collecting the oil cylinder pressure and the shear fork angle after the operation platform rises to a specified position and is static. During overload detection, the full-load mode comprises a full-load dynamic mode and a full-load static mode, and the light-load mode comprises a light-load dynamic mode and a light-load static mode, so that the subdivision can improve the detection accuracy.
Referring to fig. 5, the weighing algorithm may include the following two algorithms:
carrying out overload judgment on the load and the weight of the operation platform as a whole by an algorithm I: the data for judging overload detected in real time comprises actual measurement pressure and an actual measurement angle; determining the calibration pressure in a calibration curve corresponding to the current weighing mode corresponding to the actual measurement angle; judging whether the calibrated pressure is greater than or equal to the actual measurement pressure, if so, judging that the current is not overloaded; if not, judging the current overload. Specifically, the double-load pressure-angle curve represents a relation curve between the oil cylinder pressure and the scissor angle obtained through sampling data fitting during calibration; assuming that the current weighing mode is a full-load dynamic mode, and a calibration curve corresponding to the full-load dynamic mode is a full-load-dynamic-lifting curve in the graph; the data for judging overload detected in real time is assumed to be (x, y), wherein x represents the actually measured angle, and y represents the actually measured pressure; firstly, determining a calibration pressure y 'corresponding to x in a full-load-dynamic-lifting curve, and if y' is more than or equal to y, judging that the current load is not overloaded; if y' < y, then the current overload is determined. The calculation principle of the light load mode and the full load mode is the same, and the description is omitted here.
And secondly, only taking the load on the operation platform as a weighing object to carry out overload judgment: s21, the data which are detected in real time and used for judging overload comprise actually-measured oil cylinder pressure and actually-measured shearing angle, and no-load calibration pressure corresponding to the actually-measured shearing angle value and load calibration pressure corresponding to the current weighing mode are determined; s22, taking a difference value between the load calibration pressure and the no-load calibration pressure as an overload threshold value, and taking a difference value between the actually measured oil cylinder pressure and the no-load calibration pressure as an actually measured pressure difference; s23, judging whether the overload threshold value is larger than or equal to the actual measurement pressure difference or not, and if so, judging that the overload is not generated; if not, determining overload. Specifically, the current weighing mode is assumed to be a light-load dynamic mode, and a calibration curve corresponding to the light-load dynamic mode is a light-load-dynamic-lifting curve in the figure; the data for judging overload detected in real time is assumed to be (x 1, y 1), wherein x1 represents the actually measured angle, and y1 represents the actually measured pressure; firstly, determining a first calibration pressure y2 corresponding to x1 in a light load-dynamic-lifting curve, and then determining a second calibration pressure y3 corresponding to x1 in a no-load-dynamic-lifting curve, wherein y2-y3= an overload threshold; y1-y3= measured pressure differential; if (y 2-y 3) is more than or equal to (y 1-y 3), judging that the overload is not generated currently; if (y 2-y 3) < y1-y 3), it is determined that the overload is currently present. The calculation principle of the light load mode and the full load mode is the same, and the description is omitted here.
According to the overload detection method for the aerial work platform, an original single-load calibration mode is optimized by calibrating a mode comprising two different loads, a full-load mode or a light-load mode can be manually or automatically switched under different working conditions and environments, and for example, the full-load mode can be selected when the lifting height is low, the wind speed is low or the ground is flat; the light load mode may be selected when the lift height is high, the wind speed is high or the ground is uneven. The switching of the weighing mode can enable the overload threshold value for judging overload to be matched with the current working condition and environment better, and further enable the overload judgment result to be more consistent with the current working condition and environment. The method is suitable for more working scenes, avoids potential safety hazards caused by using a single overload detection mode, and improves the safety of the engineering machinery.
Optionally, the step of S1 further includes the following steps:
s01, respectively carrying out no-load dynamic calibration, no-load static calibration, light-load dynamic calibration, light-load static calibration, full-load dynamic calibration and full-load static calibration on a controlled object;
and S02, respectively fitting the data obtained by calibration to obtain a no-load dynamic calibration curve, a no-load static calibration curve, a light-load dynamic calibration curve, a light-load static calibration curve, a full-load dynamic calibration curve and a full-load static calibration curve.
The controlled object can be an engineering machine comprising a liftable operation platform, such as an aerial work platform, an aerial work vehicle and the like. The same type of working machine may directly use the data calibrated by other working machines in this type. Each engineering machine is calibrated, the overload detection result is more accurate, but the cost is higher. As shown in fig. 2 and 5, the present embodiment provides a dual load calibration, which refers to a light load calibration and a full load calibration. The whole factory can weigh and calibrate the aerial work platform during factory debugging, and can sequentially carry out no-load calibration (the work platform does not place a load), light-load calibration (the work platform places a small load) and full-load calibration (the work platform places a rated load).
In other embodiments, more than three loads with different weights can be used for calibration, and then overload judgment is carried out according to different weighing modes.
Optionally, each curve obtained by fitting in S02 is a corresponding relationship curve between the cylinder pressure and the scissor angle. According to the relation between the pressure of the oil cylinder and the angle of the scissor fork, whether the work platform is overloaded or not can be judged quickly. In other embodiments, other parameters may be used to determine whether the work platform is overloaded, for example, whether the work platform is overloaded based on the relationship between the cylinder pressure and the scissor height, or whether the work platform is overloaded based on the relationship between the cylinder pressure and the work platform height.
Optionally, the following step is further included after S4: and S5, sending an alarm signal and prohibiting the whole vehicle from acting. The alarm signal is sent out, so that the operator can know that the operation platform is overloaded in time, and the whole vehicle is forbidden to act, so that the phenomenon that the whole vehicle continues to lift or walk after being operated by mistake to increase danger can be prevented.
Optionally, the weight of the load used in calibration of the light load calibration is equal to 40% -60% of the weight of the rated load. The weight of the load used during calibration of the light load calibration can be equal to 50% or about 50% of the weight of the rated load, so that the overload threshold corresponding to the light load mode is approximately equal to half of the overload threshold corresponding to the full load mode, and the practical effect of the overload detection method of the aerial work platform is improved. If the overload threshold corresponding to the underload mode is too small, the alarm frequency is increased; if the overload threshold corresponding to the light load mode is too large, the aerial work platform cannot detect overload in time.
Based on the same technical concept as the overload detection method for the aerial work platform, the embodiment also provides the aerial work platform, which comprises a processor and a weighing mode switching key, wherein the processor is in communication connection with the weighing mode switching key; the processor is used for executing the overload detection method of the aerial work platform; the weighing mode switching key is used for manually switching the current weighing mode.
According to the aerial work platform provided by the embodiment, the original single-load calibration mode is optimized by calibrating the mode containing two different loads, and when the lifting heights are different, a light load mode or a full load mode can be selected, and corresponding overload detection judgment is made. The method is suitable for more working scenes, and potential safety hazards caused by using a single overload detection mode are avoided.
Optionally, the aerial work platform further includes a height limit switch, the height limit switch is used for detecting a rising height of the work platform, and the height limit switch is in communication connection with the processor; the height limit switch is used for sending the detected height value to the processor; if the height value is larger than a preset height threshold value, the processor automatically switches the current weighing mode into a light-load mode; if the height value is less than or equal to the height threshold, the processor automatically switches the current weighing mode to a full load mode. Through the height limit switch and the processor, the weighing mode can be automatically switched, and the automatic control of the aerial work platform is improved. The limit switch can be arranged on a scissor fork of the scissor fork type aerial work platform, and the rising height of the work platform can be indirectly detected by detecting the rising height of the scissor fork.
Optionally, the aerial work platform further comprises an air speed sensor, and the air speed sensor is in communication connection with the processor; the wind speed sensor is used for sending the detected wind speed value to the processor; if the wind speed value is larger than a preset wind speed threshold value, the processor automatically switches the current weighing mode into a light load mode; and if the wind speed value is less than or equal to the wind speed threshold value, the processor automatically switches the current weighing mode into a full-load mode. The wind speed sensor and the processor can realize automatic switching of the weighing mode, and the automatic control of the aerial work platform is improved. The wind speed sensor may be mounted on the work platform or on the scissor.
Optionally, as shown in fig. 3 and 4, the weighing mode switching key is a lifting key of the aerial work platform; when the lifting key is pressed for a long time, the processor switches the current weighing mode. For example, below the safe height, the lift key is pressed for 3 seconds, and the mode can be switched between the full load mode and the light load mode.
Optionally, an indicator light is arranged on the lifting key, and if the current weighing mode is a full-load mode, the indicator light is normally on; and if the current weighing mode is the light-load mode, the indicator light flickers. The operator can conveniently identify the current weighing mode by the aid of the flickering and constant lighting of the indicator lamp.
In summary, according to the overload detection method for the aerial work platform and the aerial work platform provided by the invention, the original single-load calibration mode is optimized by calibrating the mode including two different loads, and the full-load mode or the light-load mode can be switched manually or automatically under different working conditions and environments, for example, the full-load mode can be selected when the lifting height is low, the wind speed is low or the ground is level; the light load mode may be selected when the lift height is high, the wind speed is high or the ground is uneven. The switching of the weighing mode can enable the overload threshold value for judging overload to be matched with the current working condition and environment better, and further enable the overload judgment result to be more consistent with the current working condition and environment. The method is suitable for more working scenes, avoids potential safety hazards caused by using a single overload detection mode, and improves the safety of the engineering machinery.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the present invention.
Claims (10)
1. An overload detection method for an aerial work platform is characterized by comprising the following steps:
s1, determining a current weighing mode, wherein the prestored weighing mode comprises a full-load mode and an underload mode, and an overload threshold corresponding to the full-load mode is larger than an overload threshold corresponding to the underload mode;
s2, acquiring data which are detected in real time and used for judging overload;
s3, obtaining calibration data corresponding to a current weighing mode, wherein the full-load mode corresponds to full-load calibration data, and the full-load calibration data refers to calibration data obtained by placing a rated load on the operation platform for calibration; the light load mode corresponds to light load calibration data, and the light load calibration data represents calibration data obtained by placing a load smaller than the rated load and larger than zero on the operation platform for calibration;
and S4, determining whether the current is overloaded according to a preset weighing algorithm.
2. The method as claimed in claim 1, wherein the step S1 is preceded by the steps of:
s01, respectively carrying out no-load dynamic calibration, no-load static calibration, light-load dynamic calibration, light-load static calibration, full-load dynamic calibration and full-load static calibration on a controlled object;
and S02, respectively fitting the data obtained by calibration to obtain a no-load dynamic calibration curve, a no-load static calibration curve, a light-load dynamic calibration curve, a light-load static calibration curve, a full-load dynamic calibration curve and a full-load static calibration curve.
3. The method as claimed in claim 2, wherein the curves obtained by fitting in S02 are corresponding curves between cylinder pressure and scissor angle.
4. The method as claimed in claim 3, wherein the step S4 includes the following steps:
s21, the data which are detected in real time and used for judging overload comprise actually-measured oil cylinder pressure and actually-measured shearing angle, and no-load calibration pressure corresponding to the actually-measured shearing angle value and load calibration pressure corresponding to the current weighing mode are determined;
s22, taking a difference value between the load calibration pressure and the no-load calibration pressure as an overload threshold value, and taking a difference value between the actually measured oil cylinder pressure and the no-load calibration pressure as an actually measured pressure difference;
s23, judging whether the overload threshold is larger than or equal to the actual measurement pressure difference or not, and if so, judging that the overload is not carried out; if not, determining overload.
5. The method as claimed in claim 1, wherein the step of detecting overload of the aerial work platform after S4 further comprises the steps of:
and S5, sending an alarm signal and prohibiting the whole vehicle from acting.
6. The method as claimed in claim 1, wherein the light load calibration uses a load weight equal to 40-60% of the weight of the rated load.
7. An aerial work platform is characterized by comprising a processor and a weighing mode switching key, wherein the processor is in communication connection with the weighing mode switching key; the processor is used for executing the overload detection method of the aerial work platform as claimed in any one of claims 1 to 5; the weighing mode switching key is used for manually switching the current weighing mode.
8. An aerial work platform as defined in claim 7 further comprising a height limit switch for detecting the elevation of the work platform, the height limit switch being communicatively coupled to the processor; the height limit switch is used for sending the detected height value to the processor; if the height value is larger than a preset height threshold value, the processor automatically switches the current weighing mode into a light-load mode; if the height value is less than or equal to the height threshold, the processor automatically switches the current weighing mode to a full load mode.
9. The aerial work platform of claim 7 further comprising an air velocity sensor, the air velocity sensor communicatively coupled to the processor; the wind speed sensor is used for sending the detected wind speed value to the processor; if the wind speed value is larger than a preset wind speed threshold value, the processor automatically switches the current weighing mode into a light load mode; and if the wind speed value is less than or equal to the wind speed threshold value, the processor automatically switches the current weighing mode into a full-load mode.
10. The aerial work platform of claim 7 wherein the weighing mode switch button is a lift button of the aerial work platform; when the lifting key is pressed for a long time, the processor switches the current weighing mode.
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| CN202211058506.9A CN115321438B (en) | 2022-08-30 | Overload detection method for aerial work platform and aerial work platform |
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