CN116605813B - Aerial working platform, calibration method and weighing detection method - Google Patents
Aerial working platform, calibration method and weighing detection method Download PDFInfo
- Publication number
- CN116605813B CN116605813B CN202310891217.5A CN202310891217A CN116605813B CN 116605813 B CN116605813 B CN 116605813B CN 202310891217 A CN202310891217 A CN 202310891217A CN 116605813 B CN116605813 B CN 116605813B
- Authority
- CN
- China
- Prior art keywords
- control unit
- value
- angle
- calibration
- load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005303 weighing Methods 0.000 title claims abstract description 117
- 238000001514 detection method Methods 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000003068 static effect Effects 0.000 claims description 82
- 238000011088 calibration curve Methods 0.000 claims description 55
- 230000004044 response Effects 0.000 claims description 12
- 230000003993 interaction Effects 0.000 abstract description 15
- 230000008569 process Effects 0.000 description 16
- 230000005856 abnormality Effects 0.000 description 11
- 230000002159 abnormal effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—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 actuated by lazy-tongs mechanisms or articulated levers
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/62—Over or under weighing apparatus
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides an aerial working platform, a calibration method and a weighing detection method. The aerial work platform includes: the lifting fork comprises an oil cylinder provided with a pressure detection unit, a lifting fork provided with an angle detection unit, a first control unit and a second control unit; the oil cylinder is arranged on the liftable fork; the first control unit collects a plurality of first angle values sent by the angle detection unit and determines corresponding calibration points according to each first angle value, and collects first pressure values corresponding to all the calibration points; the first control unit is also used for sending all the calibration points to the second control unit; the second control unit receives all the calibration points sent by the first control unit and acquires corresponding second angle values and second pressure values according to each calibration point; the first control unit and the second control unit send the respectively acquired angle value and pressure value to each other for real-time data interaction. The high-altitude operation platform provided by the invention has the advantages that the calibration flow is more stable, and the overload detection is more accurate.
Description
Technical Field
The invention relates to an aerial working platform, in particular to an aerial working platform, a calibration method and a weighing detection method.
Background
The weighing calibration method used by the aerial working platform in the market at present is mainly to collect calibration data through a single channel, and only one control unit is used for analyzing and processing the calibration data during the aerial working, so that the reliability of the data cannot be verified; in practical application, because the vehicle height difference, the oil pressure instability in the movement process and the sensor data acquisition precision difference are all easy to cause larger fluctuation of the finally acquired calibration data, specifically, referring to fig. 1, fig. 1 is a calibration graph provided by the prior art, as can be seen from fig. 1, the calibration data acquired by the prior art do not perform any data interaction, and when the aerial working platform works, the problem of false alarm and alarm does not occur easily when the actual weighing data at the same position is compared with the calibration data; and the conditions such as data abnormality, flow abnormality and the like in the calibration process cannot be found in time.
Therefore, how to provide an aerial working platform, a calibration method and a weighing detection method to overcome the above-mentioned defects in the prior art is becoming one of the technical problems to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide an aerial working platform, a calibration method and a weighing detection method, which are used for solving the problems that in the prior art, data abnormality and flow abnormality easily occur in the calibration process and data interaction cannot be performed.
In order to achieve the above object, the present invention provides an aerial work platform comprising: the electric control unit is provided with an oil cylinder of the pressure detection unit and a liftable fork of the angle detection unit; the electrical control unit comprises a first control unit and a second control unit; the pressure detection unit and the angle detection unit are electrically connected with the electrical control unit;
wherein the oil cylinder is arranged on the liftable fork;
the first control unit is configured to: collecting a plurality of first angle values sent by the angle detection unit, determining corresponding calibration points according to each first angle value, and collecting first pressure values corresponding to all the calibration points; the first control unit is further used for generating a first calibration curve according to all the first angle values and the first pressure value corresponding to each first angle value; and sending all the calibration points and the first angle value and the first pressure value corresponding to each calibration point to the second control unit for comparison;
The second control unit is configured to: receiving all the calibration points sent by the first control unit, replying response information after receiving each calibration point, collecting corresponding second angle values and second pressure values according to each calibration point, and generating a second calibration curve according to all the second angle values and second pressure values corresponding to each second angle value by the second control unit; and sending the second angle value and the second pressure value corresponding to each calibration point to the first control unit for comparison.
Optionally, when the aerial platform performs weighing detection by using the first calibration curve and the second calibration curve,
the first control unit is further used for acquiring a first weight value and a first weighing angle value of a target object and acquiring first weighing detection information of the target object according to the first weight value, the first weighing angle value and the first calibration curve;
the second control unit is further used for acquiring a second weight value and a second weighing angle value of the target object, and acquiring second weighing detection information of the target object according to the second weight value, the second weighing angle value and the second calibration curve.
Optionally, the device also comprises a chassis box body and a weighing platform;
the chassis box body is connected with the bottom of the liftable fork frame, and the first control unit and the second control unit are arranged in the chassis box body;
the weighing platform is connected with the top of the liftable fork frame.
Optionally, the liftable fork comprises a plurality of X-shaped columns, and the X-shaped columns are formed by cross connection of two identical columns;
wherein the two columns can rotate to form an included angle by taking the cross joint as a branch part;
the two adjacent end parts in the first X-shaped column body are connected with the chassis box body, the other two end parts in the first X-shaped column body are connected with the two adjacent end parts in the second X-shaped column body adjacent to the first X-shaped column body, the other two end parts in the second X-shaped column body are connected with the two adjacent end parts in the third X-shaped column body adjacent to the second X-shaped column body, and the two end parts are sequentially connected until the other two end parts in the tail end X-shaped column body are connected with the weighing platform;
the X-shaped columns are rotatably connected at the joint, and an included angle of the two connected X-shaped columns at the joint forms an included angle through rotation;
the oil cylinder and the angle detection unit are respectively arranged on any column body of any X-shaped column body.
Optionally, the system further comprises a first storage unit and a second storage unit;
the first storage unit is used for storing all the calibration points acquired by the first control unit and the first angle value and the first pressure value corresponding to each calibration point;
the second storage unit is used for storing all the second angle values acquired by the second control unit and the second pressure value corresponding to each second angle value.
In order to achieve the above object, the present invention further provides a calibration method, including calibrating using any one of the aerial platform described above, the calibration method including:
controlling the top of the liftable fork to move from a preset starting position to a preset ending position;
the first control unit is used for collecting a plurality of first angle values sent by the angle detection unit in a preset bearing state, and corresponding calibration points are generated according to each first angle value;
controlling the top of the liftable fork to move from the preset starting position to the preset ending position again; when the first control unit moves to one of the target points, the first control unit sends the target point to the second control unit, and the second control unit replies response information to the first control unit; the first control unit acquires a first angle value and a first pressure value corresponding to the standard point in the preset bearing state; and sending the first angle value and the first pressure value corresponding to the calibration point to the second control unit; the second control unit acquires a second angle value and a second pressure value corresponding to the standard point in the preset bearing state; and sending the second angle value and the second pressure value corresponding to the calibration point to the first control unit;
According to a preset judging rule, the first control unit judges whether the first angle value and the first pressure value which are acquired by the first control unit and correspond to the calibration point meet a preset condition or not according to the acquired first angle value and the first pressure value which are corresponding to the calibration point and the received second angle value and the received second pressure value which are corresponding to the calibration point, and if so, the first angle value and the first pressure value are used as first acquisition values of the calibration point; the second control unit judges whether the second angle value and the second pressure value which are acquired by the second control unit and correspond to the calibration point meet a preset condition according to the acquired second angle value and second pressure value which are corresponding to the calibration point and the received first angle value and first pressure value which are corresponding to the calibration point, and if yes, the second angle value and the second pressure value are taken as second acquisition values of the calibration point;
sequentially performing the steps until the first control unit and the second control unit finish the collection of the angle values and the pressure values corresponding to all the standard points;
The first control unit generates a first calibration curve according to the first acquired value corresponding to each calibration point, and the second control unit generates a second calibration curve according to the second acquired value corresponding to each calibration point.
Optionally, the determining, according to a preset determining rule, includes:
calculating an angle difference value of the first angle value and the second angle value corresponding to the standard point, and calculating a pressure difference value of the first pressure value and the second pressure value corresponding to the standard point;
comparing the angle difference value with a preset angle difference value threshold, and if the angle difference value is smaller than or equal to the preset angle difference value threshold, judging that the first angle value and the second angle value are both angle values corresponding to the standard point; and comparing the pressure difference value with a preset pressure difference value threshold, and if the pressure difference value is smaller than or equal to the preset pressure difference value threshold, judging that the first pressure value and the second pressure value are both pressure values corresponding to the standard point.
Optionally, the preset carrying state includes:
the aerial work platform is in one of a static full load state, a static no-load state, a dynamic full load state or a dynamic no-load state.
Optionally, the method is characterized in that,
the first control unit acquires a first angle value and a first pressure value corresponding to the calibration point in a preset bearing state, and the first control unit comprises:
when the aerial working platform is in a static full-load state, the first control unit collects a first static full-load angle value and a first static full-load pressure value corresponding to each standard point; when the aerial working platform is in a static idle state, the first control unit acquires a first static idle angle value and a first static idle pressure value corresponding to each standard point; when the aerial work platform is in a dynamic full-load state, the first control unit collects a first dynamic full-load angle value and a first dynamic full-load pressure value corresponding to each standard point; when the aerial working platform is in a dynamic idle state, the first control unit collects a first dynamic idle angle value and a first dynamic idle pressure value corresponding to each standard point;
the first calibration curve includes: a first static full-load curve is obtained according to the first static full-load angle value and the first static full-load pressure value corresponding to each calibration point; a first static idle load curve is obtained according to the first static idle load angle value and the first static idle load pressure value corresponding to each calibration point; a first dynamic full-load curve is obtained according to the first dynamic full-load angle value and the first dynamic full-load pressure value corresponding to each calibration point; the first dynamic idle load curve is obtained according to the first dynamic idle load angle value and the first dynamic idle load pressure value corresponding to each calibration point;
The second control unit acquires a second angle value and a second pressure value corresponding to the calibration point in a preset bearing state, and the second control unit comprises:
when the aerial working platform is in a static full-load state, the second control unit acquires a second static full-load angle value and a second static full-load pressure value corresponding to each standard point; when the aerial working platform is in a static idle state, the second control unit acquires a second static idle angle value and a second static idle pressure value corresponding to each standard point; when the aerial work platform is in a dynamic full-load state, the second control unit acquires a second dynamic full-load angle value and a second dynamic full-load pressure value corresponding to each standard point; when the aerial working platform is in a dynamic idle state, the second control unit acquires a second dynamic idle angle value and a second dynamic idle pressure value corresponding to each standard point;
the second calibration curve includes: a second static full-load curve is obtained according to the second static full-load angle value and the second static full-load pressure value corresponding to each calibration point; a second static idle load curve is obtained according to a second static idle load angle value and a second static idle load pressure value corresponding to each calibration point; a second dynamic full-load curve is obtained according to the second dynamic full-load angle value and the second dynamic full-load pressure value corresponding to each calibration point; and a second dynamic idle curve obtained according to the second dynamic idle angle value and the second dynamic idle pressure value corresponding to each calibration point.
In order to achieve the above purpose, the invention also provides a weighing detection method, which comprises the steps of detecting the first calibration curve and the second calibration curve obtained by adopting the calibration method; the weighing detection method comprises the following steps:
collecting a first weighing angle value and a first weight value of a target object in a current state by using the first control unit; collecting a second weighing angle value and a second weight value of the target object in the current state by using the second control unit; the current state is one of static state and dynamic state of the aerial working platform;
acquiring first weighing detection information according to the first weighing angle value and a first full load curve and a first no-load curve corresponding to the current state, and acquiring second weighing detection information according to the second weighing angle value and a second full load curve and a second no-load curve corresponding to the current state;
and acquiring overload information of the target object according to the first weight value, the second weight value, the first weighing detection information and the second weighing detection information of the target object.
Optionally, the obtaining the first weighing detection information according to the first weighing angle value and the first full load curve and the first no-load curve corresponding to the current state includes:
According to a first full load curve and a first no-load curve which correspond to the current state, calculating a first difference value of a first no-load pressure value corresponding to the first weighing angle value and a second difference value of a first full load pressure value corresponding to the first weighing angle value and the first no-load pressure value;
the obtaining second weighing detection information according to the second weighing angle value and the second full load curve and the second no-load curve corresponding to the current state includes:
and calculating a third difference value of a second idle pressure value corresponding to the second weighing angle value and the second weight value according to a second full load curve and a second idle load curve corresponding to the current state, and calculating a fourth difference value of the second full load pressure value corresponding to the second weighing angle value and the second idle pressure value.
Optionally, the obtaining overload information of the target object according to the first weight value, the second weight value, the first weighing detection information and the second weighing detection information of the target object includes:
calculating a first ratio of the first difference to the second difference, and calculating a second ratio of the third difference to the fourth difference;
And comparing the first ratio with a preset overload threshold value respectively, and judging that the target object is overloaded when the first ratio and/or the second ratio is/are larger than the preset overload threshold value.
Optionally, after the determining that the target object is overloaded, the method further includes:
sending an alarm instruction to an alarm through the first control unit, and sending overload alarm by using the alarm; sending the overload information to a display through the first control unit, and displaying the overload information by using the display; and the first control unit and the second control unit jointly send out a forbidden instruction for controlling the aerial work platform to stop acting.
Compared with the prior art, the aerial working platform, the calibration method and the weighing detection method provided by the invention have the following beneficial effects:
according to the aerial work platform, the first control unit and the second control unit which can perform data interaction are arranged, and the first control unit and the second control unit can respectively collect angle values and pressure values and perform real-time data interaction; therefore, when the subsequent aerial working platform performs calibration and detection, the aerial working platform data is more accurate, the calibration flow is more stable, and the overload detection is more accurate through the real-time data interaction of the first control unit and the second control unit.
According to the calibration method provided by the invention, the collected calibration points are sent to the second control unit (such as an SPU control unit) through the first control unit (such as an MPU control unit), and when the aerial work platform lifts again, the first control unit and the second control unit collect angle values and pressure values at each calibration point respectively, and send the angle values and the pressure values corresponding to each collected calibration point to each other for real-time data comparison, so that abnormal data in the calibration process are found in time, the calibration data are more accurate, the finally collected angle values and the finally collected pressure values are both normal values, and the reliability of a first calibration curve generated by the first control unit and a second calibration curve generated by the second control unit is ensured; further, the second control unit replies response information after receiving the calibration point sent by the first control unit; therefore, whether the first control unit receives the response information or not can judge whether the second control unit receives the calibration point sent by the first control unit or whether the second control unit has calibration problems or not, and accordingly the problem of abnormal calibration flow in the calibration process can be found in time. Therefore, compared with a single calibration curve obtained by a single control unit, the calibration method provided by the invention adopts a redundant design, and the problems of data abnormality and flow abnormality in the calibration process can be found in time through the real-time data interaction of the first control unit and the second control unit, so that the calibration data is more accurate; meanwhile, a foundation is laid for detecting whether overload exists or not when the subsequent aerial working platform performs weighing detection.
According to the weighing detection method provided by the invention, the first weight value and the first weighing angle value of the target object are compared with the first calibration curve, and the second weight value and the second weighing angle value are compared with the second calibration curve, so that the obtained overload information is compared with the error easily occurring when a single control unit detects the target object. The weighing detection method provided by the invention enables overload information detection to be more accurate and reliable through redundant design.
Drawings
FIG. 1 is a calibration graph provided by the prior art;
fig. 2 is a schematic structural diagram of an aerial working platform according to a first embodiment of the present invention;
FIG. 3 is a flow chart of a calibration method according to a second embodiment of the present invention;
FIG. 4 is a calibration graph collected by a first control unit according to a second embodiment of the present invention;
FIG. 5 is a calibration graph collected by a second control unit according to a second embodiment of the present invention;
fig. 6 is a flowchart of a weighing detection method according to a third embodiment of the present invention;
wherein, the reference numerals are as follows:
100-liftable fork, 200-hydro-cylinder, 300-angle detecting element, 400-pressure detecting element, 500-first control unit, 600-second control unit, 700-electric control unit, 800-chassis box, 900-weighing platform.
Detailed Description
Specific embodiments of the present invention will be described in more detail below with reference to the drawings. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention. It should be understood that the drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. Specific design features of the invention disclosed herein, including for example, specific dimensions, orientations, positions, and configurations, will be determined in part by the specific intended application and use environment. In the embodiments described below, the same reference numerals are used in common between the drawings to denote the same parts or parts having the same functions, and the repetitive description thereof may be omitted. In this specification, like reference numerals and letters are used to designate like items, and thus once an item is defined in one drawing, no further discussion thereof is necessary in subsequent drawings.
Before explaining embodiments of the present invention in detail, for the convenience of understanding the present invention, fig. 4 and 5 are collectively described as follows: fig. 4 and 5 are pressure angle curves under different conditions, wherein the vertical axis represents ADC values corresponding to the output voltage of the pressure detection unit; the horizontal axis represents the ADC value corresponding to the output voltage of the angle detection unit. Specifically, the correspondence between the ADC value and the output voltage of the angle detection unit is as follows: 4096/5000 mv=x/V, wherein 5000mV is ADC reference voltage, 4096 is ADC maximum value, V is angle detection unit output voltage, and X is the value of the horizontal axis in the figure; thus, the angle detection unit output voltage v= (5000×x/4096) mV can be obtained. Similarly, the correspondence between the ADC value and the output voltage of the pressure detection unit can be adaptively understood with reference to the above description.
Example 1
The present embodiment provides an aerial platform, specifically, please refer to fig. 2, fig. 2 schematically provides a schematic structural diagram of the aerial platform, and as can be seen from fig. 2, the aerial platform includes: an electrical control unit 700 provided with the oil cylinder 200 of the pressure detecting unit 400 and the liftable fork 100 provided with the angle detecting unit 300; the electrical control unit 700 includes a first control unit 500 and a second control unit 600; the pressure detecting unit 400 and the angle detecting unit 300 are electrically connected to the electrical control unit 700.
Specifically, the oil cylinder 200 is provided on the liftable fork 100.
The first control unit 500 is configured to: collecting a plurality of first angle values sent by the angle detection unit 300, determining corresponding calibration points according to each first angle value, and collecting first pressure values corresponding to all the calibration points; the first control unit 500 is further configured to generate a first calibration curve according to all the first angle values and the first pressure value corresponding to each first angle value; and transmitting all the calibration points and the first angle values and the first pressure values corresponding to each calibration point to the second control unit 600 for comparison.
The second control unit 600 is configured to: receiving all the calibration points sent by the first control unit 500, replying response information after receiving each calibration point, and collecting a corresponding second angle value and a second pressure value according to each calibration point, wherein the second control unit 600 is further configured to generate a second calibration curve according to all the second angle values and the second pressure value corresponding to each second angle value; and sending the second angle value and the second pressure value corresponding to each of the calibration points to the first control unit 500 for comparison.
By setting the first control unit 500 and the second control unit 600 capable of performing data interaction, the first control unit 500 and the second control unit 600 can respectively collect angle values and pressure values and perform real-time data interaction; therefore, when the aerial platform is calibrated and detected subsequently, the aerial platform data is more accurate, the calibration process is more stable, and the overload detection is more accurate through the real-time data interaction of the first control unit 500 and the second control unit 600.
Preferably, when the aerial platform performs weighing detection by using the first calibration curve and the second calibration curve,
the first control unit 500 is further configured to collect a first weight value and a first weighing angle value of a target object, and obtain first weighing detection information of the target object according to the first weight value, the first weighing angle value and the first calibration curve;
the second control unit 600 is further configured to collect a second weight value and a second weighing angle value of the target object, and obtain second weighing detection information of the target object according to the second weight value, the second weighing angle value and the second calibration curve.
Thus, the first control unit 500 and the second control unit 600 are used for weighing detection respectively, so that the risk that errors are easy to occur in detection by a single control unit is reduced, and the weighing detection is more accurate.
Preferably, the aerial working platform further comprises a chassis box 800 and a weighing platform 900; wherein the chassis box 800 is connected to the bottom of the liftable fork 100, and the first control unit 500 and the second control unit 600 are disposed in the chassis box 800; the weighing platform 900 is connected to the top of the liftable fork 100. Thus, the collection of calibration data and detection data is accomplished by placing a calibration object or target on the weigh platform 900.
In one preferred embodiment, the fork 100 comprises a plurality of X-shaped columns, which are formed by cross-connecting two identical columns;
wherein the two columns can rotate to form an included angle by taking the cross joint as a branch part;
the two adjacent ends of the first X-shaped column are connected with the chassis box 800, the other two ends of the first X-shaped column are connected with the two adjacent ends of the second X-shaped column, the other two ends of the second X-shaped column are connected with the two adjacent ends of the third X-shaped column, and the two adjacent ends of the second X-shaped column are sequentially connected until the other two ends of the terminal X-shaped column are connected with the weighing platform 900;
The X-shaped columns are rotatably connected at the joint, and an included angle of the two connected X-shaped columns at the joint forms an included angle through rotation;
the cylinder 200 and the angle detecting unit 300 are respectively disposed on any one of the X-shaped columns.
Therefore, the aerial work platform provided by the invention realizes the lifting of the lifting fork frame 100 through the rotation deformation of the X-shaped column body.
Preferably, the aerial platform further comprises a first storage unit (not labeled in the figure) and a second storage unit (not labeled in the figure); the first storage unit is configured to store all the calibration points acquired by the first control unit 500 and the first pressure value corresponding to each of the calibration points; the second storage unit is configured to store all the second angle values collected by the second control unit 600 and the second pressure value corresponding to each second angle value. In one preferred embodiment, the first control unit 500 includes an MPU control unit and the second control unit 600 includes an SPU control unit, both of which are internal integrated units of the electrical control unit 700, thereby enabling pressure and angle acquisition by the MPU control unit and the SPU control unit.
Example two
The embodiment provides a calibration method, which comprises the step of using the aerial work platform in any one of the embodiments. Specifically, referring to fig. 3, fig. 3 schematically provides a flowchart of a calibration method, and as can be seen from fig. 3, the calibration method includes:
s100: controlling the top of the liftable fork 100 to move from a preset starting position to a preset ending position;
s200: the first control unit 500 is used for collecting a plurality of first angle values sent by the angle detection unit 300 in a preset bearing state, and generating corresponding calibration points according to each first angle value;
s300: controlling the top of the liftable fork 100 to move again from the preset starting position to the preset ending position; each time the first control unit 500 moves to the target point, the first control unit 500 sends the target point to the second control unit 600, and the second control unit 600 replies response information to the first control unit 500; the first control unit 500 collects a first angle value and a first pressure value corresponding to the calibration point in the preset bearing state; and transmitting the first angle value and the first pressure value corresponding to the calibration point to the second control unit 600; the second control unit 600 collects a second angle value and a second pressure value corresponding to the calibration point in the preset bearing state; and transmitting the second angle value and the second pressure value corresponding to the calibration point to the first control unit 500;
S400: according to a preset judging rule, the first control unit 500 judges whether the first angle value and the first pressure value corresponding to the calibration point acquired by the first control unit 500 meet a preset condition according to the acquired first angle value and the first pressure value corresponding to the calibration point and the received second angle value and the received second pressure value corresponding to the calibration point, and if yes, the first angle value and the first pressure value are used as first acquisition values of the calibration point; the second control unit 600 determines whether the second angle value and the second pressure value corresponding to the calibration point acquired by the second control unit 600 meet a preset condition according to the second angle value and the second pressure value corresponding to the calibration point acquired and the received first angle value and first pressure value corresponding to the calibration point, and if yes, the second angle value and the second pressure value are taken as second acquired values of the calibration point;
s500: sequentially doing so until the first control unit 500 and the second control unit 600 complete the collection of the angle values and the pressure values corresponding to all the calibration points;
S600: the first control unit 500 generates a first calibration curve according to the first acquired value corresponding to each calibration point, and the second control unit 600 generates a second calibration curve according to the second acquired value corresponding to each calibration point.
So configured, in the calibration method provided by the present invention, the first control unit 500 (e.g., the MPU control unit) sends the collected calibration points to the second control unit 600 (e.g., the SPU control unit), and when the aerial work platform performs lifting operation again, the first control unit 500 and the second control unit 600 perform collection of an angle value and a pressure value at each calibration point, and send the angle value and the pressure value corresponding to each collected calibration point to each other for real-time data comparison, so that abnormal data occurring in the calibration process is found in time, so that the calibration data is more accurate, both the finally collected angle value and the finally collected pressure value are normal values, and reliability of a first calibration curve generated by the first control unit 500 and a second calibration curve generated by the second control unit 600 is ensured. Further, since the second control unit 600 replies to the response message after receiving the calibration point sent by the first control unit 500; therefore, by means of whether the first control unit 500 receives the response information, it can be determined whether the second control unit 600 receives the calibration point sent by the first control unit 500 or whether the calibration problem occurs in the second control unit 600, so that the problem of abnormal calibration flow rate in the calibration process can be found in time. Therefore, compared with a single calibration curve obtained by a single control unit, the calibration method provided by the invention adopts a redundant design, and the problems of data abnormality and flow abnormality in the calibration process can be found in time through the real-time data interaction of the first control unit 500 and the second control unit 600, so that the calibration data is more accurate; meanwhile, a foundation is laid for detecting whether overload exists or not when the subsequent aerial working platform performs weighing detection.
Preferably, the movement of the top of the liftable fork 100 from the preset starting position to the preset ending position includes: comprising the following steps: the top of the elevating fork 100 is controlled to rise from the lowest point to the highest point. Therefore, the collected calibration data including all data in the whole lifting process of the aerial working platform is ensured as far as possible.
In one preferred embodiment, the determining according to the preset determining rule includes: calculating an angle difference value of the first angle value and the second angle value corresponding to the standard point, and calculating a pressure difference value of the first pressure value and the second pressure value corresponding to the standard point;
comparing the angle difference value with a preset angle difference value threshold, and if the angle difference value is smaller than or equal to the preset angle difference value threshold, judging that the first angle value and the second angle value are both angle values corresponding to the standard point; and comparing the pressure difference value with a preset pressure difference value threshold, and if the pressure difference value is smaller than or equal to the preset pressure difference value threshold, judging that the first pressure value and the second pressure value are both pressure values corresponding to the standard point.
Therefore, by comparing and judging, it can be determined whether the pressure value and the angle value acquired by the first control unit 500 and the second control unit 600 are normal values, so that the data abnormality occurring in the calibration process can be found in time, and the calibration data is more accurate.
Preferably, the preset carrying state includes:
the aerial work platform is in one of a static full load state, a static no-load state, a dynamic full load state or a dynamic no-load state;
further, the first control unit 500 collects a first angle value and a first pressure value corresponding to the calibration point in a preset bearing state, including:
when the aerial working platform is in a static full-load state, the first control unit 500 collects a first static full-load angle value and a first static full-load pressure value corresponding to each calibration point; when the aerial work platform is in a static idle state, the first control unit 500 collects a first static idle angle value and a first static idle pressure value corresponding to each calibration point; the first control unit 500 collects a first dynamic full load angle value and a first dynamic full load pressure value corresponding to each calibration point when the aerial work platform is in a dynamic full load state; when the aerial work platform is in a dynamic idle state, the first control unit 500 collects a first dynamic idle angle value and a first dynamic idle pressure value corresponding to each standard point;
Referring to fig. 4, fig. 4 schematically provides a calibration curve acquired by the first control unit 500, and as can be seen from fig. 4, the first calibration curve includes: a first static full-load curve is obtained according to the first static full-load angle value and the first static full-load pressure value corresponding to each calibration point; a first static idle load curve is obtained according to the first static idle load angle value and the first static idle load pressure value corresponding to each calibration point; a first dynamic full-load curve is obtained according to the first dynamic full-load angle value and the first dynamic full-load pressure value corresponding to each calibration point; the first dynamic idle load curve is obtained according to the first dynamic idle load angle value and the first dynamic idle load pressure value corresponding to each calibration point;
correspondingly, the second control unit 600 collects a second angle value and a second pressure value corresponding to the calibration point in the preset bearing state, including:
when the aerial work platform is in a static full-load state, the second control unit 600 collects a second static full-load angle value and a second static full-load pressure value corresponding to each of the calibration points; when the aerial work platform is in a static idle state, the second control unit 600 collects a second static idle angle value and a second static idle pressure value corresponding to each of the calibration points; the second control unit 600 collects a second dynamic full load angle value and a second dynamic full load pressure value corresponding to each of the calibration points when the aerial work platform is in a dynamic full load state; and when the aerial work platform is in a dynamic idle state, the second control unit 600 collects a second dynamic idle angle value and a second dynamic idle pressure value corresponding to each of the calibration points;
Referring to fig. 5, fig. 5 schematically provides a calibration curve acquired by the second control unit 600, and as can be seen from fig. 5, the second calibration curve includes: a second static full-load curve is obtained according to the second static full-load angle value and the second static full-load pressure value corresponding to each calibration point; a second static idle load curve is obtained according to a second static idle load angle value and a second static idle load pressure value corresponding to each calibration point; a second dynamic full-load curve is obtained according to the second dynamic full-load angle value and the second dynamic full-load pressure value corresponding to each calibration point; and a second dynamic idle curve obtained according to the second dynamic idle angle value and the second dynamic idle pressure value corresponding to each calibration point.
Because the aerial platform includes two states, i.e. a moving state and a static state, and in different states, the pressure value and the angle value collected by the first control unit 500 and the second control unit 600 will also be different, so in this embodiment, calibration data of different states and different carrying capacities are collected, so as to obtain various calibration curves, so as to provide calibration curves in corresponding states for subsequent overload detection of the target object for detection.
Example III
The embodiment provides a weighing detection method, which comprises the steps of detecting the first calibration curve and the second calibration curve obtained by adopting the calibration method; specifically, referring to fig. 6, fig. 6 schematically provides a flowchart of a weighing detection method, and as can be seen from fig. 6, the weighing detection method includes:
b100: collecting a first weighing angle value and a first weight value of a target object in a current state by using the first control unit 500; and collecting a second weighing angle value and a second weight value of the target object in the current state by using the second control unit 600; the current state is one of static state and dynamic state of the aerial working platform;
b200: acquiring first weighing detection information according to the first weighing angle value and a first full load curve and a first no-load curve corresponding to the current state, and acquiring second weighing detection information according to the second weighing angle value and a second full load curve and a second no-load curve corresponding to the current state;
b300: and acquiring overload information of the target object according to the first weight value, the second weight value, the first weighing detection information and the second weighing detection information of the target object.
By means of the arrangement, the first weight value and the first weighing angle value of the target object are compared with the first calibration curve, and the second weight value and the second weighing angle value are compared with the second calibration curve, so that overload information is obtained, and compared with errors easily occurring when a single control unit detects the target object. The weighing detection method provided by the invention enables overload information detection to be more accurate and reliable through redundant design.
Preferably, the obtaining the first weighing detection information according to the first weighing angle value and the first full load curve and the first no-load curve corresponding to the current state includes:
according to a first full load curve and a first no-load curve which correspond to the current state, calculating a first difference value of a first no-load pressure value corresponding to the first weighing angle value and a second difference value of a first full load pressure value corresponding to the first weighing angle value and the first no-load pressure value;
the obtaining second weighing detection information according to the second weighing angle value and the second full load curve and the second no-load curve corresponding to the current state includes:
And calculating a third difference value of a second idle pressure value corresponding to the second weighing angle value and the second weight value according to a second full load curve and a second idle load curve corresponding to the current state, and calculating a fourth difference value of the second full load pressure value corresponding to the second weighing angle value and the second idle pressure value.
Further, the obtaining overload information of the target object according to the first weight value, the second weight value, the first weighing detection information and the second weighing detection information of the target object includes:
calculating a first ratio of the first difference to the second difference, and calculating a second ratio of the third difference to the fourth difference;
and comparing the first ratio with a preset overload threshold value respectively, and judging that the target object is overloaded when the first ratio and/or the second ratio is/are larger than the preset overload threshold value.
Therefore, the first ratio and the second ratio are respectively compared with the preset overload threshold, and when the first ratio and/or the second ratio are/is larger than the preset overload threshold, the target object is judged to be overloaded, so that the problem that overload conditions cannot be found in time or false alarm occurs when a single control unit detects overload is avoided.
Preferably, after the determining that the target object is overloaded, the method further includes: sending an alarm instruction to an alarm through the first control unit 500, and sending an overload alarm by using the alarm; sending the overload information to a display through the first control unit 500, and displaying the overload information by using the display; and the first control unit 500 and the second control unit 600 jointly send out a prohibition instruction for controlling the aerial work platform to stop acting. Therefore, when the target object is overloaded, the user can find out an overload problem in time through alarming and stopping actions, and meanwhile, the safety problem possibly occurring in continuous movement after overload is avoided.
In addition, the functional modules in the embodiments herein may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part. Furthermore, unless specifically stated or indicated otherwise, the terms "first," "second," "third," etc. in the description merely distinguish between components in the description. Elements, steps, etc., are not intended to represent logical or sequential relationships between various components, elements, steps, etc.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example.
In summary, the aerial work platform provided by the invention is provided with the first control unit 500 and the second control unit 600 which can perform data interaction, and the first control unit 500 and the second control unit 600 can respectively perform acquisition of angle values and pressure values and real-time data interaction; therefore, when the aerial platform is calibrated and detected subsequently, the aerial platform data is more accurate, the calibration process is more stable, and the overload detection is more accurate through the real-time data interaction of the first control unit 500 and the second control unit 600.
According to the calibration method provided by the invention, the first control unit 500 (e.g. MPU control unit) sends the collected calibration points to the second control unit 600 (e.g. SPU control unit), and when the aerial working platform lifts again, the first control unit 500 and the second control unit 600 collect angle values and pressure values at each calibration point respectively, and send the angle values and the pressure values corresponding to each collected calibration point to each other for real-time data comparison, so that abnormal data in the calibration process can be found timely, the calibration data is more accurate, the finally collected angle values and the finally collected pressure values are both normal values, and the reliability of a first calibration curve generated by the first control unit 500 and a second calibration curve generated by the second control unit 600 is ensured; further, since the second control unit 600 replies to the response message after receiving the calibration point sent by the first control unit 500; therefore, by means of whether the first control unit 500 receives the response information, it can be determined whether the second control unit 600 receives the calibration point sent by the first control unit 500 or whether the calibration problem occurs in the second control unit 600, so that the problem of abnormal calibration flow rate in the calibration process can be found in time. Therefore, compared with a single calibration curve obtained by a single control unit, the calibration method provided by the invention adopts a redundant design, and the problems of data abnormality and flow abnormality in the calibration process can be found in time through the real-time data interaction of the first control unit 500 and the second control unit 600, so that the calibration data is more accurate; meanwhile, a foundation is laid for detecting whether overload exists or not when the subsequent aerial working platform performs weighing detection.
According to the weighing detection method provided by the invention, the first weight value and the first weighing angle value of the target object are compared with the first calibration curve, and the second weight value and the second weighing angle value are compared with the second calibration curve, so that the obtained overload information is compared with the error easily occurring when a single control unit detects the target object. The weighing detection method provided by the invention enables overload information detection to be more accurate and reliable through redundant design.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art will make any equivalent substitution or modification to the technical solution and technical content disclosed in the invention without departing from the scope of the technical solution of the invention, and the technical solution of the invention is not departing from the scope of the invention.
Claims (12)
1. An aerial work platform, comprising: the electric control unit is provided with an oil cylinder of the pressure detection unit and a liftable fork of the angle detection unit; the electrical control unit comprises a first control unit and a second control unit; the pressure detection unit and the angle detection unit are electrically connected with the electrical control unit;
Wherein the oil cylinder is arranged on the liftable fork;
the first control unit is configured to: collecting a plurality of first angle values sent by the angle detection unit, determining corresponding calibration points according to each first angle value, and collecting first pressure values corresponding to all the calibration points; and sending all the calibration points and the first angle value and the first pressure value corresponding to each calibration point to the second control unit for comparison;
the second control unit is configured to: receiving all the calibration points sent by the first control unit, replying response information after receiving each calibration point, and collecting corresponding second angle values and second pressure values according to each calibration point; and sending the second angle value and the second pressure value corresponding to each calibration point to the first control unit for comparison;
the first control unit and the second control unit are further configured to: comparing the first angle value and the second angle difference value corresponding to each calibration point, and calculating the pressure difference value of the first pressure value and the second pressure value corresponding to the calibration point; comparing the angle difference value with a preset angle difference value threshold, and if the angle difference value is smaller than or equal to the preset angle difference value threshold, judging that the first angle value and the second angle value are both angle values corresponding to the standard point; comparing the pressure difference value with a preset pressure difference value threshold, and if the pressure difference value is smaller than or equal to the preset pressure difference value threshold, judging that the first pressure value and the second pressure value are both pressure values corresponding to the standard point;
The first control unit is further configured to generate a first calibration curve according to the first angle value and the first pressure value corresponding to each calibration point;
the second control unit is further configured to generate a second calibration curve according to the second angle value and the second pressure value corresponding to each calibration point.
2. The aerial work platform of claim 1 wherein, when the aerial work platform performs a weight test using the first calibration curve and the second calibration curve,
the first control unit is further used for acquiring a first weight value and a first weighing angle value of a target object and acquiring first weighing detection information of the target object according to the first weight value, the first weighing angle value and the first calibration curve;
the second control unit is further used for acquiring a second weight value and a second weighing angle value of the target object, and acquiring second weighing detection information of the target object according to the second weight value, the second weighing angle value and the second calibration curve.
3. The aerial work platform of any of claims 1 or 2, further comprising a chassis box and a weigh platform;
The chassis box body is connected with the bottom of the liftable fork frame, and the first control unit and the second control unit are arranged in the chassis box body;
the weighing platform is connected with the top of the liftable fork frame.
4. A aerial work platform as claimed in claim 3 wherein the liftable fork comprises a plurality of X-shaped columns formed by two identical columns cross-connected;
wherein, the two columns can rotate to form an included angle by taking the cross joint as a branch part;
the two adjacent end parts in the first X-shaped column body are connected with the chassis box body, the other two end parts in the first X-shaped column body are connected with the two adjacent end parts in the second X-shaped column body adjacent to the first X-shaped column body, the other two end parts in the second X-shaped column body are connected with the two adjacent end parts in the third X-shaped column body adjacent to the second X-shaped column body, and the two end parts are sequentially connected until the other two end parts in the tail end X-shaped column body are connected with the weighing platform;
the X-shaped columns are rotatably connected at the joint, and an included angle of the two connected X-shaped columns at the joint forms an included angle through rotation;
the oil cylinder and the angle detection unit are respectively arranged on any column body of any X-shaped column body.
5. The aerial work platform of claim 1, further comprising a first storage unit and a second storage unit;
the first storage unit is used for storing all the calibration points acquired by the first control unit and the first angle value and the first pressure value corresponding to each calibration point;
the second storage unit is used for storing all the second angle values acquired by the second control unit and the second pressure value corresponding to each second angle value.
6. A calibration method comprising calibrating using the aerial platform of any of claims 1-5, the calibration method comprising:
controlling the top of the liftable fork to move from a preset starting position to a preset ending position;
the first control unit is used for collecting a plurality of first angle values sent by the angle detection unit in a preset bearing state, and corresponding calibration points are generated according to each first angle value;
controlling the top of the liftable fork to move from the preset starting position to the preset ending position again; when the first control unit moves to one of the target points, the first control unit sends the target point to the second control unit, and the second control unit replies response information to the first control unit; the first control unit acquires a first angle value and a first pressure value corresponding to the standard point in the preset bearing state; and sending the first angle value and the first pressure value corresponding to the calibration point to the second control unit; the second control unit acquires a second angle value and a second pressure value corresponding to the standard point in the preset bearing state; and sending the second angle value and the second pressure value corresponding to the calibration point to the first control unit;
According to a preset judging rule, the first control unit judges whether the first angle value and the first pressure value which are acquired by the first control unit and correspond to the calibration point meet a preset condition or not according to the acquired first angle value and the first pressure value which are corresponding to the calibration point and the received second angle value and the received second pressure value which are corresponding to the calibration point, and if so, the first angle value and the first pressure value are used as first acquisition values of the calibration point; the second control unit judges whether the second angle value and the second pressure value which are acquired by the second control unit and correspond to the calibration point meet a preset condition according to the acquired second angle value and second pressure value which are corresponding to the calibration point and the received first angle value and first pressure value which are corresponding to the calibration point, and if yes, the second angle value and the second pressure value are taken as second acquisition values of the calibration point;
sequentially performing the steps until the first control unit and the second control unit finish the collection of the angle values and the pressure values corresponding to all the standard points;
The first control unit generates a first calibration curve according to the first acquired value corresponding to each calibration point, and the second control unit generates a second calibration curve according to the second acquired value corresponding to each calibration point.
7. The method of calibrating according to claim 6, wherein the preset loading state includes:
the aerial work platform is in one of a static full load state, a static no-load state, a dynamic full load state or a dynamic no-load state.
8. The method of calibrating according to claim 7, wherein,
the first control unit acquires a first angle value and a first pressure value corresponding to the calibration point in a preset bearing state, and the first control unit comprises:
when the aerial working platform is in a static full-load state, the first control unit collects a first static full-load angle value and a first static full-load pressure value corresponding to each standard point; when the aerial working platform is in a static idle state, the first control unit acquires a first static idle angle value and a first static idle pressure value corresponding to each standard point; when the aerial work platform is in a dynamic full-load state, the first control unit collects a first dynamic full-load angle value and a first dynamic full-load pressure value corresponding to each standard point; when the aerial working platform is in a dynamic idle state, the first control unit collects a first dynamic idle angle value and a first dynamic idle pressure value corresponding to each standard point;
The first calibration curve includes: a first static full-load curve is obtained according to the first static full-load angle value and the first static full-load pressure value corresponding to each calibration point; a first static idle load curve is obtained according to the first static idle load angle value and the first static idle load pressure value corresponding to each calibration point; a first dynamic full-load curve is obtained according to the first dynamic full-load angle value and the first dynamic full-load pressure value corresponding to each calibration point; the first dynamic idle load curve is obtained according to the first dynamic idle load angle value and the first dynamic idle load pressure value corresponding to each calibration point;
the second control unit acquires a second angle value and a second pressure value corresponding to the calibration point in a preset bearing state, and the second control unit comprises:
when the aerial working platform is in a static full-load state, the second control unit acquires a second static full-load angle value and a second static full-load pressure value corresponding to each standard point; when the aerial working platform is in a static idle state, the second control unit acquires a second static idle angle value and a second static idle pressure value corresponding to each standard point; when the aerial work platform is in a dynamic full-load state, the second control unit acquires a second dynamic full-load angle value and a second dynamic full-load pressure value corresponding to each standard point; when the aerial working platform is in a dynamic idle state, the second control unit acquires a second dynamic idle angle value and a second dynamic idle pressure value corresponding to each standard point;
The second calibration curve includes: a second static full-load curve is obtained according to the second static full-load angle value and the second static full-load pressure value corresponding to each calibration point; a second static idle load curve is obtained according to a second static idle load angle value and a second static idle load pressure value corresponding to each calibration point; a second dynamic full-load curve is obtained according to the second dynamic full-load angle value and the second dynamic full-load pressure value corresponding to each calibration point; and a second dynamic idle curve obtained according to the second dynamic idle angle value and the second dynamic idle pressure value corresponding to each calibration point.
9. A weighing detection method, characterized by comprising detecting the first calibration curve and the second calibration curve obtained by the calibration method of claim 8; the weighing detection method comprises the following steps:
collecting a first weighing angle value and a first weight value of a target object in a current state by using the first control unit; collecting a second weighing angle value and a second weight value of the target object in the current state by using the second control unit; the current state is one of static state and dynamic state of the aerial working platform;
Acquiring first weighing detection information according to the first weighing angle value and a first full load curve and a first no-load curve corresponding to the current state, and acquiring second weighing detection information according to the second weighing angle value and a second full load curve and a second no-load curve corresponding to the current state;
and acquiring overload information of the target object according to the first weight value, the second weight value, the first weighing detection information and the second weighing detection information of the target object.
10. The method of claim 9, wherein the obtaining first weighing detection information according to the first weighing angle value and a first full load curve and a first no load curve corresponding to the current state includes:
according to a first full load curve and a first no-load curve which correspond to the current state, calculating a first difference value of a first no-load pressure value corresponding to the first weighing angle value and a second difference value of a first full load pressure value corresponding to the first weighing angle value and the first no-load pressure value;
the obtaining second weighing detection information according to the second weighing angle value and the second full load curve and the second no-load curve corresponding to the current state includes:
And calculating a third difference value of a second idle pressure value corresponding to the second weighing angle value and the second weight value according to a second full load curve and a second idle load curve corresponding to the current state, and calculating a fourth difference value of the second full load pressure value corresponding to the second weighing angle value and the second idle pressure value.
11. The method of claim 10, wherein the obtaining overload information of the target object according to the first weight value, the second weight value, the first weighing detection information, and the second weighing detection information of the target object comprises:
calculating a first ratio of the first difference to the second difference, and calculating a second ratio of the third difference to the fourth difference;
and comparing the first ratio with a preset overload threshold value respectively, and judging that the target object is overloaded when the first ratio and/or the second ratio is/are larger than the preset overload threshold value.
12. The method for detecting weighing according to claim 11, wherein said determining that said target object is overloaded further comprises:
sending an alarm instruction to an alarm through the first control unit, and sending overload alarm by using the alarm; sending the overload information to a display through the first control unit, and displaying the overload information by using the display; and the first control unit and the second control unit jointly send out a forbidden instruction for controlling the aerial work platform to stop acting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310891217.5A CN116605813B (en) | 2023-07-20 | 2023-07-20 | Aerial working platform, calibration method and weighing detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310891217.5A CN116605813B (en) | 2023-07-20 | 2023-07-20 | Aerial working platform, calibration method and weighing detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116605813A CN116605813A (en) | 2023-08-18 |
| CN116605813B true CN116605813B (en) | 2023-11-10 |
Family
ID=87680462
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310891217.5A Active CN116605813B (en) | 2023-07-20 | 2023-07-20 | Aerial working platform, calibration method and weighing detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116605813B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102807160A (en) * | 2011-06-03 | 2012-12-05 | 徐州励精紧固件制造有限公司 | Crane detection device |
| CN106094789A (en) * | 2016-06-02 | 2016-11-09 | 上海交通大学 | The dual chip redundancy of a kind of automobile steering-by-wire and fault-tolerant control system |
| CN106814603A (en) * | 2016-12-23 | 2017-06-09 | 北京航天测控技术有限公司 | A kind of dual redundant fault-tolerant system based on non-real time operating system |
| CN209600311U (en) * | 2018-12-25 | 2019-11-08 | 苏州工业园区和顺电气股份有限公司 | Based on dual chip high reliability redundancy battery management system |
| CN113029791A (en) * | 2021-02-24 | 2021-06-25 | 北谷电子有限公司 | Weighing calibration method of aerial work platform based on pressure and position |
| CN113267992A (en) * | 2021-07-19 | 2021-08-17 | 北京踏歌智行科技有限公司 | Mine card unmanned control system based on redundancy design |
-
2023
- 2023-07-20 CN CN202310891217.5A patent/CN116605813B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102807160A (en) * | 2011-06-03 | 2012-12-05 | 徐州励精紧固件制造有限公司 | Crane detection device |
| CN106094789A (en) * | 2016-06-02 | 2016-11-09 | 上海交通大学 | The dual chip redundancy of a kind of automobile steering-by-wire and fault-tolerant control system |
| CN106814603A (en) * | 2016-12-23 | 2017-06-09 | 北京航天测控技术有限公司 | A kind of dual redundant fault-tolerant system based on non-real time operating system |
| CN209600311U (en) * | 2018-12-25 | 2019-11-08 | 苏州工业园区和顺电气股份有限公司 | Based on dual chip high reliability redundancy battery management system |
| CN113029791A (en) * | 2021-02-24 | 2021-06-25 | 北谷电子有限公司 | Weighing calibration method of aerial work platform based on pressure and position |
| CN113267992A (en) * | 2021-07-19 | 2021-08-17 | 北京踏歌智行科技有限公司 | Mine card unmanned control system based on redundancy design |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116605813A (en) | 2023-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3573921B1 (en) | Liftable platform with pressure based load system | |
| US9249004B2 (en) | Load monitoring system | |
| US20240077352A1 (en) | Digital load cell and weighing system | |
| CN113029791B (en) | Weighing calibration method of aerial work platform based on pressure and position | |
| CN116605813B (en) | Aerial working platform, calibration method and weighing detection method | |
| CN215114832U (en) | Digital weighing sensor with redundant design | |
| CN114910146B (en) | Method for automatically measuring and calculating weight of pig farm material tower after weighing analog quantity sensor fails | |
| CN110658824A (en) | Motion control method and device of transport vehicle, controller and transport vehicle | |
| CN115321438A (en) | Overload detection method for aerial work platform and aerial work platform | |
| CN114217275A (en) | Automatic leveling system and method for vehicle-mounted slope radar | |
| CN2205820Y (en) | Automatic apparatus for correcting and testing elevator load | |
| CN208218342U (en) | A kind of control system preventing fork of forklift truck high position maloperation | |
| CN111829477A (en) | Method and device for calculating negative clearance of hub bearing, storage medium and equipment | |
| CN114455474B (en) | Method and device for determining stability of engineering equipment and engineering equipment | |
| CN110901653A (en) | Automobile load detection device, system and method | |
| CN117494398A (en) | Anti-toppling risk assessment method for forklift | |
| RU2827642C2 (en) | Method of monitoring faults with double-level redundancy and method and fault early warning system with double-level redundancy | |
| CN115979395A (en) | Quality verification method and device for vehicle, vehicle and storage medium | |
| CN115683305B (en) | Weighing calibration method, device and equipment for aerial work equipment | |
| JPH054798A (en) | Load measuring method for lifting device | |
| CN115959573A (en) | Secondary electronic weighing method, device, equipment and storage medium | |
| WO2022199712A1 (en) | Digital load cell with redundancy design | |
| CN117330226A (en) | Load detection system and method for insulating arm vehicle | |
| CN113722813A (en) | Method and device for monitoring condition of boom of pump truck and pump truck | |
| CN117755991A (en) | Method and device for detecting abnormal state of hoisting equipment and computer equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |