WO2024050931A1 - 一种剪叉车的防撞装置和方法 - Google Patents

一种剪叉车的防撞装置和方法 Download PDF

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Publication number
WO2024050931A1
WO2024050931A1 PCT/CN2022/126939 CN2022126939W WO2024050931A1 WO 2024050931 A1 WO2024050931 A1 WO 2024050931A1 CN 2022126939 W CN2022126939 W CN 2022126939W WO 2024050931 A1 WO2024050931 A1 WO 2024050931A1
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alarm
collision
distance
height
scissor
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PCT/CN2022/126939
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English (en)
French (fr)
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刘国良
张晓飞
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湖南星邦智能装备股份有限公司
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Publication of WO2024050931A1 publication Critical patent/WO2024050931A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force

Definitions

  • the present application relates to the technical field of anti-collision devices, and in particular to an anti-collision device and method for a scissor forklift.
  • Aerial work platforms mainly transport people to high altitudes for work.
  • the operator's misoperation or misjudgment of the surrounding environment may lead to the risk of the operator being squeezed.
  • the purpose of this application is to provide an anti-collision device and method for a scissor forklift, which is used to calibrate the height of the anti-collision base according to the height of the operator, so as to achieve refined anti-collision protection for the operator during the operation of the aerial work platform.
  • this application provides an anti-collision device for a scissor forklift, including a controller, an alarm, an override button, and a distance detection sensor.
  • the controller is respectively connected to the alarm, the override button, and the distance detection sensor.
  • the override button is used to generate an anti-collision base height detection instruction after the anti-collision device is turned on and a pressing operation is detected;
  • the controller is used to obtain the operator's height detected by the distance detection sensor according to the anti-collision base height detection instruction, determine the anti-collision base height according to the operator's height, and during the lifting process of the scissor forklift, Obtain the distance from the obstacle in the lifting direction detected by the distance detection sensor, and generate an alarm instruction when the difference between the distance and the height of the anti-collision foundation does not meet the preset conditions;
  • the alarm is used to issue an alarm when receiving the alarm instruction.
  • the alarm is a sound and light alarm
  • the sound and light alarm includes a warning light and a buzzer.
  • the distance detection sensor includes an ultrasonic sensor and a lidar.
  • it also includes a power indicator light, which is used to indicate the power-on status of the anti-collision device.
  • it also includes a protective shell, and the anti-collision device is provided in the protective shell.
  • the side of the protective case is provided with screw holes.
  • This application also provides an anti-collision method for a scissor forklift, which is applied to the anti-collision device of the scissor forklift, including:
  • an alarm command is generated to control the alarm to issue an alarm.
  • an alarm instruction is generated to control the alarm to issue an alarm, including:
  • an alarm instruction is generated to control the alarm to issue an alarm, and a lifting control instruction is generated; wherein, the lifting control instruction Used to pause the lifting operation of the scissor truck.
  • the acquisition of the distance to the obstacle in the lifting direction detected by the distance detection sensor includes:
  • the minimum value of the first distance and the second distance is taken as the distance from the obstacle in the lifting direction.
  • the method further includes:
  • the shielding signal is a signal generated by long pressing the override button after the alarm sends an alarm, and the shielding signal is used to shield the alarm instruction and the lifting control instruction so that all The scissor truck continues the lifting operation and the alarm stops alarming.
  • An anti-collision device for a scissor forklift includes a controller, an alarm, an override button, and a distance detection sensor.
  • the controller is connected to the alarm, the override button, and the distance detection sensor respectively; the override button is used to prevent collisions.
  • the device After the device is turned on and detects the pressing operation, it generates an anti-collision base height detection instruction; the controller is used to obtain the operator's height detected by the distance detection sensor according to the anti-collision base height detection instruction, determine the anti-collision base height based on the operator's height, and During the lifting process of the scissor truck, the distance to the obstacle in the lifting direction detected by the distance detection sensor is obtained.
  • an alarm command is generated; the alarm is used to receive Send an alarm when the alarm command is reached.
  • This application can calibrate the anti-collision base height according to different operator heights to achieve refined anti-collision protection for operators during aerial work platform operations.
  • the beneficial effects such as the anti-collision method of a scissor forklift provided by this application correspond to the device, and the effects are as above.
  • Figure 1 is a structural diagram of an anti-collision device for a scissor forklift provided by an embodiment of the present application
  • Figure 2 is a structural diagram of another anti-collision device of a scissor forklift provided by an embodiment of the present application;
  • Figure 3 is a top view of an anti-collision device of a scissor forklift provided by an embodiment of the present application
  • Figure 4 is a side view of an anti-collision device of a scissor forklift provided by an embodiment of the present application
  • Figure 5 is a flow chart of a collision avoidance method for a scissor forklift provided by an embodiment of the present application
  • the reference signs are as follows: 1 is the main body of the anti-collision device, 2 is the protective shell, 11 is the controller, 12 is the ultrasonic sensor, 13 is the laser radar, 14 is the alarm, 15 is the power indicator light, 16 is the override button, 21 is Screw holes.
  • Aerial work platforms mainly send people to high altitudes for work.
  • the operator's misoperation or misjudgment of the surrounding environment may lead to the risk of the operator being squeezed.
  • Anti-collision devices are usually installed on the work rails of scissor trucks.
  • Current anti-collision systems generally use hard wires or use a single sensor for distance sensing and prediction, and ultimately make anti-collision responses based on the preset anti-collision base height. , that is, the sensor makes an anti-collision response when it detects that the distance between the obstacle and itself in the lifting direction is less than the anti-collision base height.
  • the current anti-collision base height is fixed. Since different operators have different heights, the required anti-collision base heights are also different.
  • the existing solution cannot calibrate the anti-collision base height according to the operator's height. It is difficult to achieve refined anti-collision protection for operators during operations on aerial work platforms; and, in special circumstances, when operators need to work close to obstacles, the existing protection system will directly protect them and cannot perform unauthorized operations.
  • the problem is that once the measured distance to the obstacle is less than the height of the anti-collision base, the scissor truck stops the lifting operation and the operator cannot approach the obstacle for work.
  • the core of this application is to provide an anti-collision device and method for a scissor forklift.
  • Figure 1 is a structural diagram of an anti-collision device for a scissor forklift provided by an embodiment of the present application.
  • 11 is a controller
  • 12 is an ultrasonic sensor
  • 13 is a laser radar
  • 14 is an alarm
  • 15 is a power supply.
  • 16 is the override button.
  • Figure 2 is a structural diagram of another anti-collision device of a scissor forklift provided by an embodiment of the present application.
  • 1 is the main body of the anti-collision device
  • 2 is a protective shell
  • 21 is a screw hole.
  • Figure 3 is a top view of an anti-collision device of a scissor forklift provided by an embodiment of the present application.
  • Figure 4 is a side view of an anti-collision device of a scissor forklift provided by an embodiment of the present application.
  • the anti-collision device of the scissor forklift includes a controller 11, an alarm 14, an override button 16, and a distance detection sensor.
  • the controller 11 is connected to the alarm 14, the override button 16, and the distance detection sensor respectively.
  • the override button 16 is used to generate an anti-collision base height detection instruction after the anti-collision device is turned on and a pressing operation is detected;
  • the controller 11 is used to obtain the operator's height detected by the distance detection sensor according to the anti-collision base height detection instruction.
  • the height of the operator determines the height of the anti-collision base, and during the lifting process of the scissor truck, the distance to the obstacle in the lifting direction detected by the distance detection sensor is obtained. If the difference between the distance and the height of the anti-collision base does not meet the preset conditions
  • an alarm instruction is generated; the alarm 14 is used to issue an alarm when receiving the alarm instruction.
  • the distance detection sensors in this application can be ultrasonic sensors 12 and laser radars 13 .
  • the ultrasonic sensor 12 collects data and detects the distance of obstacles in the lifting direction of the scissor forklift; the lidar 13, a distance sensor, also detects the distance in the lifting direction.
  • the range of detecting distance signals draw a cone at an angle of 20° from the center line, the farthest distance is 4m, and the shortest distance is 20cm.
  • the detectable range of the straight line distance directly above is 0.1-12m, the direction is perpendicular to the anti-collision device, and the angle is 2°.
  • the alarm 14 may be a sound and light alarm, and the sound and light alarm includes a warning light and a buzzer.
  • the function of the override button 16 is that when the anti-collision device is turned on, if you press and hold the override button 16, the distance detection sensor will send the detected height of the operator to the controller 11, and the controller 11 will determine the base height of the anti-collision based on the operator's height.
  • the operator's height is directly used as the basic height of anti-collision.
  • the specific method is as follows: the operator holds the anti-collision device, stands in front of an obstacle, and points the distance detection sensor towards the obstacle. The operator is as far away from the obstacle as he or she is.
  • the operator's height is about the same, then turn on the anti-collision device, press the override button 16, and the distance between the operator and the obstacle detected by the distance detection sensor is the operator's height.
  • the operator can also raise the anti-collision device above his head and point the distance detection sensor toward the ground.
  • the distance detection sensor detects the distance from the ground as the operator's height.
  • a power indicator light 15 may also be included, and the power indicator light 15 is used to indicate the power-on status of the anti-collision device.
  • the anti-collision device can also include a protective shell 2, and the anti-collision device is arranged in the protective shell 2.
  • a screw hole 21 is provided on the side of the protective shell 2.
  • the screw hole 21 is used to fix the anti-collision device body 1 to the lifting module of the scissor truck with screws. .
  • the controller 11 , the alarm 14 and the distance detection sensor are provided on the top of the anti-collision device main body 1
  • the override button 16 is provided on the side of the anti-collision device main body 1 .
  • An anti-collision device for a scissor forklift includes a controller, an alarm, an override button, and a distance detection sensor.
  • the controller is connected to the alarm, the override button, and the distance detection sensor respectively; the override button is used to prevent collisions.
  • the device After the device is turned on and detects the pressing operation, it generates an anti-collision base height detection instruction; the controller is used to obtain the operator's height detected by the distance detection sensor according to the anti-collision base height detection instruction, determine the anti-collision base height based on the operator's height, and During the lifting process of the scissor truck, the distance to the obstacle in the lifting direction detected by the distance detection sensor is obtained.
  • an alarm command is generated; the alarm is used to receive Send an alarm when the alarm command is reached.
  • This application can calibrate the anti-collision base height according to different operator heights to achieve refined anti-collision protection for operators during aerial work platform operations.
  • FIG. 5 is a flow chart of an anti-collision method for a scissor forklift provided by an embodiment of the present application. As shown in Figure 5, the anti-collision method for a scissor forklift includes:
  • pressing the override button 16 generates an anti-collision base height detection command.
  • S11 Obtain the operator's height detected by the distance detection sensor according to the anti-collision base height detection command, and determine the anti-collision base height based on the operator's height.
  • the controller 11 receives the anti-collision base height detection instruction, obtains the operator's height detected by the distance detection sensor, and calibrates the operator's height as the anti-collision base height. How the distance detection sensor detects the operator's height has been introduced above and will not be repeated here.
  • the distance detection sensor includes an ultrasonic sensor 12 and a lidar 13
  • the ultrasonic sensor 12 detects the first distance between itself and the obstacle
  • the lidar 13 detects the second distance between itself and the obstacle.
  • the first distance and the second distance Take the minimum value as the distance from the obstacle in the lifting direction.
  • an alarm command is generated to control the alarm to issue an alarm; if the difference between the distance and the height of the anti-collision base is is less than the second preset value, a lifting control instruction is generated, and an alarm instruction is generated to control the alarm to issue an alarm prompt; wherein, the lifting control instruction is used to suspend the lifting operation of the scissor forklift.
  • the controller 11 controls the output port to output a high level, the scissor truck continues the lifting operation, and the controller 11 does not make any alarm.
  • the controller 11 controls the output port to output a high level to the scissor truck.
  • the scissor truck continues the lifting action, and at the same time controls the alarm 14 to stop alarming, and then lets go.
  • the controller 11 controls the output port to continue to output a low level to stop the lifting operation of the scissor truck, and controls the alarm 14 to sound an alarm.
  • An anti-collision method for a scissor forklift receives an anti-collision base height detection instruction; obtains the operator's height detected by the distance detection sensor according to the anti-collision base height detection instruction, and determines the anti-collision base height based on the operator's height ; During the lifting process of the scissor truck, obtain the distance detected by the distance detection sensor from the obstacle in the lifting direction; if the difference between the distance and the height of the anti-collision base does not meet the preset conditions, generate an alarm command to control the alarm The device issues an alarm.
  • This application can calibrate the anti-collision base height according to different operator heights to achieve refined anti-collision protection for operators during aerial work platform operations.
  • the override button can be used to shield the controller from outputting a signal that limits the lifting action of the scissor truck to achieve continuous lifting.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

一种剪叉车的防撞装置和方法，控制器（11）分别与报警器（14）、越权按钮（16）、距离检测传感器连接；越权按钮（16）用于在防撞装置开机并检测到按压操作后，产生防撞基础高度检测指令；控制器（11）用于根据防撞基础高度检测指令获取距离检测传感器检测到的操作员身高，根据操作员身高确定防撞基础高度，并在剪叉车举升过程中，获取距离检测传感器检测的与障碍物在举升方向上的距离，在距离与防撞基础高度的差值不满足预设条件时，生成报警指令；报警器（14）用于在接收到报警指令时发出报警。能够根据不同操作员身高来标定防撞基础高度，实现对高空作业平台作业过程中操作员的精细化防撞保护。

Description

一种剪叉车的防撞装置和方法
本申请要求于2022年09月07日提交中国专利局、申请号为202211089549.3、发明名称为“一种剪叉车的防撞装置和方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及防撞装置技术领域，特别是涉及一种剪叉车的防撞装置和方法。
背景技术
高空作业平台主要是将人送到高空进行作业，操作员的误操作或对周围环境的错误判断可能导致操作员被挤压的风险。
目前的防撞装置一般都是采用硬线和传感器进行距离感应和预判，并基于预先设定的防撞基础高度最终做出防撞响应。但是，由于不同的操作员的身高存在差异，其需要的防撞基础高度也有所不同，而现有的方案存在不能根据实际操作需要(比如操作员身高)来标定防撞基础高度。
因此，如何根据操作员身高来标定防撞基础高度，实现对高空作业平台作业过程中操作员的精细化防撞保护是本领域技术人员亟需要解决的问题。
发明内容
本申请的目的是提供一种剪叉车的防撞装置和方法，用于根据操作员身高来标定防撞基础高度，实现对高空作业平台作业过程中操作员的精细化防撞保护。
为解决上述技术问题，本申请提供一种剪叉车的防撞装置，包括控制器、报警器、越权按钮、距离检测传感器，所述控制器分别与所述报警器、所述越权按钮、所述距离检测传感器连接；
所述越权按钮用于在防撞装置开机并检测到按压操作后，产生防撞基础高度检测指令；
所述控制器用于根据所述防撞基础高度检测指令获取所述距离检测传感器检测到的操作员身高，根据所述操作员身高确定防撞基础高度，并在所述剪叉车举升过程中，获取所述距离检测传感器检测的与障碍物在举升方向上的距离，在所述距离与所述防撞基础高度的差值不满足预设条件时，生成报警指令；
所述报警器用于在接收到所述报警指令时发出报警。
优选地，所述报警器为声光报警器，所述声光报警器包括警示灯和蜂鸣器。
优选地，所述距离检测传感器包括超声波传感器和激光雷达。
优选地，还包括电源指示灯，所述电源指示灯用于指示所述防撞装置的上电状态。
优选地，还包括保护壳，所述防撞装置设于所述保护壳内。
优选地，所述保护壳的侧面设有螺丝孔。
本申请还提供一种剪叉车的防撞方法，应用于所述的剪叉车的防撞装置，包括：
接收防撞基础高度检测指令；
根据所述防撞基础高度检测指令获取距离检测传感器检测到的操作员身高，并根据所述操作员身高确定防撞基础高度；
在剪叉车举升过程中，获取距离检测传感器检测到的与障碍物在举升方向上的距离；
若所述距离与所述防撞基础高度的差值不满足预设条件时，生成报警指令以控制报警器发出报警。
优选地，若所述距离与所述防撞基础高度的差值不满足预设条件时，生成报警指令以控制报警器发出报警，包括：
若所述距离与所述防撞基础高度的差值小于或等于第一预设值，且大于且或等于第二预设值，生成报警指令以控制所述报警器发出报警；
若所述距离与所述防撞基础高度的差值小于所述第二预设值，生成报警指令以控制所述报警器发出报警，并生成举升控制指令；其中，所述举升控制指令用于暂停剪叉车的举升操作。
优选地，若所述距离检测传感器包括超声波传感器和激光雷达，所述获取距离检测传感器检测到的与障碍物在举升方向上的距离，包括：
分别获取所述超声波传感器和所述激光雷达检测到的第一距离和第二距离；
取所述第一距离和所述第二距离中的最小值作为与所述障碍物在举升方向上的所述距离。
优选地，所述生成报警指令以控制报警器发出报警之后，还包括：
接收屏蔽信号；其中，所述屏蔽信号为在所述报警器发出报警后长按越权按钮所产生的信号，所述屏蔽信号用于屏蔽所述报警指令和所述举升控制指令，以使所述剪叉车继续举升操作和所述报警器暂停报警。
本申请所提供的一种剪叉车的防撞装置，包括控制器、报警器、越权按钮、距离检测传感器，控制器分别与报警器、越权按钮、距离检测传感器连接；越权按钮用于在防撞装置开机并检测到按压操作后，产生防撞基础高度检测指令；控制器用于根据防撞基础高度检测指令获取距离检测传感器检测到的操作员身高，根据操作员身高确定防撞基础高度，并在剪叉车举升过程中，获取距离检测传感器检测的与障碍物在举升方向上的距离，在距离与防撞基础高度的差值不满足预设条件时，生成报警指令；报警器用于在接收到报警指令时发出报警。本申请能够根据不同操作员身高来标定防撞基础高度，实现对高空作业平台作业过程中操作员的精细化防撞保护。
本申请所提供的一种剪叉车的防撞方法等有益效果与装置对应，效果如上。
附图说明
为了更清楚地说明本申请实施例，下面将对实施例中所需要使用的附图做简单的介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的一种剪叉车的防撞装置的结构图；
图2为本申请实施例提供的另一种剪叉车的防撞装置的结构图；
图3为本申请实施例提供的一种剪叉车的防撞装置的俯视图；
图4为本申请实施例提供的一种剪叉车的防撞装置的侧视图；
图5为本申请实施例提供的一种剪叉车的防撞方法的流程图；
附图标记如下：1为防撞装置主体，2为保护壳、11为控制器、12为超声波传感器、13为激光雷达、14为报警器、15为电源指示灯、16为越权按钮、21为螺丝孔。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下，所获得的所有其他实施例，都属于本申请保护范围。
高空作业平台主要是将人送到高空进行作业，操作员的误操作或都周围环境的错误判断可能导致操作员被挤压的风险。通常在剪叉车的工作栏上安装防撞装置，目前的防撞系统一般都是采用硬线或者使用单一传感器进行距离感应和预判，并基于预设的防撞基础高度最终做出防撞响应，即，传感器在检测到举升方向上的障碍物与自身的距离小于防撞基础高度是，做出防撞响应。但是，目前防撞基础高度是固定的，由于不同的操作员的身高存在差异，其需要的防撞基础高度也有所不同，而现有的方案存在不能根据操作员身高来标定防撞基础高度，很难实现对高空作业平台作业过程中操作员的精细化防撞保护；并且，在特殊情况下，操作者需要接近障碍物进行工作时，现存的防护系统会直接进行保护，不能进行越权操作的问题，即，一旦测得障碍物的距离小于防撞基础高度时，剪叉车停止举升操作，操作员便无法接近障碍物进行工作。
本申请的核心是提供剪叉车的防撞装置和方法。
为了使本技术领域的人员更好地理解本申请方案，下面结合附图和具体实施方式对本申请作进一步的详细说明。
图1为本申请实施例提供的一种剪叉车的防撞装置的结构图，如图1所示，11为控制器、12为超声波传感器、13为激光雷达、14为报警器、15为电源指示灯、16为越权按钮。图2为本申请实施例提供的另一种剪叉车的防撞装置的结构图，如图2所示，1为防撞装置主体、2为保护壳、21为螺丝孔。图3为本申请实施例提供的一种剪叉车的防撞装置的俯视图。图4为本申请实施例提供的一种剪叉车的防撞装置的侧视图。
如图1至图4所示，剪叉车的防撞装置，包括控制器11、报警器14、越权按钮16、距离检测传感器，控制器11分别与报警器14、越权按钮16、距离检测传感器连接；越权按钮16用于在防撞装置开机并检测到按压操作后，产生防撞基础高度检测指令；控制器11用于根据防撞基础高度检测指令获取距离检测传感器检测到的操作员身高，根据操作员身高确定防撞基础高度，并在剪叉车举升过程中，获取距离检测传感器检测的与障碍物在举升方向上的距离，在距离与防撞基础高度的差值不满足预设条件时，生成报警指令；报警器14用于在接收到报警指令时发出报警。
本申请对距离检测传感器的类型和个数均不作具体限定，为了保证检测距离的准确性，本申请的距离检测传感器可以是超声波传感器12和激光雷达13。超声波传感器12，对剪叉车举升方向的障碍物进行数据采集和距离的检测；激光雷达13，距离传感器，同样是对举升方向的距离进行检测。检测距离信号的范围：以距离中心线呈20°夹角进行画圆锥，最远距离为4m，最近距离为20cm。正上方直线距离可检测的范围是0.1-12m，方向是垂直于防撞装置，角度为2°。
本申请对报警器14不作具体限定，报警器14可以为声光报警器，声光报警器包括警示灯和蜂鸣器。
越权按钮16的作用在于，在防撞装置开机时，按住越权按钮16，距离检测传感器将检测到的操作员身高发送至控制器11，控制器11根据操作员身高确定防撞基础高度，可以是将操作员身高直接作为防撞基础高度。关于距离检测传感器将如何检测到操作员身高，具体方法为，操作员手持防撞装置，站在某一障碍物前，将距离检测传感器朝向该障碍物，操作员距离该障碍物距离可与自身的身高差不多，然后开启防撞装置，按压越权 按钮16，距离检测传感器检测到与障碍物距离即为操作员身高。当然，操作员也可将防撞装置举过头顶，将距离检测传感器朝向地面，距离检测传感器检测到与地面距离作为操作员身高。
还可以包括电源指示灯15，电源指示灯15用于指示防撞装置的上电状态。
还可以包括保护壳2，防撞装置设于保护壳2内，保护壳2的侧面设有螺丝孔21，该螺丝孔21用于配合螺丝将防撞装置主体1固定于剪叉车的举升模块。具体地，控制器11、报警器14和距离检测传感器设于防撞装置主体1的顶部，越权按钮16设于防撞装置主体1的侧面。
本申请所提供的一种剪叉车的防撞装置，包括控制器、报警器、越权按钮、距离检测传感器，控制器分别与报警器、越权按钮、距离检测传感器连接；越权按钮用于在防撞装置开机并检测到按压操作后，产生防撞基础高度检测指令；控制器用于根据防撞基础高度检测指令获取距离检测传感器检测到的操作员身高，根据操作员身高确定防撞基础高度，并在剪叉车举升过程中，获取距离检测传感器检测的与障碍物在举升方向上的距离，在距离与防撞基础高度的差值不满足预设条件时，生成报警指令；报警器用于在接收到报警指令时发出报警。本申请能够根据不同操作员身高来标定防撞基础高度，实现对高空作业平台作业过程中操作员的精细化防撞保护。
图5为本申请实施例提供的一种剪叉车的防撞方法的流程图，如图5所示，剪叉车的防撞方法包括：
S10：接收防撞基础高度检测指令；
在防撞装置上电后，按压越权按钮16产生防撞基础高度检测指令。
S11：根据防撞基础高度检测指令获取距离检测传感器检测到的操作员身高，并根据操作员身高确定防撞基础高度。
控制器11接收到防撞基础高度检测指令，获取距离检测传感器检测到的操作员身高，将操作员身高标定为防撞基础高度。关于距离检测传感器如何检测到的操作员身高上文已作介绍，在此不再赘述。
S12：在剪叉车举升过程中，获取距离检测传感器检测到的与障碍物在举升方向上的距离。
若距离检测传感器包括超声波传感器12和激光雷达13，超声波传感器12检测到自身与障碍物的第一距离，激光雷达13检测到自身与障碍物的第二距离，在第一距离和第二距离中取最小值作为与障碍物在举升方向上的距离。通过设置两个传感器，可以防止其中某个传感器出现故障，提高距离检测的准确性。
S13：若距离与防撞基础高度的差值不满足预设条件时，生成报警指令以控制报警器发出报警。
若距离与防撞基础高度的差值小于或等于第一预设值，且大于且或等于第二预设值，生成报警指令以控制报警器发出报警；若距离与防撞基础高度的差值小于第二预设值，生成举升控制指令，并生成报警指令以控制报警器发出报警提示；其中，举升控制指令用于暂停剪叉车的举升操作。
具体地，当检测到在标定的防撞基础高度上方两米范围之外有障碍物的时候，控制器11控制输出端口输出高电平，剪叉车继续举升操作，控制器11不做任何报警输出；当检测在标定的防撞基础高度上方1～2米范围内有障碍物的时候，控制器11控制输出端口输出高电平，剪叉车继续举升操作，同时控制器11控制报警器14进行声光报警；当检测在标定的防撞基础高度上方1米范围之内有障碍物的时候，控制器11控制输出端口输出低电平以停止剪叉车的举升操作，并控制报警器14发出声光报警。
进一步地，若操作员需要接近障碍物工作时，一直长按越权按钮16，控制器11控制输出端口输出高电平至剪叉车，剪叉车继续举升动作，同时控制报警器14停止报警，松手后，控制器11控制输出端口继续输出低电平以停止剪叉车的举升操作，并控制报警器14报警。
本申请所提供的一种剪叉车的防撞方法，接收防撞基础高度检测指令；根据防撞基础高度检测指令获取距离检测传感器检测到的操作员身高，并根据操作员身高确定防撞基础高度；在剪叉车举升过程中，获取距离检测传感器检测到的与障碍物在举升方向上的距离；若距离与防撞基础高度的差值不满足预设条件时，生成报警指令以控制报警器发出报警。本申请能 够根据不同操作员身高的标定防撞基础高度，实现对高空作业平台作业过程中操作员的精细化防撞保护。
进一步地，在操作员需要接近障碍物的情况下开展接近作业时，可以通过越权按钮屏蔽控制器输出限制剪叉车举升动作的信号，实现持续举升。
以上对本申请所提供的一种剪叉车的防撞装置和方法进行了详细介绍。说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以对本申请进行若干改进和修饰，这些改进和修饰也落入本申请权利要求的保护范围内。
还需要说明的是，在本说明书中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。

Claims (10)

  1. 一种剪叉车的防撞装置，其特征在于，包括控制器、报警器、越权按钮、距离检测传感器，所述控制器分别与所述报警器、所述越权按钮、所述距离检测传感器连接；
    所述越权按钮用于在防撞装置开机并检测到按压操作后，产生防撞基础高度检测指令；
    所述控制器用于根据所述防撞基础高度检测指令获取所述距离检测传感器检测到的操作员身高，根据所述操作员身高确定防撞基础高度，并在所述剪叉车举升过程中，获取所述距离检测传感器检测的与障碍物在举升方向上的距离，在所述距离与所述防撞基础高度的差值不满足预设条件时，生成报警指令；
    所述报警器用于在接收到所述报警指令时发出报警。
  2. 根据权利要求1所述的剪叉车的防撞装置，其特征在于，所述报警器为声光报警器，所述声光报警器包括警示灯和蜂鸣器。
  3. 根据权利要求1所述的剪叉车的防撞装置，其特征在于，所述距离检测传感器包括超声波传感器和激光雷达。
  4. 根据权利要求3所述的剪叉车的防撞装置，其特征在于，还包括电源指示灯，所述电源指示灯用于指示所述防撞装置的上电状态。
  5. 根据权利要求1所述的剪叉车的防撞装置，其特征在于，还包括保护壳，所述防撞装置设于所述保护壳内。
  6. 根据权利要求5所述的剪叉车的防撞装置，其特征在于，所述保护壳的侧面设有螺丝孔。
  7. 一种剪叉车的防撞方法，其特征在于，应用于权利要求1至6任一项所述的剪叉车的防撞装置，包括：
    接收防撞基础高度检测指令；
    根据所述防撞基础高度检测指令获取距离检测传感器检测到的操作员身高，并根据所述操作员身高确定防撞基础高度；
    在剪叉车举升过程中，获取距离检测传感器检测到的与障碍物在举升方向上的距离；
    若所述距离与所述防撞基础高度的差值不满足预设条件时，生成报警指令以控制报警器发出报警。
  8. 根据权利要求7所述的剪叉车的防撞方法，其特征在于，若所述距离与所述防撞基础高度的差值不满足预设条件时，生成报警指令以控制报警器发出报警，包括：
    若所述距离与所述防撞基础高度的差值小于或等于第一预设值，且大于且或等于第二预设值，生成报警指令以控制所述报警器发出报警；
    若所述距离与所述防撞基础高度的差值小于所述第二预设值，生成报警指令以控制所述报警器发出报警，并生成举升控制指令；其中，所述举升控制指令用于暂停剪叉车的举升操作。
  9. 根据权利要求7所述的剪叉车的防撞方法，其特征在于，若所述距离检测传感器包括超声波传感器和激光雷达，所述获取距离检测传感器检测到的与障碍物在举升方向上的距离，包括：
    分别获取所述超声波传感器和所述激光雷达检测到的第一距离和第二距离；
    取所述第一距离和所述第二距离中的最小值作为与所述障碍物在举升方向上的所述距离。
  10. 根据权利要求8所述的剪叉车的防撞方法，其特征在于，所述生成报警指令以控制报警器发出报警之后，还包括：
    接收屏蔽信号；其中，所述屏蔽信号为在所述报警器发出报警后长按越权按钮所产生的信号，所述屏蔽信号用于屏蔽所述报警指令和所述举升控制指令，以使所述剪叉车继续举升操作和所述报警器暂停报警。
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Publication number Priority date Publication date Assignee Title
JP2015214423A (ja) * 2014-04-23 2015-12-03 株式会社シィップ 昇降台装置
CN204999576U (zh) * 2015-08-28 2016-01-27 航天新长征电动汽车技术有限公司 一种高空作业平台顶部防撞装置
CN114195057A (zh) * 2021-11-08 2022-03-18 湖南中联重科智能高空作业机械有限公司 用于作业平台的防碰撞系统及作业平台

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015214423A (ja) * 2014-04-23 2015-12-03 株式会社シィップ 昇降台装置
CN204999576U (zh) * 2015-08-28 2016-01-27 航天新长征电动汽车技术有限公司 一种高空作业平台顶部防撞装置
CN114195057A (zh) * 2021-11-08 2022-03-18 湖南中联重科智能高空作业机械有限公司 用于作业平台的防碰撞系统及作业平台

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