JP2017095093A - Assembled work platform/system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a safer work platform.SOLUTION: There is provided an assembled work platform/system, the work platform is the work platform comprising a control panel which has an operation component for controlling a position of the work platform. The assembled work platform/system comprises: a sensor which is mounted in the vicinity of the work platform, and monitors at least one of an operator area, the work platform, and a surrounding area of the work platform; a processor which receives a signal from the sensor, processes the signal, and determines at least one of a position of the operator on the work platform, and contact of an object in the surrounding area of the work platform; and a control module which communicates with the processor and the operation component, and modifies a control signal from the control panel, based on communication with the processor.SELECTED DRAWING: Figure 2

Description

  REFERENCE INFORMATION FOR RELATED APPLICATIONS: This application includes US Provisional Patent Application No. 61 / 424,888 filed December 20, 2010 and US Provisional Patent Application No. 61/435, filed January 24, 2011. PCT International Patent Application No. PCT / US2011 / 0666122 filed on Dec. 20, 2011 claiming priority of No. 558, pending pending on May 16, 2013 This is a continuation-in-part of US patent application Ser. No. 13 / 885,720, which is incorporated herein by reference in its entirety.

  The present invention relates to a combined work platform / system, and more particularly to a combined work platform and an obstacle detection system for reducing the likelihood of collision with an obstacle or structure.

  Known are lift vehicles with aerial work platforms, telehandlers such as telescopic forklifts for rough terrain with work platform attachments, and aerial lifts installed on trucks, which are usually against the ground. It has an extensible and flexible boom (arm) that can be positioned at different angles and a working platform at the end of the boom. A control console is usually provided on or adjacent to (adjacent to) the platform, the control console including the boom angle, boom extension, boom and / or platform rotation about a vertical axis, Various control elements are provided that can be operated by an operator to control operations (functions) such as an engine or other type of power source. The control console is also provided with steering, as well as control of travel speed, travel direction and brake when the lift vehicle is self-propelled.

  In particular, when the operator is between the platform and a structure that may be located above or behind the operator, safety issues may arise in the lift vehicle with the work platform. It is also desirable to avoid collisions with objects around the platform, such as glass surfaces, aircraft structures, and other more fragile or vulnerable structures.

  In order to observe (monitor, observe) the platform, the area around the platform, and the operator, a camera sensor or the like may be mounted on the platform for aerial work. The system processes the data from the sensors to determine whether an operator is present and whether the operator is in the proper operating position, and is above, behind, on both sides, and below the platform. The proximity (approach) of an object may be determined (measured). The control module may allow the operation and / or manipulation of the platform based on data from the sensor, may change (modify), or prevent (block and prevent). Good.

  In an exemplary embodiment, a work platform is combined with a system for detecting obstacles. This work platform has a control panel having an operation part for controlling the position of the work platform. The combined work platform / system is mounted in the vicinity of the work platform and receives a signal from the sensor and a sensor that monitors at least one of the operator area, the work platform, and the area surrounding the work platform. And a processor for processing the signal to determine at least one of an operator's position on the work platform and proximity of an object in a region surrounding the work platform. The control module that communicates with the processor and the operation component modifies the control signal from the control panel based on the communication with the processor.

  The processor may determine that no operator is present or that the operator is not in the proper operating position, and the control module may at this time prevent operation of the work platform that causes movement of the work platform. (May be programmed to block). An override switch may be coupled to the control module, in which case the control module may allow operation of the work platform at a very slow speed, ie, creep speed, based on actuation of the override switch ( May be programmed to allow). The processor may determine that the operator is standing on the control panel, at which time the control module stops further functions being performed and causes further movement of the work platform that causes the work platform to move. May be blocked (may be programmed to block). The processor may determine that the operator has been on the control panel for a predetermined time, and the control module may then reverse the last operated function of the work platform ( May be programmed to flip). The processor may determine that the operator is present and is in the proper operating position, and may determine that there are no objects in the area surrounding the work platform, at which time the control module is responsible for normal operation of the work platform. May be allowed (may be programmed to allow).

  In one embodiment, the sensor may be configured (programmed) to distinguish the area around the platform into a warning zone and a danger zone closer to the work platform than the warning zone. The processor may determine that the object is in the warning zone and the control module may allow operation of the work platform at a creep rate based on the determination that the object is in the warning zone ( May be programmed to allow). The processor may determine that the object is in the danger zone and the control module may prevent (programmed to prevent) the operation of the work platform based on the determination that the object is in the danger zone. May be) The sensor may be configured to adjust the depth of at least one of the warning zone and the danger zone based on platform operational characteristics. Exemplary operational features may include the number of operators on the work platform, the direction in which the work platform is moving, and the speed of the platform. The control module may detect the speed of the work platform, and the processor may process a signal from the sensor regarding the speed of the work platform toward one of the objects in the area of the work platform. May be programmed). In this connection, the control module may slow down the function being executed at a predetermined rate relative to the speed at which the work platform approaches one of the objects in the area of the work platform. May be). The control module may reduce (or be programmed to reduce) the commanded operating speed based on proximity to one of the objects in the area of the work platform.

  The sensor may include a plurality of sensing elements fixed in the vicinity of the work platform. In one configuration, the work platform may include a platform handrail on which sensors are mounted. The sensor may be one of an optical sensor (optical sensor), a radar sensor, and an acoustic sensor. The sensor may be attached to a steering device such as a pan and / or tilt mechanism, or a mirror that moves or rotates the field of view of the sensor.

  In another exemplary embodiment, the aerial work platform includes a control panel including an operator control for operating the platform, and communicates with the operator control, based on signals from the control panel. A control module for controlling the operation and an obstacle detection system are provided. The obstacle detection system is mounted in the vicinity of the platform, receives a sensor from the operator area, the platform, and the area around the platform, receives a signal from the sensor, processes the signal, and operates the operator on the platform. And a processor for determining the proximity of the object in the area surrounding the platform. The control module communicates with the processor and modifies (programmed to modify) the control signal from the operator control based on the communication with the processor.

  In yet another exemplary embodiment, a method for controlling a platform for aerial work, including a control panel for operating the platform, includes: (a) a sensor mounted in the vicinity of the platform; Monitoring the operator area, the platform, and the area around the platform; (b) a processor that receives signals from the sensors to detect the position of the operator on the platform and the proximity of objects in the area surrounding the platform; And (c) modifying the control signal from the control panel at the control module based on communication with the processor and detection in step (b). In the step (c), when the operator is not present or when the operator is not present at an appropriate operation position, the operation of the platform may be hindered. Step (b) may be performed to determine whether the operator is standing on the control panel for a predetermined time, wherein in step (c) the platform is And after the predetermined time, the last operated function of the platform may be reversed. In step (c), the operation of the platform at a creep rate may be allowed if an object is detected in the warning zone, and the operation of the platform may be prevented if an object is detected in the danger zone. .

  These and other aspects and advantages will be described in detail with reference to the accompanying drawings.

FIG. 1 is an exemplary aerial lift vehicle including a work platform. FIG. 2 is a perspective view of a work platform and an obstacle detection system according to a preferred embodiment of the present invention. FIGS. 3-16 illustrate the non-adaptive and adaptive areas monitored by the platform and sensors. FIGS. 17-21 illustrate exemplary pan / tilt mechanisms and functions for the sensor unit.

  FIG. 1 shows an exemplary common aerial lift vehicle that includes a vehicle chassis (chassis) 2 supported on a plurality of wheels 4. Although the vehicle shown includes a telescopic boom, the present invention is equally applicable to other vehicles having an articulated boom that does not have a telescopic or extendable boom, for example. it can. The turntable and counterweight (counterweight) 6 are fixed to rotate on the chassis 2, and the extendable (flexible configuration) boom assembly is pivotable to the turntable 6 at one end. Is attached. A platform (work platform, aerial work platform) 10 is attached to the opposite end of the extendable boom 8. Since the illustrated lift vehicle is self-propelled, it includes a drive / control system (shown schematically as element 12 in FIG. 1) and a control console (control panel) 14 on the platform 10. Yes. The control console 14 is used to control functions (functions) such as boom angle, boom extension, rotation of the boom and / or platform about the vertical axis, engine, steering, and travel speed, travel direction, brake control, and the like. Various control elements (operation parts, operator control unit) that can be operated by an operator are provided.

  FIG. 2 shows a combined obstacle detection system (system) 20 and platform 10 for detecting obstacles such as obstacles around the platform including overhead obstacles. The sensor (sensing element) 22 is mounted in the vicinity of the platform 10 and monitors at least one of the operator area, the platform 10, and the area around the platform 10. The sensor 22 may be a stereo camera sensor that provides a data stream composed of pixel data (RGB values and RGB ranges) to a processor (computer) 24 mounted on the platform 10. An exemplary stereo camera sensor is a MultiSense S21 available from Carnegie Robotics. One skilled in the art will appreciate the appropriate alternative sensor and the invention is not intended to be limited to a particular sensor type.

  The obstacle detection system 20 may include a plurality of sensors 22. The plurality of sensors 22 can operate in cooperation with each other, and are mounted in various regions near the platform 10. In one exemplary structure, the platform 10 comprises a platform handrail and the sensor 22 is mounted on the platform handrail. Mounting on platform 10 provides a static image of platform 10 over the entire range of boom joints. The plurality of sensors may additionally or alternatively be mounted on the boom structure to increase the field of view from the platform 10 and / or mounted on a platform support structure other than a handrail. For example, as shown, the sensor 22 may be mounted on a dedicated bracket (extension shelf) 23 fixed to the platform 10, or the sensor 22 may be fixed adjacent to the control console 14. .

  The processor 24 processes the pixel range data to determine at least one of the operator's position on the platform 10 and the proximity of the object in the area surrounding the platform 10. The control module 26 of the control console 14 forms part of the drive / control system 12 and communicates with the processor 24 to control the operation of the platform 10 based on signals from the processor 24. In some configurations, the control module 26 communicates with the drive / control system 12 that controls the overall operation of the machine. In this configuration, the control module 26 can collect inputs from control devices such as joysticks (operating levers), switches, etc., and transmit operator commands (commands, commands) to the drive / control system 12.

  In some embodiments, the processor 24 determines whether the operator is absent, or whether the operator is not in the proper operating position, and the control module 26 determines whether the operator is absent. Programmed to prevent operation of the platform 10 when not in the proper position. That is, if no operator is detected, the processor 24 sends a data message to the control module 26 that prevents movement or operation of the platform 10 or stops all running functions of the platform 10. The system may also include an override button (function release button) 28, and when the override button 28 is activated, the platform 10 may be operated at a creep rate (slow speed, slow speed).

  The processor 24 may determine that the operator is leaning on the control console 14, and the control module 26 determines that the platform 10 is determined that the operator is leaning on the control console 14. Programmed to prevent the operation of If the processor 24 determines that the operator has been standing on the control console 14 for a predetermined time, the control module 26 will invert the last operated function of the platform 10 (to invert). Programmed). In this example, the system may sound an alarm and light a warning beacon (sign).

  The indicator lamp 29 may be fixed to a platform handrail around the control console 14 in order to inform the operator of the system status. An exemplary position of the indicator light 29 is shown in FIG. The control module 26 may turn on the indicator light 29 when the control module 26 affects the machine control in some way (for example, when the sensor 22 indicates that the machine is too close to the obstacle). Good.

  3-8 illustrate exemplary sensing areas that detect the proximity of objects on the top, back, bottom, and sides of the platform 10. The sensor 22 is programmed to distinguish the area around the platform 10 into a warning zone (zone A) 30 and a danger zone (zone B and zone C) 32. As shown, the danger zone 32 is closer to the platform 10 than the warning zone 30. If the processor 24 determines that an object is in the warning zone 30, the control module 26 permits (programmed to allow) the platform 10 to operate at the creep rate. If the processor 24 determines that an object is present in the danger zone 32, the control module 26 prevents (programs to prevent) the operation of the platform 10, i.e. stops all running functions, And / or prevent (or be programmed to) start or continue operation. Whenever the control module 26 prevents the operation of the platform 10 causing the movement of the platform 10, the operation of the platform 10 at the creep speed is permitted by activating the override switch 28. The processor 24 when the operator is present and in the proper operating position and there is no object in the area around the platform 10 (ie, in the proximity defined by the forbidden zone (warning zone 30 and danger zone 32)). The control module 26 allows normal, unrestricted operation of the platform 10. When the operator is absent, the operation of the platform 10 for moving the platform 10 is hindered unless it is overridden by the override switch 28.

  Since the processor 24 captures the shape of the obstacle and the distance from the obstacle in real time, the processor 24 can be programmed to estimate the direction and speed of movement of the platform 10 relative to the recognized obstacle. The processor 24 can be programmed to respond (activate) even when the obstacle is outside the warning zone 30. For example, the processor 24 sends a signal to the drive / control system 12 to drive when the processor 24 recognizes that the operator is driving the machine at full speed in the direction in which there is a potential obstacle. It can be programmed to slow down machine operation. As another example, the boom function (or drive function) may be more aggressively decelerated if the processor 24 determines that the machine is moving at high speed towards the point of collision.

  Referring to FIGS. 5 to 8, the warning zone 30 and the danger zone 32 are configured as adaptive areas (adaptive zones), and the control module 26 determines whether the warning zone 30 and the danger zone 32 are based on the situation of the surrounding environment. Each size and shape can be adjusted. The area of adaptability is calculated by the control module 26 based on, among other things, the sensor system / controller ability to recognize the number of people in the platform 10 or the combination of people and instruments (tools, equipment) present in the platform 10. The 5-8 illustrate the results of calculations by the control module 26. FIG. 5 and 6, the warning zone 30 and the danger zone 32 are adapted according to one specific operator. In FIG. 7, the warning zone 30 and the danger zone 32 are adapted according to the presence of two operators, and in FIG. 8, the warning zone 30 and the danger zone 32 are adapted according to the operators and equipment on the platform 10. .

  Various methods can be used to reduce the speed of the platform 10 based on the distance to the detected object. In the “speed limit” method, an upper limit of the maximum speed that can be commanded is set based on the distance to the detected object (see, for example, FIGS. 5 to 13). In the “speed reduction” method, the operator's input is reduced (scaled down) based on the detected distance to the obstacle (see, for example, FIGS. 14 to 16). These two methods result in different machine behaviors.

  The zone may be adapted to the speed and direction in which the machine moves. The zone can be adjusted to be deeper when it is determined that the machine is moving faster than the speed threshold. Alternatively, the zone can be made deeper in the main direction of movement when a swing or other directional function is activated. The control module 26 may adjust the sensor 22 to reach deeper in the direction of the side of the platform 10. 9 to 13 show a change in the depth of the warning zone 30 and / or the danger zone 32 based on the moving speed and moving direction of the platform 10. More specifically, FIG. 9 shows that the platform 10 moving to the right has an increased depth for each of the right warning zone 30 and the danger zone 32. FIG. 10 shows that the descending platform has a warning zone 30 and / or a danger zone 32 having an increased depth along the direction of platform movement. The fault detection system 20 may be programmed to adjust the depth of the warning zone 30 and the danger zone 32 based on the moving speed of the platform 10. FIGS. 11-13 show a proportionally increased depth as the speed of the platform 10 increases.

  Relatedly, as shown in FIGS. 14-16, the adaptive region may incorporate a proportional deceleration zone. In FIG. 14, the commanded speed is reduced at a rate depending on the proximity of the potential obstacle to the platform. Although the deceleration zone is shown as a discrete (discrete) stage, the deceleration zone may alternatively be continuous. In FIG. 15, a proportional deceleration zone is combined with a zone adapted to the speed and direction of movement. In FIG. 15, the platform has moved to the right and the zone depth has been modified accordingly. In FIG. 16, the platform has moved to the right and an object has been detected in the 60% zone. The operating speed is reduced to 60% of the command speed.

  Communication between the sensor 22 and the processor 24 may be made via a digital packet (CAN (Controller Area Network) bus) or a discrete signal (digital or analog output). Other forms of digital communications may be used that allow the sensor to provide the information needed to assess environmental awareness. Examples of other forms include, but are not limited to, Ethernet, I2C, RS232 / 485, digital pulse width modulation (PWM), and the like. The control module 26 interprets the data to determine whether and how the machine should react to the sensor data. Based on the signal from sensor 22, processor 24 can determine whether it needs to be cleaned via a built-in test (BIT). The sensor 22 can be based on light, radar, or acoustic (ultrasonic) detection. The sensor 22 may be a single device or multiple devices of the same or complementary technology. This provides redundancy and tolerance for various environmental conditions, contamination on the sensor, and objects to be detected. The sensor may be a passive sensor (stereo camera, single camera) or an active sensor (light detection and ranging (LiDAR), laser detection and ranging (LADAR), stereoscopic sensor). Alternatively, it may be a radar or may be acoustic (ultrasound). Any suitable type of sensor may be used, and the invention is not intended to be limited to the exemplary embodiments described. Alternative sensor configurations that achieve the same function are also contemplated, for example, sensors that react to radiators (via electromagnetic waves or other signals), incorporated into mechanical and / or operator protective equipment ) Including reflective sensors.

  Referring to FIGS. 17-21, the sensor 22 (camera, LiDAR, RADAR, etc.) is a suitable pan / tilt mechanism 34 (an exemplary pan / tilt mechanism is a multi-sense S21 available from Carnegie Robotics, Inc. ) To mechanically rotate (pan / tilt) the entire sensor, or polygon reflector 36, single reflector 38, pair of reflectors 40 (camera and LiDAR optical mirror, radar and sound) It is possible to steer by moving / rotating the field of view mechanically via a metal plate). The steering device may be controlled by any of the processor 24, the control module 26, the sensor 22, or may be self-contained within the steering device. As the sensor or sensor field of view is steered, each sensor can target a wider peripheral area around the platform and / or boom structure.

  The platform and obstacle detection system strives to avoid collision between the moving platform and obstacles in the vicinity of the platform. A front-handed system (proactive system) according to a preferred embodiment is advantageous compared to a rear-handed system (reactive system) that adjusts after an obstacle comes into contact with the operator and / or platform structure.

  Although the present invention has been described with what is presently considered to be the most practical and preferred embodiments, the invention is not limited to the disclosed embodiments, but on the contrary, the appended claims It is intended to cover various modifications and equivalent configurations that fall within the spirit and scope of the present invention.

Claims (27)

A combined work platform / system, wherein the work platform is a work platform having a control panel with operating components for controlling the position of the work platform, and the system is a system for detecting nearby obstacles. A combined work platform / system,
A sensor mounted in the vicinity of the work platform and monitoring at least one of an operator area, the work platform, and an area around the work platform;
A processor that receives a signal from the sensor and processes the signal to determine at least one of an operator position on the work platform and proximity of an object in the region around the work platform;
A combined work platform / system comprising a control module in communication with the processor and the operating component and modifying a control signal from the control panel based on communication with the processor.   Claims wherein the control module prevents operation of the work platform that causes movement of the work platform when the processor determines that the operator is not present or the operator is not in an appropriate operating position. Item 2. A combined work platform / system according to item 1. And an override switch coupled to the control module,
The combined work platform / system of claim 2, wherein the control module permits operation of the work platform at a creep rate based on actuation of the override switch.   When the processor determines that the operator is leaning over the control panel, the control module causes the work platform to move, causing the work platform to stop functioning and causing the work platform to move. The combined work platform / system of claim 2, which prevents further operation of the system.   5. The control module of claim 4, wherein the control module reverses the last operated function of the work platform when the processor determines that the operator has been standing on the control panel for a predetermined time. Combined work platform / system.   When the processor determines that the operator is present and is in an appropriate operating position and determines that no object is present in the area around the work platform, the control module 6. The combined work platform / system according to any one of claims 1 to 5, which permits operation. The sensor is configured to distinguish the area around the work platform into a warning zone and a danger zone closer to the work platform than the warning zone;
The processor determines that an object is present in the warning zone;
The combined work according to any one of claims 1 to 6, wherein the control module allows operation at a creep speed of the work platform based on the determination that the object is in the warning zone. Platform / system. The processor determines that an object is present in the danger zone;
The control module stops an ongoing function of the work platform based on the determination that the object is present in the danger zone, preventing further operation of the work platform that causes movement of the work platform. The combined work platform / system of claim 7. And an override switch coupled to the control module,
9. The combined work platform / system of claim 8, wherein the control module allows operation at a creep speed of the work platform based on actuation of the override switch.   10. The sensor according to any one of claims 7 to 9, wherein the sensor is configured to adjust the depth of at least one of the warning zone and the danger zone based on operational characteristics of the work platform. Combined work platform / system.   11. The combined work platform / system of claim 10, wherein the operational features include the number of operators on the work platform, the direction in which the work platform is moving, and the speed of the work platform. The control module detects the speed of the work platform;
The processor processes a signal from the sensor relating to the speed of the work platform towards one of the objects in the region of the work platform;
12. The control module according to any of claims 1 to 11, wherein the control module slows a function being executed at a predetermined rate relative to the speed at which the work platform approaches the one of the objects in the region of the work platform. A combined work platform / system according to claim 1.   13. The combined work according to any one of claims 1 to 12, wherein the control module reduces a commanded operating speed based on proximity to one of the objects in the area of the work platform. Platform / system.   14. A combined work platform / system according to any one of the preceding claims, wherein the sensor comprises a plurality of sensing elements fixed in the vicinity of the work platform.   15. A combined work platform / system according to any one of the preceding claims, wherein the work platform comprises a platform handrail and the sensor is mounted on the platform handrail.   16. A combined work platform / system according to any one of the preceding claims, wherein the sensor comprises one of an optical sensor, a radar sensor, and an acoustic sensor.   17. A combined work platform / system according to any one of the preceding claims, further comprising a steering device to which the sensor is attached.   18. A combined work platform / system according to claim 17, wherein the steering device comprises a pan and / or tilt mechanism.   18. The combined work platform / system of claim 17, wherein the steering device comprises a mirror that moves or rotates the field of view of the sensor. An aerial work platform,
A control panel including an operator control unit for operating the platform;
A control module that communicates with the operator controller and controls the operation of the platform based on a signal from the control panel;
With an obstacle detection system,
The obstacle detection system includes:
A sensor mounted in the vicinity of the platform and monitoring an operator area, the platform, and an area around the platform;
A processor that receives a signal from the sensor and processes the signal to determine the position of an operator on the platform and the proximity of an object in the region around the platform;
The control module communicates with the processor and modifies a control signal from the operator control unit based on the communication with the processor.   The sensor is configured to distinguish the area around the platform into a warning zone and a danger zone closer to the platform than the warning zone, and the control module is configured to identify the warning zone or the danger zone. 21. The aerial work platform according to claim 20, wherein different controls are applied to the operation of the platform depending on whether an object is detected.   The control module prevents operation of the platform when the operator is not present or the operator is not present at an appropriate operation position and an object is detected in the danger zone, and the warning Allow operation of the platform at creep speed when an object is detected in the zone, no object is detected in the warning zone and the danger zone, and the operator is present in the appropriate operating position 23. The aerial work platform according to claim 21, wherein normal operation of the platform is permitted when it is present.   The aerial work platform according to any one of claims 20 to 22, wherein the sensor includes a plurality of sensing elements fixed in the vicinity of the platform. An aerial work platform comprising a control panel for operating the platform, the method comprising:
(A) monitoring an operator area, the platform, and an area around the platform with a sensor mounted in the vicinity of the platform;
(B) detecting a position of an operator on the platform and proximity of an object in the region around the platform with a processor that receives a signal from the sensor;
(C) A method comprising modifying a control signal from the control panel at a control module based on communication with the processor and the detection in step (b).   25. The method of claim 24, wherein in step (c), the platform is prevented from operating when the operator is not present or when the operator is not in an appropriate operating position. Step (b) is performed to determine whether or not the operator has been standing on the control panel for a predetermined time,
26. The method of claim 25, wherein step (c) prevents operation of the platform for the predetermined time and reverses the last operated function of the platform after the predetermined time. The area around the platform includes a warning zone and a danger zone closer to the platform than the warning zone;
The step (c) permits the operation of the platform at a creep speed when an object is detected in the warning zone and prevents the operation of the platform when an object is detected in the danger zone. 26. The method according to 26.

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