CN117185207A - Extrusion-preventing system, control method, control device and medium for aerial working equipment - Google Patents
Extrusion-preventing system, control method, control device and medium for aerial working equipment Download PDFInfo
- Publication number
- CN117185207A CN117185207A CN202311223140.0A CN202311223140A CN117185207A CN 117185207 A CN117185207 A CN 117185207A CN 202311223140 A CN202311223140 A CN 202311223140A CN 117185207 A CN117185207 A CN 117185207A
- Authority
- CN
- China
- Prior art keywords
- distance
- obstacle
- platform
- working
- operator
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000001125 extrusion Methods 0.000 claims abstract description 42
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 30
- 230000008569 process Effects 0.000 claims description 14
- 230000002265 prevention Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 13
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Landscapes
- Forklifts And Lifting Vehicles (AREA)
Abstract
The embodiment of the application provides an anti-extrusion system, a control method, a control device and a medium of overhead working equipment, and belongs to the field of equipment control. The high-altitude operation equipment comprises an operation platform, and the extrusion preventing system of the high-altitude operation equipment comprises wearing equipment, a control device and at least one distance sensor arranged on the wearing equipment; the distance sensor is used for determining the real-time distance between the operator and the obstacle under the condition that the obstacle appears in the visual field blind area of the operator wearing the wearable equipment; a control device configured to: responding to a motion instruction of the operation platform, controlling the operation platform to move, and controlling the distance sensor to start; acquiring a real-time distance between an operator and an obstacle, which is determined by a distance sensor; and controlling the work platform to brake under the condition that the real-time distance is smaller than the safety distance. The operation platform is controlled to avoid contact between operators and obstacles, so that the safety of the overhead operation equipment is improved.
Description
Technical Field
The application relates to the field of equipment control, in particular to an anti-extrusion system, a control method, a control device and a medium of overhead working equipment.
Background
With the rapid development of production and manufacturing technologies of working equipment, aerial working equipment is widely applied to various working scenes. Typically, the aerial work device includes a scissor type aerial work platform and an arm type aerial work platform, and by controlling the lifting of the aerial work platform, an operator located on the aerial work platform can perform work at a specified height. When normally controlling the aerial working device to walk, if an obstacle exists near the working platform, the operator needs to control the aerial working device to brake so as to avoid collision and extrusion accidents. In the prior art, a swing rod type anti-extrusion device or a flexible stay wire type anti-extrusion device and other protection devices are arranged on a control box of an aerial work platform.
However, the swing rod type extrusion preventing device or the flexible stay wire type extrusion preventing device and other protecting devices trigger the braking of the aerial working device when the operator collides and extrudes with the obstacle, so that the situation that the operator collides and extrudes with the obstacle cannot be avoided, and the safety of the aerial working device is low. In addition, when the brake of the aerial working device is triggered, the aerial working device still can walk a certain distance, and the working personnel are further damaged by collision and extrusion. Therefore, the existing aerial work device has low safety.
Disclosure of Invention
The embodiment of the application aims to provide equipment for solving the problem of low safety of the existing aerial working equipment.
In order to achieve the above object, in a first aspect, the present application provides an anti-extrusion system of an aerial working device, the aerial working device including a working platform, the anti-extrusion system of the aerial working device including a wearing device, a control device, and at least one distance sensor provided to the wearing device;
the distance sensor is used for determining the real-time distance between the operator and the obstacle under the condition that the obstacle appears in the visual field blind area of the operator wearing the wearable equipment;
a control device configured to:
responding to a motion instruction of the operation platform, controlling the operation platform to move, and controlling the distance sensor to start;
acquiring a real-time distance between an operator and an obstacle, which is determined by a distance sensor;
and controlling the work platform to brake under the condition that the real-time distance is smaller than the safety distance.
With reference to the first aspect, in a first possible implementation manner, the control device is further configured to:
and under the condition that a motion instruction of the working platform is not received, controlling the distance sensor to be closed.
With reference to the first aspect, in a second possible implementation manner, the work platform includes a guardrail;
the distance sensor is further used for determining whether an obstacle exists in a preset detection range according to the working angle and the detection distance, wherein the preset detection range is located in a visual field blind area and is located outside a protection range of the guardrail.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner, a detection distance of the distance sensor is greater than or equal to the safety distance.
With reference to the first aspect, in a fourth possible implementation manner, the safety distance is a sum of a braking distance and a preset redundancy protection distance;
the braking distance is the distance moved in the process of switching the operation platform from the moving state to the stopping state, and the preset redundant protection distance is the distance between the operation personnel and the obstacle after the operation platform is switched from the moving state to the stopping state.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner, the aerial working device further includes a lifting device connected to the working platform;
control means further configured to:
and determining the braking distance of the working platform according to the real-time speed of the aerial working device and the gesture of the lifting device.
With reference to the first aspect, in a sixth possible implementation manner, the wearable device includes at least one of a helmet, a safety belt, and a work suit.
In a second aspect, the present application provides a control method applied to a control device of an anti-extrusion system of an aerial working device as in the first aspect, the control method comprising:
responding to a motion instruction of the operation platform, controlling the operation platform to move, and controlling the distance sensor to start;
acquiring a real-time distance between an operator and an obstacle, which is determined by a distance sensor;
and controlling the work platform to brake under the condition that the real-time distance is smaller than the safety distance.
In a third aspect, the present application provides a control apparatus comprising:
a memory configured to store instructions; and
a processor configured to call instructions from a memory and when executing the instructions is capable of implementing the control method according to the second aspect.
In a fourth aspect, the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the control method according to the second aspect.
The application provides an anti-extrusion system of high-altitude operation equipment, which comprises an operation platform, wherein the anti-extrusion system of the high-altitude operation equipment comprises wearing equipment, a control device and at least one distance sensor arranged on the wearing equipment; the distance sensor is used for determining the real-time distance between the operator and the obstacle under the condition that the obstacle appears in the visual field blind area of the operator wearing the wearable equipment; a control device configured to: responding to a motion instruction of the operation platform, controlling the operation platform to move, and controlling the distance sensor to start; acquiring a real-time distance between an operator and an obstacle, which is determined by a distance sensor; and controlling the work platform to brake under the condition that the real-time distance is smaller than the safety distance. The real-time distance between the operator and the obstacle is determined by the distance sensor, so that collision extrusion caused by the fact that the operator does not observe the obstacle in the blind area of the visual field is avoided. Meanwhile, under the condition that the real-time distance is smaller than the safety distance, before the operation personnel collides with the obstacle and extrudes, the operation platform is controlled to brake, so that the operation personnel is prevented from contacting the obstacle, and the safety of the overhead operation equipment is improved.
Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:
fig. 1 is a schematic structural view of an extrusion preventing system of an overhead working equipment according to an embodiment of the present application;
FIG. 2 is a diagram showing a first example of application of the distance sensor according to the embodiment of the present application;
FIG. 3 is a diagram showing a second example of application of the distance sensor according to the embodiment of the present application;
FIG. 4 is a diagram showing an application example of an anti-extrusion system according to an embodiment of the present application;
fig. 5 shows a flowchart of a control method provided by an embodiment of the present application.
Description of the reference numerals
100-an anti-extrusion system of high-altitude operation equipment and 200-high-altitude operation equipment; 110-wearing equipment, 120-control device, 130-distance sensor and 210-working platform.
Detailed Description
The following describes the detailed implementation of the embodiments of the present application with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the application, are not intended to limit the application.
The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
The terms "comprises," "comprising," "including," or any other variation thereof, are intended to cover a specific feature, number, step, operation, element, component, or combination of the foregoing, which may be used in various embodiments of the present application, and are not intended to first exclude the presence of or increase the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the application.
Example 1
Referring to fig. 1, fig. 1 is a schematic structural diagram of an anti-extrusion system of an overhead working equipment according to an embodiment of the present application.
In an embodiment of the present application, the aerial working device 200 includes a working platform 210, and the anti-extrusion system 100 of the aerial working device in fig. 1 includes a wearable device 110, a control device 120, and at least one distance sensor 130 disposed on the wearable device 110;
a distance sensor 130, configured to determine a real-time distance between an operator wearing the wearable device 110 and an obstacle when the obstacle appears in a blind area of the operator's field of view;
control device 120 configured to:
in response to the motion instruction of the working platform 210, controlling the working platform 210 to move and controlling the distance sensor 130 to start;
acquiring a real-time distance between the operator and the obstacle, which is determined by the distance sensor 130;
in the case that the real-time distance is smaller than the safety distance, the work platform 210 is controlled to brake.
The aerial work device 200 is similar to the aerial work device according to the actual requirement, and may be a scissor aerial work platform 210, or an arm aerial work platform 210, which is not limited herein. The number and types of the distance sensors 130 are set according to actual requirements, and are not limited herein. Each distance sensor 130 is disposed on the wearable device 110, and is configured to determine a real-time distance between an operator and an obstacle when the obstacle appears in a blind area of the operator wearing the wearable device 110.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating a first application example of the distance sensor according to the embodiment of the application.
When the worker is located on the work platform 210 to control the overhead working equipment 200 to travel, the head side and the back side of the worker are usually blind areas of the worker's vision. For ease of understanding, the wearable device 110 in embodiments of the present application includes a helmet and a coverall. Meanwhile, the number of the distance sensors 130 is three in the embodiment of the present application. A distance sensor 130 is arranged on the helmet and is used for determining the real-time distance between the worker and the obstacle in the blind area of the top of the head of the worker; the other two distance sensors 130 are disposed on the work clothes on the back side of the operator, and are used for determining the real-time distance between the operator and the obstacles in the blind area on the back side of the operator.
The control device 120 is configured to control the movement of the work platform 210 and control the activation of the distance sensor 130 in response to a movement command of the work platform 210. Generally, the operation platform 210 is provided with an operation device such as an operation box and an operation panel, and an operator sends a motion command of the operation platform 210 to the control device 120 by using the operation device to control the motion of the operation platform 210. The control device 120 controls the movement of the work platform 210 in response to the received movement command. Meanwhile, the control device 120 controls the distance sensor 130 to be activated to determine whether an obstacle appears in the blind area of the operator's field of view.
The control device 120 is configured to acquire a real-time distance between the operator and the obstacle as determined by the distance sensor 130. The control device 120 acquires the real-time distance between the worker and the obstacle determined by the distance sensor 130 in real time during the movement process of the control operation platform 210, so as to determine whether the risk of collision and extrusion between the worker and the obstacle exists according to the real-time distance.
The control device 120 is configured to control the work platform 210 to brake in case the real-time distance is smaller than the safety distance. In the case that the real-time distance is smaller than the safety distance, it is determined that the continued movement of the work platform 210 will cause collision and extrusion of the worker with the obstacle, and the control device 120 controls the work platform 210 to brake so as to switch the work platform 210 from the movement state to the stop state.
The real-time distance between the operator and the obstacle, which is determined by the distance sensor 130, avoids collision and extrusion caused by the fact that the operator does not observe the obstacle in the blind area of the field of view. Meanwhile, because the operation platform 210 still moves a certain distance when the operation platform 210 is controlled to brake, the operation platform 210 is controlled to brake before the operation personnel collides with the obstacle and extrudes under the condition that the real-time distance is smaller than the safety distance, thereby avoiding the contact between the operation personnel and the obstacle and improving the safety of the aerial working equipment 200.
In an embodiment of the application, the control device 120 is further configured to:
in the case where the movement instruction of the work platform 210 is not received, the distance sensor 130 is controlled to be turned off.
Upon receiving a movement command of the work platform 210, the control device 120 controls the distance sensor 130 to start, and the real-time distance between the operator and the obstacle determined by the distance sensor 130 avoids collision and extrusion caused by that the operator does not observe the obstacle in the blind area of the field of view.
In the case where the movement instruction of the work platform 210 is not received, the distance sensor 130 is controlled to be turned off. Specifically, when a worker is located on the work platform 210 to perform an overhead work, the work platform 210 is generally required to be in a stopped state, and no motion instruction is sent to the control device 120. The control device 120 does not receive a movement instruction of the working platform 210, the risk that the working personnel collides with the obstacle and extrudes is avoided, the distance sensor 130 is controlled to be closed, the situation that the distance sensor 130 mistakenly determines a device of the working platform 210 as the obstacle due to the special station or body posture of the working personnel in the high-altitude working process is avoided, and further the situation that the control device 120 mistakenly triggers the working platform 210 to brake is avoided, and the high-altitude working is influenced.
In an embodiment of the present application, work platform 210 includes a guardrail;
the distance sensor 130 is further configured to determine whether an obstacle exists in a preset detection range according to the working angle and the detection distance, where the preset detection range is in a blind area of the field of view and is outside a protection range of the guardrail.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a second application example of the distance sensor according to the embodiment of the application.
The values of the working angle and the detection distance of the distance sensor 130 are set according to actual requirements, and are not limited herein. In the embodiment of the application, the working angle and the detection distance of the distance sensor 130 are determined according to the blind area of the visual field of the operator and the protection range of the guardrail. The distance sensor 130 determines whether an obstacle exists in a preset detection range according to the working angle and the detection distance.
It should be understood that the detection range, i.e., the detection coverage of the distance sensor 130, is preset. In the embodiment of the present application, the preset detection range is a sector range with a radius D and an angular radian θ, that is, a sector range indicated by a dashed line in the figure is the preset detection range. The radius of the fan-shaped range is the detection distance of the distance sensor 130, and the angular radian of the fan-shaped range is the working angle of the distance sensor 130.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating an application example of an anti-extrusion system according to an embodiment of the present application.
It should be understood that the guard rail of the work platform 210 is typically provided with a swing rod type anti-extrusion device or a flexible pull wire type anti-extrusion device. During the movement of the working platform 210, when the obstacle is located in the protection range of the guardrail, the obstacle contacts with the protection device on the guardrail, so that the protection device can be triggered to control the braking of the working platform 210. Meanwhile, when the obstacle is located in the field of view of the operator during the movement of the working platform 210, the operator can directly control the working platform 210 to brake by using the control device.
As shown in the figure, when the obstacle is positioned on one side of the back of the operator, the obstacle is positioned in the blind area of the visual field of the operator and is positioned outside the protection range of the guardrail. During the movement of the work platform 210, there is a risk that the worker collides with the obstacle and squeezes. For ease of understanding, the dashed line range is shown as a preset detection range, and the distance sensor 130 is not shown. The preset detection range is in the blind area of the visual field and is outside the protection range of the guardrail, that is, the distance sensor 130 in the embodiment of the application is used for detecting whether an obstacle exists in the blind area of the visual field of the operator and outside the protection range of the guardrail, so as to avoid collision and extrusion between the operator and the obstacle and improve the safety of the overhead working equipment 200.
In an embodiment of the present application, the detection distance of the distance sensor 130 is greater than or equal to the safety distance.
Since the operation platform 210 is braked, there is a process of switching the operation platform 210 from the moving state to the stop state, the operation platform 210 will be switched to the stop state after moving a certain distance. In the case that the real-time distance between the operator and the obstacle is smaller than the safety distance, the control device 120 needs to immediately control the operation platform 210 to brake, so as to avoid collision and extrusion between the operator and the obstacle. If the detection distance of the distance sensor 130 is smaller than the safety distance, the control device 120 does not immediately control the operation platform 210 to brake when the real-time distance between the operator and the obstacle is smaller than the safety distance, but the control device 120 immediately controls the operation platform 210 to brake when the real-time distance between the operator and the obstacle is smaller than the detection distance of the distance sensor 130, so that collision and extrusion between the operator and the obstacle are easily avoided.
The detection distance of the distance sensor 130 is greater than or equal to the safety distance, so that the real-time distance between the worker and the obstacle is greater than the safety distance, the distance sensor 130 may detect the obstacle to determine whether the real-time distance is less than the safety distance. In the case that the real-time distance is smaller than the safety distance, the operation platform 210 is controlled to brake so as to avoid collision and extrusion between the operator and the obstacle.
It should be understood that the control algorithm may be used to exclude the situation that the distance sensor 130 mistakenly considers a device of the working platform 210 such as a guardrail as an obstacle, so that the detection distance of the distance sensor 130 can be set to a value greater than the safety distance and less than the maximum detection distance of the distance sensor 130.
In the embodiment of the application, the safety distance is the sum of the braking distance and the preset redundancy protection distance;
the braking distance is a distance moved in the process of switching the operation platform 210 from the moving state to the stopping state, and the preset redundant protection distance is a distance between an operator and an obstacle after the operation platform 210 is switched from the moving state to the stopping state.
Since the braking distance is the distance moved by the working platform 210 in the process of switching from the moving state to the stopping state, if the safety distance is less than or equal to the braking distance, there is a risk that the working personnel collides with the obstacle to squeeze. In the embodiment of the application, the safety distance is larger than the braking distance, specifically, the sum of the braking distance and the preset redundancy protection distance.
The preset redundant protection distance is the distance between the operator and the obstacle after the operation platform 210 is switched from the moving state to the stopping state, that is, the preset redundant protection distance is the distance between the expected operator and the obstacle. The value of the preset redundancy protection distance is set according to the actual requirement, and is not limited herein. However, the preset redundant protection distance should avoid the excessive value, if the preset redundant protection distance is excessive, the situation that the operation platform 210 is controlled to brake when the distance between the operator and the obstacle is far exists, which results in the influence on the movement space range of the operation platform 210 and further the influence on the overhead operation.
In the embodiment of the present application, the aerial working device 200 further includes a lifting device connected to the working platform 210;
the control device 120 is further configured to:
the braking distance of the work platform 210 is determined according to the real-time speed of the aerial work device 200 and the attitude of the lifting device.
The lifting device is used for controlling the lifting of the working platform 210 to control the working platform 210 to move to a position with a designated height. The lifting device is arranged according to actual requirements, can be of a cantilever type structure or a scissor type structure, and is not limited herein. For easy understanding, the structure of the lifting device in the embodiment of the application is a cantilever type structure. During aloft work performed by aerial work device 200, the real-time speed of aerial work device 200 will affect the braking distance of work platform 210. Meanwhile, the attitude of the lifting device such as boom extension, boom amplitude, boom extension and amplitude composite action will also affect the braking distance of the working platform 210.
The mapping relation between the different real-time speeds of the aerial work device 200 and the attitudes of the different lifting devices and the braking distances of the work platform 210 is tested in advance. When the braking distance of the work platform 210 is controlled, the braking distance of the work platform 210 is determined according to the real-time speed of the aerial work device 200 and the posture of the lifting device. In addition, the maximum distance moved by the working platform 210 obtained by the test in the process of switching from the moving state to the stopping state under the different real-time speeds and the postures of the different lifting devices of the aerial working device 200 may be determined as the braking distance.
In an embodiment of the present application, the wearable device 110 includes at least one of a helmet, a safety belt, and a coverall.
The distance sensor 130 is provided in a helmet, a seat belt, or a pair of work clothes, and it is possible to detect whether or not an obstacle exists in the field of view of the worker by using the distance sensor 130. Generally, an operator needs to wear wearing devices 110 such as a helmet, a safety belt and a working suit to perform overhead operation at the same time, the number of the distance sensors 130 can be determined according to the detection range of the distance sensors 130, and the distance sensors 130 are respectively arranged in at least one of the helmet, the safety belt and the working suit, so that the blind area of the operator is in the field of view, and the obstacle outside the protection range of the guardrail is in the detection range of at least one distance sensor 130.
The application provides an anti-extrusion system 100 of an aerial working device, wherein the aerial working device 200 comprises a working platform 210, and the anti-extrusion system 100 of the aerial working device comprises a wearing device 110, a control device 120 and at least one distance sensor 130 arranged on the wearing device 110; a distance sensor 130, configured to determine a real-time distance between an operator wearing the wearable device 110 and an obstacle when the obstacle appears in a blind area of the operator's field of view; control device 120 configured to: in response to the motion instruction of the working platform 210, controlling the working platform 210 to move and controlling the distance sensor 130 to start; acquiring a real-time distance between the operator and the obstacle, which is determined by the distance sensor 130; in the case that the real-time distance is smaller than the safety distance, the work platform 210 is controlled to brake. The real-time distance between the operator and the obstacle, which is determined by the distance sensor 130, avoids collision and extrusion caused by the fact that the operator does not observe the obstacle in the blind area of the field of view. Meanwhile, under the condition that the real-time distance is smaller than the safety distance, before the worker collides with the obstacle, the operation platform 210 is controlled to brake, so that the worker is prevented from contacting the obstacle, and the safety of the aerial working device 200 is improved.
Example 2
Referring to fig. 5, fig. 5 shows a flowchart of a control method according to an embodiment of the present application;
the control method in fig. 5 is applied to the control device of the extrusion preventing system of the aloft work equipment as in embodiment 1, and the control method in fig. 5 includes:
s310, responding to a motion instruction of the working platform, controlling the working platform to move, and controlling the distance sensor to start.
Generally, the operation platform is provided with operation control equipment such as an operation control box and an operation control panel, and an operator utilizes the operation control equipment to send a motion instruction of the operation platform to the control device so as to control the motion of the operation platform. The control device responds to the received movement instruction and controls the movement of the working platform. Meanwhile, the control device controls the distance sensor to start so as to determine whether an obstacle appears in the blind area of the visual field of the operator.
S320, acquiring the real-time distance between the operator and the obstacle, which is determined by the distance sensor.
The control device acquires the real-time distance between the operator and the obstacle determined by the distance sensor in real time in the process of controlling the movement of the operation platform so as to determine whether the risk of collision and extrusion between the operator and the obstacle exists or not through the real-time distance.
S330, controlling the work platform to brake under the condition that the real-time distance is smaller than the safety distance.
Under the condition that the real-time distance is smaller than the safety distance, the fact that the operation platform continues to move is determined to cause collision and extrusion between an operator and an obstacle, and the control device controls the operation platform to brake so as to switch the operation platform from a moving state to a stopping state.
In an embodiment of the present application, the control method further includes:
and under the condition that a motion instruction of the working platform is not received, controlling the distance sensor to be closed.
In an embodiment of the present application, the control method further includes:
and determining the braking distance of the working platform according to the real-time speed of the aerial working device and the gesture of the lifting device.
The safety distance is the sum of the braking distance and a preset redundancy protection distance;
the braking distance is the distance moved in the process of switching the operation platform from the moving state to the stopping state, and the preset redundant protection distance is the distance between the operation personnel and the obstacle after the operation platform is switched from the moving state to the stopping state.
The embodiment of the application also provides a control device, which comprises:
a memory configured to store instructions; and
a processor configured to call instructions from a memory and when executing the instructions is capable of implementing the control method according to embodiment 2.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one kernel, and the problem of lower safety of the existing aerial working equipment is solved by adjusting kernel parameters.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
An embodiment of the present application also provides a machine-readable storage medium, having stored thereon instructions for causing a machine to perform the control method according to embodiment 2.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Machine-readable storage media, including both non-transitory and removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. An extrusion-preventing system of an overhead working equipment is characterized in that the overhead working equipment comprises a working platform, and the extrusion-preventing system of the overhead working equipment comprises a wearing equipment, a control device and at least one distance sensor arranged on the wearing equipment;
the distance sensor is used for determining the real-time distance between an operator wearing the wearable device and an obstacle under the condition that the obstacle appears in a visual field blind area of the operator;
the control device is configured to:
responding to a motion instruction of the operation platform, controlling the operation platform to move, and controlling the distance sensor to start;
acquiring a real-time distance between the operator and the obstacle, which is determined by the distance sensor;
and controlling the work platform to brake under the condition that the real-time distance is smaller than the safety distance.
2. The anti-extrusion system of aerial work device of claim 1, wherein the control device is further configured to:
and under the condition that a motion instruction of the working platform is not received, controlling the distance sensor to be closed.
3. The anti-extrusion system of aerial work device of claim 1, wherein the work platform comprises a guardrail;
the distance sensor is further used for determining whether an obstacle exists in a preset detection range according to the working angle and the detection distance, wherein the preset detection range is located in the visual field blind area and is located outside the protection range of the guardrail.
4. A squeezing prevention system of an aerial working device according to claim 3, wherein the detection distance of the distance sensor is greater than or equal to the safety distance.
5. The anti-extrusion system of aerial working equipment of claim 1, wherein the safety distance is a sum of a braking distance and a preset redundancy protection distance;
the braking distance is the distance moved in the process of switching the operation platform from the moving state to the stopping state, and the preset redundant protection distance is the distance between the operator and the obstacle after the operation platform is switched from the moving state to the stopping state.
6. The overhead working assembly extrusion prevention system of claim 5, further comprising a lifting device coupled to the working platform;
the control device is further configured to:
and determining the braking distance of the working platform according to the real-time speed of the aerial working equipment and the gesture of the lifting device.
7. The anti-extrusion system of aerial work device of claim 1, wherein the wearable device comprises at least one of a helmet, a safety harness, and a work suit.
8. A control method, characterized by being applied to a control device of an extrusion-prevention system of an aerial working device according to any one of claims 1 to 7, comprising:
responding to a motion instruction of the operation platform, controlling the operation platform to move, and controlling the distance sensor to start;
acquiring a real-time distance between the operator and the obstacle, which is determined by the distance sensor;
and controlling the work platform to brake under the condition that the real-time distance is smaller than the safety distance.
9. A control apparatus, characterized by comprising:
a memory configured to store instructions; and
a processor configured to invoke the instructions from the memory and to enable the control method according to claim 8 when executing the instructions.
10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the control method of claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311223140.0A CN117185207A (en) | 2023-09-21 | 2023-09-21 | Extrusion-preventing system, control method, control device and medium for aerial working equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311223140.0A CN117185207A (en) | 2023-09-21 | 2023-09-21 | Extrusion-preventing system, control method, control device and medium for aerial working equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117185207A true CN117185207A (en) | 2023-12-08 |
Family
ID=89001453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311223140.0A Pending CN117185207A (en) | 2023-09-21 | 2023-09-21 | Extrusion-preventing system, control method, control device and medium for aerial working equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117185207A (en) |
-
2023
- 2023-09-21 CN CN202311223140.0A patent/CN117185207A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2967882C (en) | Method for operating an elevator system and elevator system designed for performing the method | |
| US9694497B2 (en) | Robot arrangement and method for controlling a robot | |
| JP5846145B2 (en) | Robot system and control method of robot system | |
| US9278451B2 (en) | Robot system and method for controlling robot system | |
| CN104870147A (en) | Systems and methods for safe robot operation | |
| US20200269423A1 (en) | Device and method for controlling cooperative robot | |
| CN103663188B (en) | The control method of arm tower crane and operation thereof, device and system | |
| Magnanimo et al. | Safeguarding a mobile manipulator using dynamic safety fields | |
| CN117185207A (en) | Extrusion-preventing system, control method, control device and medium for aerial working equipment | |
| CN111402337A (en) | Attitude identification method and device for engineering mechanical arm frame equipment and engineering machine | |
| CN108083188B (en) | Boom control device and method, aerial work platform and computer readable storage medium | |
| CN207684828U (en) | Arm support control device and aerial work platform | |
| CN109254295B (en) | Anti-collision detection device, method and equipment | |
| CN116514031A (en) | Arm support control method, arm support controller, arm support control system and operation machine | |
| CN117163888A (en) | Extrusion-preventing system, control method, control device and medium for aerial working equipment | |
| EP3569366A1 (en) | Robot control method and apparatus | |
| CN112373488B (en) | Unmanned driving system and method based on artificial intelligence | |
| JP7226101B2 (en) | SAFETY MONITORING SYSTEM, SAFETY MONITORING CONTROL DEVICE, AND SAFETY MONITORING METHOD | |
| CN114180460A (en) | Anti-collision protection method, controller and system for lifting appliance and shore bridge | |
| US20220089417A1 (en) | Collision-free guidance of a load suspended from a cable | |
| KR102191097B1 (en) | Human detection system | |
| CN201634352U (en) | Anti-collision device for cab of aerial work platform | |
| CN113371611B (en) | Control method and device for supporting leg assembly and engineering equipment | |
| CN106114681B (en) | Vehicle parking early warning system and vehicle | |
| CN109577850A (en) | For being aligned the method for ladder, the system for being aligned ladder and fire fighting truck |
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 |