JP7014692B2 - Combined work platform / system - Google Patents

Description

References to Related Applications: This application is 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 / 066122, filed on December 20, 2011 claiming priority of No. 558, is pending pending on May 16, 2013, which is the transition stage to the United States. It is a partial continuation application of US Patent Application No. 13 / 885,720, and the entire disclosure of each of the above is incorporated herein by reference.

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

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

Among other things, safety issues can arise in lift vehicles equipped with a work platform if the operator is between the platform and a structure that may be located above or behind the operator. It is also desirable to avoid collisions with objects around the platform, such as glass surfaces, aircraft structures, and other more fragile or fragile structures.

A camera sensor or the like may be mounted on the platform for aerial work in order to observe (monitor, observe) the platform, the area around the platform, and the operator. The system processes the data from the sensors to determine if the operator is present and if the operator is in the proper operating position, and also above, behind, bilaterally, and below the platform. The proximity (approach) of an object may be determined (measured). The control module may allow, modify (correct), or hinder (block, prevent) the platform from operating and / or manipulating based on data from the sensors. good.

In one exemplary embodiment, a working platform is combined with a system for detecting obstacles. The working platform has a control panel with operating components that control the position of the working platform. The combined work platform / system is mounted near the work platform and receives signals from the sensors and sensors that monitor at least one of the operator area, the work platform, and the area around the work platform. It is equipped with a processor that processes the signal to determine at least one of the operator's position on the work platform and the proximity of the object within the area surrounding the work platform. The control module that communicates with the processor and operating components modifies the control signal from the control panel based on the communication with the processor.

The processor may determine that the operator is not present or the operator is not in the proper operating position, and the control module may at this time interfere with the operation of the work platform causing the work platform to move. (May be programmed to prevent). The override switch may be attached to the control module, in which case the control module may allow the work platform to operate at a very slow speed, i.e. creep speed, based on the operation of the override switch. May be programmed to allow). The processor may determine that the operator is leaning over the control panel, at which time the control module will stop running functions and perform further operations on the work platform causing the work platform to move. May interfere (may be programmed to interfere). The processor may determine that the operator has been leaning over the control panel for a given period of time, at which time the control module may invert the last operated function of the work platform (). May be programmed to invert). The processor may determine that the operator is present and in the proper operating position, and that no object is present in the area surrounding the work platform, at which time the control module performs 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 that is closer to the working platform than the warning zone. The processor may determine that the object is in the warning zone, or the control module may allow the working platform to operate at creep speed 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, or the control module may interfere with (program to interfere) 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 the operating characteristics of the platform. 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 (as it does) a signal from the sensor regarding the speed of the work platform towards one of the objects in the area of the work platform. May be programmed). In this regard, the control module may slow down (program to slow down) the running function by a predetermined percentage of the speed at which the work platform approaches one of the objects in the area of the work platform. May be done). The control module may reduce (or be programmed to reduce) the commanded operating speed based on its proximity to one of the objects within the area of the work platform.

The sensor may include multiple sensing elements fixed in the vicinity of the work platform. In some configurations, the working platform may be equipped with platform railings, on which sensors are mounted. The sensor can be one of an optical sensor (optical sensor), a radar sensor, and an acoustic sensor. The sensor may be attached to a maneuvering 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 platform for aerial work communicates with a control panel that includes an operator control unit for operating the platform, and the operator control unit, based on a signal from the control panel of the platform. It is equipped with a control module that controls operations and an obstacle detection system. The obstacle detection system is mounted near the platform and monitors the operator area, the platform, and the area around the platform, and receives signals from the sensors and processes the signals to operate the operator on the platform. It is equipped with a processor that determines the position of the object and the proximity of the object in the area around the platform. The control module communicates with the processor and modifies (programs to modify) the control signal from the operator control unit based on the communication with the processor.

In yet another exemplary embodiment, the method of controlling a platform for aerial work, including a control panel for operating the platform, is (a) a sensor mounted in the vicinity of the platform. The process of monitoring the operator area, the platform, and the area around the platform, (b) the processor receiving the signal from the sensor detects the position of the operator on the platform, and the proximity of objects in the area around the platform. A step of modifying a control signal from the control panel in the control module based on (c) communication with the processor and detection in step (b). In step (c), the operation of the platform may be hindered if the operator is not present or the operator is not present at the appropriate operating position. Step (b) may be performed to determine if the operator is leaning over the control panel for a predetermined time, and in step (c), the platform may be performed for the predetermined time. The last operated function of the platform may be reversed after the predetermined time. In step (c), the operation of the platform at creep speed may be permitted when the object is detected in the warning zone, or the operation of the platform may be hindered when the object is detected in the danger zone. ..

These aspects and other aspects and advantages are described in detail with reference to the accompanying drawings below.

FIG. 1 is an exemplary aerial lift vehicle including a working 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. 3 to 16 show the non-adaptive and adaptive regions monitored by the platform and sensors. 17 to 21 show exemplary pan / tilt mechanisms and functions for the sensor unit.

FIG. 1 shows an exemplary and general aerial lift vehicle including a vehicle chassis (chassis) 2 supported on a plurality of wheels 4. Although the vehicle shown is equipped with a telescopic boom, the invention may be equally applicable, for example, to other vehicles with an articulated boom that does not have a telescopic or extendable boom. can. The turntable and counterweight 6 are fixed to rotate on the chassis 2, and the extendable (flexible configuration) boom assembly can be pivoted to the turntable 6 at one end thereof. It is attached to. The platform (working platform, platform for aerial work) 10 is attached to the opposite end of the extendable boom 8. Since the illustrated lift vehicle is self-propelled, it is equipped with a drive / control system (schematically illustrated as element 12 in FIG. 1) and a control console (control panel, control panel) 14 on platform 10. There is. The control console 14 controls functions such as boom angle, boom extension, boom and / or platform rotation around the vertical axis, engine, steering, and running speed, running direction, and brake control. It is equipped with various control elements (operation parts, operator control unit) that can be operated by the operator.

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 (detection 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 range) to the processor (computer) 24 mounted on the platform 10. An exemplary stereo camera sensor is the MultiSense S21 available from Carnegie Robotics. Those skilled in the art will correctly recognize suitable alternative sensors, and the present 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 together and are mounted in various regions in the vicinity of the platform 10. In one exemplary structure, the platform 10 comprises a platform rail and the sensor 22 is mounted on the platform rail. Mounting on platform 10 provides a still image of platform 10 over the entire range of boom junctions. The plurality of sensors may be additionally or alternatively mounted on the boom structure to increase the field of view from the platform 10 and / or may be mounted on the platform support structure other than the handrail. For example, as shown, the sensor 22 may be mounted on a dedicated bracket (overhanging shelf) 23 fixed to the platform 10, or the sensor 22 may be fixed adjacent to the control console 14. ..

The processor 24 processes pixel range data to determine at least one of an operator's position on the platform 10 and the proximity of an 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 the signal from the processor 24. In some configurations, the control module 26 communicates with a 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 (operation 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 the operator is not in the proper operating position, and the control module 26 determines whether the operator is absent. It is programmed to interfere with the operation of Platform 10 if it is not in the proper position. That is, if the operator is not detected, the processor 24 sends a data message to the control module 26 that interferes with the movement or operation of the platform 10 or stops all running functions of the platform 10. The system may also include an override button 28, and when the override button 28 is activated, the platform 10 may be operated at a creep speed (driving speed, slow speed).

The processor 24 may determine that the operator is leaning over the control console 14, and the control module 26 may determine that the operator is leaning over the control console 14. It is programmed to interfere with the operation of. If the processor 24 determines that the operator is leaning over the control console 14 for a predetermined time, the control module 26 inverts (to invert) the last operated function of the platform 10. (Programmed in). In this example, the system may sound an alarm to turn on a warning beacon (sign).

The indicator light 29 may be fixed to the platform railing around the control console 14 in order to inform the operator of the status of the system. An exemplary position of the indicator light 29 is shown in FIG. The control module 26 may turn on the indicator light 29 if the control module 26 is affecting machine control in some way (eg, if the sensor 22 indicates that the machine is too close to an obstacle). good.

3 to 8 show exemplary detection areas for detecting the proximity of objects above, behind, below, and on both 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, control module 26 permits (programs to allow) operation of platform 10 at creep speed. If the processor 24 determines that an object is within the danger zone 32, the control module 26 interferes with (programs to interfere with) the operation of the platform 10, ie, stops all running functions. And / or prevent the start or continuation of the operation (programmed to). Whenever the control module 26 interferes with the operation of the platform 10 that causes the movement of the platform 10, the override switch 28 is activated to allow the operation of the platform 10 at creep speed. Processor 24 with the operator present and in the proper operating position and no objects in the area surrounding the platform 10 (ie, in the proximity defined by the prohibited zones (warning zone 30 and danger zone 32)). When determined, control module 26 permits normal, unrestricted operation of platform 10. In the absence of the operator, the operation of the platform 10 to move the platform 10 is hindered unless it is overridden (defunctionalized) 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 moving direction and the moving speed of the platform 10 with respect to the recognized obstacle. The processor 24 can be programmed to deal (operate) even if the obstacle is outside the warning zone 30. For example, the processor 24 sends a signal to the drive / control system 12 to drive the machine when the processor 24 recognizes that the operator is driving the machine at full speed in the direction of potential obstacles. It can be programmed to slow down mechanical operation. As another example, the boom function (or drive function) can be more aggressively decelerated when the processor 24 determines that the machine is moving at high speed towards the collision point.

Referring to FIGS. 5 to 8, the warning zone 30 and the danger zone 32 are configured as an adaptive zone, and the control module 26 of the warning zone 30 and the danger zone 32 is based on the situation of the surrounding environment. The size and shape of each can be adjusted. The area of adaptability is calculated by the control module 26, in particular based on the sensor system / controller ability to recognize the number of people in the platform 10 or the combination of people and instruments (tools, instruments) present in the platform 10. Ru. 5 to 8 illustrate the result of the calculation by the control module 26. In FIGS. 5 and 6, the warning zone 30 and the danger zone 32 are adapted according to one particular 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 devices 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 commandable speed 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 scaled down based on the distance to the detected obstacle (see, for example, FIGS. 14 to 16). These two methods result in different behavior of the machine.

Zones may be adapted to the speed and direction of movement of the machine. 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 may be 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 towards the sides of the platform 10. 9 to 13 show changes in the depth of the warning zone 30 and / or the danger zone 32 based on the moving speed and direction of movement of the platform 10. More specifically, FIG. 9 shows that the platform 10 moving to the right has an increased depth in each of the warning zone 30 and the danger zone 32 on the right. FIG. 10 shows that the descending platform has the warning zone 30 and / or the danger zone 32 having an increased depth along the direction of travel of the platform. 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. 11 to 13 show the depth increased proportionally 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 in proportion to the proximity to the potential obstacle platform. The deceleration zone is shown as a discontinuous (discrete) step, but instead the deceleration zone may 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 been moved to the right and the zone depth has been modified accordingly. In FIG. 16, the platform is moving to the right and an object is 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 via a digital packet (CAN (Can Rule Area Network) bus) or a discrete signal (digital or analog output). Other forms of digital communication 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 if and how the machine should react to the sensor data. Based on the signal from the sensor 22, the processor 24 can determine whether it needs to be cleaned via a built-in test (BIT). The sensor 22 may be based on light, radar, or acoustic (ultrasound) detection. The sensor 22 may be a single device or may be 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 can be a passive sensor (stereo camera, single camera) or an active sensor (light detection and distance measurement (LiDAR), laser detection and distance measurement (LADAR), stereoscopic sensor). However, it may be a radar or an acoustic (ultrasonic). 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 intended, for example, sensors that react to radiators (via electromagnetic waves or other signals), incorporated into mechanical and / or operator protective equipment. ) Includes reflective sensors, etc.

Referring to FIGS. 17-21, the sensor 22 (camera, LiDAR, RADAR, etc.) is a suitable pan / tilt mechanism 34 (exemplary pan / tilt mechanism is Multisense S21 available from Carnegie Robotics. ) Mechanically rotate (pan / tilt) the entire sensor, or a polygonal reflector 36, a single reflector 38, a pair of reflectors 40 (optical mirrors for cameras and LiDAR, radar and acoustics). It can be steered by mechanically moving / rotating the field of view through a metal plate) or the like. The maneuvering device can be controlled by any of the processor 24, the control module 26, the sensor 22, or may be self-contained within the maneuvering device. Manipulating the sensor or sensor field of view allows each sensor to target a wider peripheral area around the platform and / or boom structure.

The platform and obstacle detection system will endeavor to avoid collisions between the moving platform and obstacles in the vicinity of the platform. The first-hand system (proactive system) according to the preferred embodiment is advantageous as compared with the second-hand system (reactive system) in which the adjustment is performed after the obstacle comes into contact with the operator and / or the platform structure.

Although the present invention describes what is currently considered to be the most practical and preferred embodiment, the invention is not limited to the disclosed embodiments and, on the contrary, the accompanying claims. It is intended to cover various modifications and equivalent configurations contained within the purpose and scope of the above.

Claims (26)

A combined work platform / system, wherein the work platform is a combined work platform / system that is a work platform having a control panel with operating components that control the position of the work platform.
A sensor mounted in the vicinity of the work platform and monitoring at least one of the operator area, the work platform, and the area around the work platform.
A processor that receives a signal from the sensor and processes the signal to determine at least one of the operator's position on the work platform and the proximity of an object in the area around the work platform.
It is provided with a control module that communicates with the processor and the operation component and corrects a control signal from the control panel based on the communication with the processor .
When the processor determines that the operator is leaning over the control panel, the control module stops the running function of the work platform, causing the work platform to move. Interfering with further operation of the platform ,
A combined work platform in which the control module reverses the last operated function of the work platform when the processor determines that the operator has been leaning over the control panel for a predetermined time. /system. The control module detects the speed of the working platform and
The processor processes a signal from the sensor regarding the speed of the work platform towards one of the objects in the area of the work platform.
The combination of claim 1, wherein the control module slows down a running function at a predetermined rate relative to the speed at which the work platform approaches the one of the objects in the area of the work platform. Working platform / system. Further, it is provided with an override switch connected to the control module.
The combined work platform / system of claim 1 or 2, wherein the control module permits operation of the work platform at creep speeds based on the activation of the override switch. When the processor determines that the operator is present and in an appropriate operating position and that no object is present in the area around the work platform, the control module usually performs the work platform. The combined work platform / system according to any one of claims 1 to 3 , which permits the 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 and
The combined operation according to any one of claims 1 to 4 , wherein the control module permits operation of the work platform at creep speed based on the determination that the object is present in the warning zone. Platform / system. The processor determines that an object is present in the danger zone and
Based on the determination that the object is present in the danger zone, the control module stops the running function of the work platform and prevents further operation of the work platform causing the work platform to move. The combined working platform / system according to claim 5 . Further, it is provided with an override switch connected to the control module.
The combined work platform / system of claim 6 , wherein the control module permits operation of the work platform at creep speeds based on the activation of the override switch. 10. One of claims 5-7 , wherein the sensor is configured to adjust the depth of at least one of the warning zone and the danger zone based on the operational characteristics of the work platform. Combined work platform / system. The combined work platform / system according to claim 8 , wherein the operation is characterized by 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 combined operation according to any one of claims 1 to 9 , wherein the control module reduces the commanded operating speed based on the proximity of the object to one of the objects in the area of the work platform. Platform / system. The combined work platform / system according to any one of claims 1 to 10 , wherein the sensor comprises a plurality of detection elements fixed in the vicinity of the work platform. The combined work platform / system according to any one of claims 1 to 11 , wherein the work platform comprises a platform handrail and the sensor is mounted on the platform handrail. The combined work platform / system according to any one of claims 1 to 12 , wherein the sensor comprises one of an optical sensor, a radar sensor, and an acoustic sensor. The combined work platform / system according to any one of claims 1 to 13 , further comprising a maneuvering device to which the sensor is attached. The combined work platform / system of claim 14 , wherein the maneuvering device comprises a pan and / or tilt mechanism. The combined work platform / system of claim 14 , wherein the maneuvering device comprises a mirror that moves or rotates the field of view of the sensor. The combined work platform / system according to any one of claims 1 to 16 , wherein the sensor is mounted in front of the platform to monitor an area behind the platform. A platform for aerial work
A control panel including an operator control unit for operating the platform, and
A control module that communicates with the operator control unit and controls the operation of the platform based on a signal from the control panel.
Equipped with an obstacle detection system
The obstacle detection system is
A sensor mounted in the vicinity of the platform and monitoring at least one of the operator area, the platform, and the area around the platform.
A processor comprising a processor that receives a signal from the sensor and processes the signal to determine at least one of the operator's position on the platform and the proximity of an object within the region around the platform.
The control module communicates with the processor, modifies the control signal from the operator control unit based on the communication with the processor, and corrects the control signal.
Further of the platform, when the processor determines that the operator is leaning over the control panel, the control module stops the running function of the platform, causing the platform to move. Interfere with the operation
A platform for aerial work in which the control module reverses the last operated function of the platform when the processor determines that the operator has leaned onto the control panel for a predetermined time . 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 the warning zone or the danger zone. The platform for aerial work according to claim 18 , wherein different controls are applied to the operation of the platform depending on whether or not an object is detected. The control module interferes with the operation of the platform when the operator is not present or the operator is not present at an appropriate operating position and an object is detected in the danger zone, and the warning When an object is detected in the zone, the platform can be operated at creep speed, no object is detected in the warning zone and the danger zone, and the operator is present at the appropriate operating position. The platform for aerial work according to claim 19 , which permits normal operation of the platform when it is present. The platform for aerial work according to any one of claims 18 to 20 , wherein the sensor includes a plurality of detection elements fixed in the vicinity of the platform. The aerial work platform according to any one of claims 18 to 21 , wherein the sensor is mounted in front of the platform and monitors an area behind the platform. A platform for aerial work, a method of controlling a platform that includes a control panel for operating the platform.
(A) A sensor mounted in the vicinity of the platform monitors at least one of the operator area, the platform, and the area around the platform.
(B) A processor that receives a signal from the sensor detects at least one of the position of the operator on the platform and the proximity of an object in the area around the platform.
(C) The control module comprises modifying the control signal from the control panel based on the communication with the processor and the detection in step (b).
Further of the platform, when the processor determines that the operator is leaning over the control panel, the control module stops the running function of the platform, causing the platform to move. Interfere with the operation
Step (b) is performed to determine whether the operator is leaning over the control panel for a predetermined time.
In step (c), a method of interfering with the operation of the platform for the predetermined time and reversing the last operated function of the platform after the predetermined time . 23. The method of claim 23 , which prevents the operation of the platform in step (c) when the operator is not present or the operator is not present at an appropriate operating position. The area around the platform includes a warning zone and a danger zone closer to the platform than the warning zone.
In step (c), claim 23 or claim 23 or the like, which permits the operation of the platform at the creep speed when an object is detected in the warning zone and hinders the operation of the platform when an object is detected in the danger zone. 24 . The sensor is mounted in front of the platform and
The method of any one of claims 23-25 , wherein monitoring the area around the platform with the sensor comprises monitoring the area behind the platform with the sensor.

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