An intelligent control system for preventing platform rollover

Abstract

The present invention relates to the field of intelligent control, and in particular to an intelligent control system for preventing a platform from rolling over, comprising: a supporting and fixing module for maintaining the overall stability of the working platform; a crank arm movement module for adjusting the height and levelness of the working platform; and a displacement correction module for fine-tuning the position of the working platform after it is in place. With the mutual cooperation of the above modules, the system of the present invention can adjust the working state of the telescopic arm in real time, safely bear different load pressures of the working platform, and enhance the safety of the anti-rollover safety control system.

Description

Technical Field

[0001] The invention relates to intelligent control, and in particular to an intelligent control system for preventing a platform from rolling over. Background Art

[0002] Platforms for coastal operations are often limited by their mode of transportation. When operating at the junction of land and sea, they cannot be changed quickly and effectively. They are also limited by the environment nearby and cannot adapt to the corresponding bearing environment, resulting in the inability to successfully set up a stable platform in similar scenarios.

[0003] The commonly used anti-rollover safety control system is the application publication number CN117369286B, which discloses a method for controlling the dynamic positioning of an ocean platform, belonging to the field of marine energy technology, and includes the following steps: Step 1: Obtain the current state of the ocean platform; Step 2: Construct and train a reinforcement learning model, input the current state into the reinforcement learning model, and construct a reward function under the dynamic environment of the ocean platform; Step 3: Design a reference trajectory sequence for the dynamic positioning of the ocean platform based on the reward function, and output the best reference trajectory sequence under the current state; Step 4: The self-disturbance rejection controller tracks the best moving reference trajectory sequence and calculates the final control amount, and inputs the final control amount into the driver to drive the thruster to pull the ocean platform along the best reference trajectory sequence to the target position. The invention combines the traditional dynamic positioning control method with the reinforcement learning algorithm, makes full use of the influence of the key state of the ocean platform and the external environment such as wind and waves, and realizes accurate, fast and stable dynamic positioning of the ocean platform.

[0004] However, the anti-rollover system of the above system during the loading process is relatively crudely designed and cannot be operated amphibiously, and the safety and reliability will be significantly reduced at the interface between land and water. Summary of the invention

[0005] To this end, the present invention provides an intelligent control system for preventing the platform from rolling over, so as to overcome the problem that the anti-rollover system in the prior art during the loading process is relatively simple in design and cannot be operated amphibiously, and the safety and reliability will be significantly reduced at the junction of land and water, thus causing the problem of easy rollover during the jacking process.

[0006] To achieve the above object, the present invention provides an intelligent control system for preventing platform rollover, comprising:

[0007] Working platform;

[0008] A supporting and fixing module, which is arranged on the load-bearing surface to maintain the overall stability of the working platform;

[0009] A level detection module, which is arranged at the lower end of the working platform and is used to detect the levelness of the working platform;

[0010] A crank arm motion module, which is connected to the support and fixing module and the level detection module respectively, and is used to adjust the hydraulic power of the crank arm motion according to the level to adjust the height of the working platform;

[0011] A hydraulic jacking module, which is connected to the crank arm motion module and the level detection module respectively, and is used to control the working power of the jack according to the level to adjust the level of the working platform;

[0012] A displacement correction module is connected to the hydraulic jacking module, the horizontal detection module and the working platform, and is used to adjust the longitudinal position of the working platform through a longitudinal adjustment mechanism arranged below the working platform and a transverse adjustment mechanism arranged below the working platform and perpendicular to the longitudinal adjustment mechanism to adjust the transverse position of the working platform, so as to adjust the position of the working platform to reduce the distance between the center of gravity of the working platform and the center of gravity of the load on the working platform.

[0013] Furthermore, the level detection module includes:

[0014] A level sensor is arranged at the lower end of the working platform to detect the levelness of the working platform and transmit the levelness information to the supporting and fixing module, the crank arm motion module, the hydraulic jacking module and the displacement correction module.

[0015] Furthermore, the supporting and fixing module comprises:

[0016] A floating fixing point is arranged on the load-bearing surface and connected to the fixing frame to transfer all the loads on the fixing frame to the load-bearing surface;

[0017] A fixing frame connected to the floating fixing point and used for fixing the crank arm motion module;

[0018] A direction control rocker, which is arranged on one side of the supporting fixed structure and connected to the fixing frame, and is used to adjust the movement direction of the floating fixed point;

[0019] Wherein, the fixing frame is provided with an auxiliary stabilizing mechanism, which is used to adjust the extension state of the auxiliary stabilizing mechanism according to the level information under the first condition to adjust the contact area between the supporting fixing module and the load-bearing surface so as to keep the working platform stable;

[0020] Wherein, the first condition is that the inclination angle of the working platform is greater than a preset horizontal angle.

[0021] Furthermore, the crank arm motion module comprises:

[0022] A first telescopic arm and a second telescopic arm, which are respectively connected to the supporting and fixing module, wherein the first telescopic arm and the second telescopic arm have the same shape and structure, and are used to lift or lower the height of the working platform through the telescopic movement of the telescopic arm, and transmit the load of the working platform to the supporting and fixing module;

[0023] A cross bar, which is arranged between corresponding positions of the first telescopic arm and the second telescopic arm, is perpendicular to the plane where the joints of the telescopic arms are located and is parallel to the load-bearing surface, so as to form a rigid connection between corresponding positions of the first telescopic arm and the second telescopic arm;

[0024] The first hydraulic cylinder includes a first transverse hydraulic cylinder and a first longitudinal hydraulic cylinder, and the first telescopic arm is arranged in parallel with the second telescopic arm. The first transverse hydraulic cylinder is connected to the first telescopic arm to provide power for transverse telescopic movement to the first telescopic arm, and the first longitudinal hydraulic cylinder is connected to the second telescopic arm to provide power for longitudinal telescopic movement to the second telescopic arm;

[0025] a first control box, which is connected to the first hydraulic cylinder and the level detection module respectively, and is arranged outside the fixing frame, and is used to control the working state of the first hydraulic cylinder according to the level information;

[0026] Wherein, the working state of the first hydraulic cylinder includes opening and closing.

[0027] Furthermore, the hydraulic lifting module comprises:

[0028] A jack, which is arranged under the working platform at a preset fulcrum, and is used to lift the working platform and adjust the levelness of the working platform;

[0029] A second hydraulic cylinder connected to the jack to provide the power required for the jack to lift;

[0030] a second control box connected to the second hydraulic cylinder and the level detection module, and used for controlling the working state of the second hydraulic cylinder according to the level information;

[0031] Wherein, the working state of the second hydraulic cylinder includes opening, closing and outputting different hydraulic pressures;

[0032] Wherein, each of the jacks is arranged corresponding to the corresponding preset fulcrum, and the position of the preset point is related to the structure of the working platform.

[0033] Further, the level detection module further includes a level determiner for determining the level information;

[0034] The levelness determiner is connected to the first control box, the second control box and a third control box arranged in the displacement correction module to control the movement of the longitudinal adjustment mechanism and the lateral adjustment mechanism, so as to transmit determination information to the first control box, the second control box and the third control box;

[0035] Wherein, if the levelness is less than or equal to a preset horizontal angle, the levelness determiner determines that the working platform is in a standard working condition;

[0036] If the levelness is greater than the preset horizontal angle, and the levelness is less than or equal to the preset collapse angle, the levelness determiner determines that the working platform is in a tilted working condition;

[0037] If the levelness is greater than a preset collapse angle, the levelness determiner determines that the working platform is in a critical collapse condition.

[0038] Furthermore, the standard working condition is that the support and fixing module, the crank arm movement module, the hydraulic jacking module and the displacement correction module can all work with a preset support structure, preset hydraulic power and preset jacking height.

[0039] Furthermore, the displacement correction module also includes:

[0040] A longitudinal slide rail, which is connected to the longitudinal adjustment mechanism and is used to set up the longitudinal adjustment mechanism and provide a sliding track for the longitudinal adjustment mechanism;

[0041] A transverse slide rail connected to the transverse adjustment mechanism, used to set up the transverse adjustment mechanism and provide a sliding track for the transverse adjustment mechanism;

[0042] a third control box, which is used to adjust the working state of the longitudinal adjustment mechanism or the transverse adjustment mechanism according to the horizontality information;

[0043] The displacement correction module works only under the standard working condition, and reduces the distance between the center of gravity of the working platform and the center of gravity of the load by controlling the position of the longitudinal adjustment mechanism on the longitudinal slide rail and the position of the transverse adjustment mechanism on the transverse slide rail;

[0044] The displacement correction module determines whether to self-lock the longitudinal adjustment mechanism or the lateral adjustment mechanism according to the displacement of the longitudinal adjustment mechanism and the lateral adjustment mechanism;

[0045] Wherein, if the displacement of the longitudinal adjustment mechanism exceeds its maximum longitudinal adjustment displacement, the displacement correction module self-locks the longitudinal adjustment mechanism;

[0046] If the displacement of the lateral adjustment mechanism exceeds its maximum lateral adjustment displacement, the displacement correction module will self-lock the lateral adjustment mechanism.

[0047] Furthermore, the second control box adjusts the working state of each of the jacks by adjusting the working power of the second hydraulic cylinder under the tilting working condition to balance the tilt angle of the working platform;

[0048] Wherein, the hydraulic working power of each jack in the adjustment can be adjusted independently.

[0049] Furthermore, the first control box controls the first hydraulic cylinder to reduce the hydraulic lifting force at a first preset pressure release speed under the critical collapse condition to drive each of the telescopic arms to lower its height;

[0050] At the same time, under the condition of critical collapse, the second control box controls the second hydraulic cylinder to reduce the hydraulic lifting force at a second preset pressure release speed to drive each jack to lower its height until the height of each telescopic arm and the jack is restored to the unlifted state.

[0051] Compared with the prior art, the beneficial effect of the present invention lies in that, by setting a support and fixing module, a horizontal detection module, a crank arm movement module, a hydraulic jacking module and a displacement correction module, with the mutual cooperation of the above modules, the system of the present invention can timely detect the horizontal information of the working platform, adjust the working state of the hydraulic cylinder, safely bear different load pressures of the working platform, and enhance the safety of the anti-rollover safety control system.

[0052] Furthermore, the floating fixing point can be equipped with different types of base modules for different terrains, ensuring the overall stability of the anti-rollover safety control system while increasing the scope of application, overcoming the complexity of on-site operations, and thus improving the safety of the anti-rollover safety control system.

[0053] Furthermore, the fixing frame is equipped with an auxiliary fixing mechanism, which can perform auxiliary fixing when the overall stability of the working platform is affected by external environmental factors such as wind, thereby overcoming the influence of external environmental factors and improving the safety of the anti-rollover safety control system.

[0054] Furthermore, the hydraulic jacking module can operate with different lifting forces for each jack when the working platform is in a tilted condition. By adjusting the power of the second hydraulic cylinder, the working state of each jack can be adjusted to balance the tilt angle caused by the tilted condition, prevent the working platform from tipping over, and maintain the stability of the overall structure of the working platform, thereby improving the safety of the anti-rollover safety control system.

[0055] Furthermore, the articulated arm motion module and the hydraulic jacking module can promptly perform pressure relief when the working platform is in a critical collapse condition, restore it to a non-jacked state, lower the height of the working platform, and avoid the safety hazard caused by the cargo carried by the working platform rolling over from high altitude, thereby improving the safety of the anti-rollover safety control system.

[0056] Furthermore, the displacement correction module changes the defect of the traditional working platform structure being fixed and unable to move. After the working platform is built, it can correct the position errors generated during the construction and measurement processes, reduce the shaking caused by the long distance between the center of gravity of the working platform and the center of gravity of the cargo, and thus improve the safety of the anti-rollover safety control system.

[0057] Furthermore, the displacement correction module adopts a displacement self-locking strategy. When the displacement exceeds the preset maximum displacement, the self-locking mode is triggered, that is, the longitudinal / lateral adjustment mechanism can only reduce its displacement and cannot continue to increase the displacement, thereby playing a safety protection role and improving the safety of the anti-rollover safety control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a structural schematic diagram of the intelligent control system for preventing the platform from rolling over according to the present invention;

[0059] Figure 2 It is a structural schematic diagram of the auxiliary stabilization mechanism of the present invention;

[0060] Figure 3 It is a connection diagram of the crank arm motion module of the present invention;

[0061] Figure 4 It is a connection diagram of the hydraulic jacking module of the present invention;

[0062] Among them: floating fixed point 1; fixed frame 2; auxiliary stabilizing mechanism 3; cross bar 4; first telescopic arm 5; second telescopic arm 6; first longitudinal hydraulic cylinder 7; first transverse hydraulic cylinder 8; first control box 9; jack 10; level sensor 11; second hydraulic cylinder 12; second control box 13. DETAILED DESCRIPTION

[0063] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0064] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0065] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0066] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] See also Figure 1 As shown, it is a schematic diagram of the structure of the intelligent control system for preventing the platform from rolling over in the present invention, including:

[0068] Working platform;

[0069] A supporting and fixing module is arranged on the load-bearing surface to maintain the overall stability of the working platform;

[0070] A level detection module, which is arranged at the lower end of the working platform and is used to detect the levelness of the working platform;

[0071] A crank arm motion module, which is connected to the support and fixing module and the level detection module respectively, and is used to adjust the hydraulic power of the crank arm motion according to the level to adjust the height of the working platform;

[0072] A hydraulic jacking module, which is connected to the crank arm motion module and the level detection module respectively, and is used to control the working power of the jack according to the level to adjust the level of the working platform;

[0073] The displacement correction module is connected to the hydraulic jacking module, the horizontal detection module and the working platform, and is used to adjust the longitudinal position of the working platform through the longitudinal adjustment mechanism arranged under the working platform and the transverse adjustment mechanism arranged under the working platform and perpendicular to the longitudinal adjustment mechanism to adjust the transverse position of the working platform, so as to adjust the position of the working platform to reduce the distance between the center of gravity of the working platform and the center of gravity of the load on the working platform.

[0074] The present invention sets a support and fixing module, a level detection module, a crank arm movement module, a hydraulic jacking module and a displacement correction module. With the mutual cooperation of the above modules, the system of the present invention can timely detect the horizontal information of the working platform, adjust the working state of the hydraulic cylinder, safely bear different load pressures of the working platform, and enhance the safety of the anti-rollover safety control system.

[0075] Specifically, the level detection module includes:

[0076] The level sensor is arranged at the lower end of the working platform to detect the levelness of the working platform and transmit the levelness information to the supporting and fixing module, the crank arm motion module, the hydraulic jacking module and the displacement correction module.

[0077] See also Figure 2 As shown, it is a schematic diagram of the structure of the supporting fixed structure of the present invention:

[0078] The floating fixing point 1 is arranged on the load-bearing surface and connected to the fixing frame 2 to transfer all the loads on the fixing frame 2 to the load-bearing surface;

[0079] A fixed frame 2, which is connected to the floating fixed point 1 and is used to fix the crank arm motion module;

[0080] A direction control rocker, which is arranged on one side of the supporting fixed structure and connected to the fixing frame 2, is used to adjust the movement direction of the floating fixed point 1;

[0081] The fixing frame 2 is provided with an auxiliary stabilizing mechanism 3, which is used to adjust the extension state of the auxiliary stabilizing mechanism 3 according to the level information under the first condition to adjust the contact area between the supporting fixing module and the load-bearing surface so as to keep the working platform stable;

[0082] Among them, the first condition is that the inclination angle of the working platform is greater than a preset horizontal angle.

[0083] The floating fixing point 1 can be equipped with different types of base modules for different terrains, ensuring the overall stability of the anti-rollover safety control system while increasing the scope of application, overcoming the complexity of on-site operations, and thus improving the safety of the anti-rollover safety control system.

[0084] The fixed frame is equipped with an auxiliary fixing mechanism, which can perform auxiliary fixing when the overall stability of the working platform is affected by external environmental factors such as wind, overcome the influence of external environmental factors, and thus improve the safety of the anti-rollover safety control system.

[0085] In practice, the floating fixed point 1 can use a caster base when working on a flat load-bearing surface, a flange base when working in the field, and an air cushion base when working on the water surface. For example, the caster base has a wheel diameter of 125 mm, a wheel width of 64 mm, a total height of 165 mm, and a load capacity of 700 kg. The auxiliary stabilizing mechanism 3 uses a lightweight, high-strength glass fiber tube.

[0086] The floating fixed point 1 can also provide support on a flowing working surface. For example, on the ocean surface, a marine engine can be used in conjunction with an air cushion base to carry out operations, or a barge can be used as the floating fixed point 1.

[0087] In implementation, for example:

[0088] According to the detected horizontality β of the working platform, different numbers of auxiliary stabilizing mechanisms are used for auxiliary stabilization;

[0089] There are preset level information standard values ​​corresponding to the number of auxiliary stabilizing mechanisms, wherein the i-th auxiliary stabilizing mechanism corresponds to the preset level information standard value βi, and β is compared with βi to determine the corresponding auxiliary stabilizing mechanism to be used for auxiliary stabilization, i=0, 1, ..., n, where n is the total number of auxiliary stabilizing mechanisms;

[0090] If β≤β0, it is determined that the working platform does not need to be stabilized by an auxiliary stabilizing mechanism;

[0091] If β(i-1)≤β≤βi, it is determined that the work platform is stabilized by using i auxiliary stabilizing mechanisms;

[0092] It can be understood that the horizontality is the acute angle between the plane of the working platform and the horizontal plane. When an auxiliary stabilization mechanism is used, the added auxiliary stabilization mechanism is located on the side of the working platform closer to the load-bearing surface to increase the contact area between the supporting and fixing module and the load-bearing surface, so that the working platform remains stable.

[0093] See also Figure 3 As shown, it is a connection diagram of the crank motion module of the present invention, including:

[0094] The first telescopic arm 5 and the second telescopic arm 6 are respectively connected to the supporting and fixing modules, wherein the first telescopic arm 5 and the second telescopic arm 6 have the same shape and structure, and are used to lift or lower the height of the working platform through the telescopic movement of the telescopic arm, and transmit the load of the working platform to the supporting and fixing module;

[0095] A cross bar 4 is provided between corresponding positions of the first telescopic arm 5 and the second telescopic arm 6, is perpendicular to the plane where the joints of the telescopic arms are located and is parallel to the load-bearing surface, and is used to form a rigid connection between corresponding positions of the first telescopic arm 5 and the second telescopic arm 6;

[0096] The first hydraulic cylinder includes a transverse first hydraulic cylinder 8 and a longitudinal first hydraulic cylinder 7, and the first telescopic arm 5 is arranged in parallel with the second telescopic arm 6. The transverse first hydraulic cylinder 8 is connected to the first telescopic arm 5 to provide power for transverse telescopic movement to the first telescopic arm 5, and the longitudinal first hydraulic cylinder 7 is connected to the second telescopic arm 6 to provide power for longitudinal telescopic movement to the second telescopic arm 6;

[0097] A first control box 9, which is connected to the first hydraulic cylinder and the level detection module respectively, is arranged outside the fixed frame, and is used to control the working state of the first hydraulic cylinder according to the level information;

[0098] The working state of the first hydraulic cylinder includes opening and closing.

[0099] See also Figure 4 As shown, it is a connection diagram of the hydraulic jacking module of the present invention, including:

[0100] A jack 10 is arranged under the working platform at a preset fulcrum to lift the working platform and adjust the level of the working platform;

[0101] A second hydraulic cylinder 12, which is connected to the jack 10, and is used to provide the power required for the jack 10 to lift;

[0102] A second control box 13, which is connected to the second hydraulic cylinder 12 and the level detection module, and is used to control the working state of the second hydraulic cylinder according to the level information;

[0103] The working states of the second hydraulic cylinder 12 include opening, closing and outputting different hydraulic pressures.

[0104] Each jack 10 is arranged corresponding to a corresponding preset fulcrum, and the position of the preset point is related to the structure of the working platform.

[0105] During implementation, the working platform is 5m×5m in size and is made of steel. Considering the platform stiffness requirements, the lateral spacing is not more than 1.0 meter, the longitudinal spacing is not more than 0.8 meter, the longitudinal steel keel is continuous, and the longitudinal and transverse keels are all welded. Fulcrums are set at 0.5m from each edge of the working platform below the working platform, with a total of 4 fulcrums. Each fulcrum is equipped with an ordinary WC67Y-160D-00 hydraulic cylinder to adjust the levelness of the platform.

[0106] Specifically, the level detection module also includes a level determiner for determining the level information;

[0107] The levelness determiner is connected to the first control box, the second control box and the third control box arranged in the displacement correction module for controlling the movement of the longitudinal adjustment mechanism and the lateral adjustment mechanism, so as to transmit determination information to the first control box, the second control box and the third control box;

[0108] Wherein, if the levelness is less than or equal to the preset horizontal angle, the levelness determiner determines that the working platform is in a standard working condition;

[0109] If the levelness is greater than the preset horizontal angle, and the levelness is less than or equal to the preset collapse angle, the levelness determiner determines that the working platform is in a tilted working condition;

[0110] If the levelness is greater than the preset collapse angle, the levelness determiner determines that the working platform is in a critical collapse condition.

[0111] In implementation, the working platform is 5m×5m in size and is made of steel. Considering the platform stiffness requirements, the lateral spacing is not more than 1.0m, the longitudinal spacing is not more than 0.8m, the longitudinal steel keel is continuous, and the longitudinal and transverse keels are all welded. The load capacity is 3t per time, the load height is 3m, the preset horizontal angle is ±2°, the preset collapse angle is ±4°, and when the levelness is [0, 2°], it is judged that the levelness is less than or equal to the preset horizontal angle; when the levelness is (2°, 4°], it is judged that the levelness is greater than the preset horizontal angle; when the levelness is (4°, 90°], it is judged that the levelness is greater than the preset collapse angle.

[0112] Specifically, the standard working condition is that the support fixing module, the crank arm motion module, the hydraulic lifting module and the displacement correction module can all work with a preset support structure, preset hydraulic power and preset lifting height;

[0113] In practice, it can be set as follows: if the actual load of the working platform is 3t, the preset hydraulic power is 40KN, and the preset lifting height is 5cm;

[0114] The actual load of the working platform is 5t, so the preset hydraulic power is 80KN and the preset lifting height is 3cm;

[0115] If the actual load of the working platform is 10t, the preset hydraulic power is 120KN and the preset lifting height is 2cm.

[0116] Specifically, the displacement correction module also includes:

[0117] A longitudinal slide rail is connected to the longitudinal adjustment mechanism and is used to set up the longitudinal adjustment mechanism and provide a sliding track for the longitudinal adjustment mechanism;

[0118] A transverse slide rail is connected to the transverse adjustment mechanism and is used to set up the transverse adjustment mechanism and provide a sliding track for the transverse adjustment mechanism;

[0119] A third control box, which is used to adjust the working state of the longitudinal adjustment mechanism or the transverse adjustment mechanism according to the horizontality information;

[0120] The displacement correction module only works under standard working conditions, and controls the position of the longitudinal adjustment mechanism on the longitudinal slide rail and the position of the transverse adjustment mechanism on the transverse slide rail to reduce the distance between the center of gravity of the work platform and the center of gravity of the load;

[0121] The displacement correction module determines whether to self-lock the longitudinal adjustment mechanism or the lateral adjustment mechanism according to the displacement of the longitudinal adjustment mechanism and the lateral adjustment mechanism;

[0122] Wherein, if the displacement of the longitudinal adjustment mechanism exceeds its maximum longitudinal adjustment displacement, the displacement correction module self-locks the longitudinal adjustment mechanism;

[0123] If the displacement of the lateral adjustment mechanism exceeds its maximum lateral adjustment displacement, the displacement correction module self-locks the lateral adjustment mechanism;

[0124] In implementation, the working platform size can be 3m×3m, the size can be 30cm×30cm, and the preset maximum displacement can be 6cm;

[0125] The working platform is 5m×5m in size, 50cm×50cm in dimensions, and the preset maximum displacement is 10cm;

[0126] The dimensions of the working platform are 10m×10m, the dimensions are 100cm×100cm, and the preset maximum displacement is 20cm.

[0127] The displacement correction module changes the defect of the traditional working platform structure that is fixed and cannot be moved. After the working platform is built, it can correct the position error generated during the construction and measurement process, reduce the shaking caused by the long distance between the center of gravity of the working platform and the center of gravity of the cargo, and thus improve the safety of the anti-rollover safety control system.

[0128] The displacement correction module adopts a displacement self-locking strategy. When the displacement exceeds the preset maximum displacement, the self-locking mode is triggered. That is, the longitudinal / lateral adjustment mechanism can only reduce its displacement and cannot continue to increase the displacement, which plays a safety protection role and improves the safety of the anti-rollover safety control system.

[0129] Specifically, the second control box adjusts the working state of each jack by adjusting the working power of the second hydraulic cylinder under the tilting working condition to balance the tilt angle of the working platform;

[0130] Among them, the hydraulic working power of each jack in the adjustment can be adjusted independently.

[0131] The hydraulic jacking module can operate with different lifting forces for each jack when the working platform is in a tilted condition. By adjusting the power of the second hydraulic cylinder, the working state of each jack can be adjusted to balance the tilt angle caused by the tilted condition, prevent the working platform from rolling over, maintain the stability of the overall structure of the working platform, and thus improve the safety of the anti-rollover safety control system.

[0132] In practice, in the actual operation of a certain working platform, the second hydraulic cylinder controls all jacks to work at 1.5KW. When it is in a tilting condition, it tilts to the right, and the second control box changes the output power of its right hydraulic cylinder to 2KW to balance the tilt angle.

[0133] Specifically, under the condition of critical collapse condition, the first control box controls the first hydraulic cylinder to reduce the hydraulic lifting force at a first preset pressure release speed to drive each telescopic arm to lower its height;

[0134] At the same time, under the condition of critical collapse, the second control box controls the second hydraulic cylinder to reduce the hydraulic lifting force at a second preset pressure release speed to drive each jack to lower its height until the height of each telescopic arm and jack is restored to the unlifted state.

[0135] In implementation, the first preset pressure release speed V and the height H of the working platform are determined by the following formula: V = α0 × β0 × V0, where α0 is the height proportionality coefficient of a single working platform, H0 is the maximum height of the working platform, generally, H0 is set to 5m, β0 is the wind force parameter, generally β0 is set to 0.6-0.8, V0 is the first standard pressure release speed, generally V0 is set to 10KN / min;

[0136] The second preset pressure release speed V and the height H of the working platform are determined by the following formula: V = α0β1V1,

[0137] α0 is the same as above, β1 is the wind force parameter, generally β1 is set to 0.4-0.6, V1 is the second standard pressure release speed, generally V1 is set to 4KN / min;

[0138] The articulated arm motion module and the hydraulic jacking module can promptly relieve pressure when the working platform is in a critical collapse condition, restore it to the non-jacking state, lower the height of the working platform, and avoid the safety hazard caused by the cargo carried by the working platform rolling over from high altitude, thereby improving the safety of the anti-rollover safety control system.

[0139] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0140] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent control system for preventing platform rollover, characterized in that: include: Working platform; A supporting and fixing module, which is arranged on the load-bearing surface to maintain the overall stability of the working platform; A level detection module, which is arranged at the lower end of the working platform and is used to detect the levelness of the working platform; A crank arm motion module, which is connected to the support and fixing module and the level detection module respectively, and is used to adjust the hydraulic power of the crank arm motion according to the level to adjust the height of the working platform; A hydraulic jacking module, which is connected to the crank arm motion module and the level detection module respectively, and is used to control the working power of the jack according to the level to adjust the level of the working platform; A displacement correction module is connected to the hydraulic jacking module, the horizontal detection module and the working platform, and is used to adjust the longitudinal position of the working platform through a longitudinal adjustment mechanism arranged below the working platform and a transverse adjustment mechanism arranged below the working platform and perpendicular to the longitudinal adjustment mechanism to adjust the transverse position of the working platform, so as to adjust the position of the working platform to reduce the distance between the center of gravity of the working platform and the center of gravity of the load on the working platform.

2. The intelligent control system for preventing platform rollover according to claim 1 is characterized in that: The level detection module comprises: A level sensor is arranged at the lower end of the working platform to detect the levelness of the working platform and transmit the levelness information to the supporting and fixing module, the crank arm motion module, the hydraulic jacking module and the displacement correction module.

3. The intelligent control system for preventing platform rollover according to claim 2 is characterized in that: The supporting and fixing module comprises: The floating fixing point is arranged on the load-bearing surface and connected to the fixing frame to transfer all the loads on the fixing frame to the load-bearing surface; A fixing frame connected to the floating fixing point and used for fixing the crank arm motion module; A direction control rocker, which is arranged on one side of the supporting fixed structure and connected to the fixing frame, and is used to adjust the movement direction of the floating fixed point; Wherein, the fixing frame is provided with an auxiliary stabilizing mechanism, which is used to adjust the extension state of the auxiliary stabilizing mechanism according to the level information under the first condition to adjust the contact area between the supporting fixing module and the load-bearing surface so as to keep the working platform stable; Wherein, the first condition is that the inclination angle of the working platform is greater than a preset horizontal angle.

4. The intelligent control system for preventing platform rollover according to claim 3 is characterized in that: The crank arm motion module comprises: A first telescopic arm and a second telescopic arm, which are respectively connected to the supporting and fixing module, wherein the first telescopic arm and the second telescopic arm have the same shape and structure, and are used to lift or lower the height of the working platform through the telescopic movement of the telescopic arm, and transmit the load of the working platform to the supporting and fixing module; A cross bar, which is arranged between corresponding positions of the first telescopic arm and the second telescopic arm, is perpendicular to the plane where the joints of the telescopic arms are located and is parallel to the load-bearing surface, so as to form a rigid connection between corresponding positions of the first telescopic arm and the second telescopic arm; The first hydraulic cylinder includes a first transverse hydraulic cylinder and a first longitudinal hydraulic cylinder, and the first telescopic arm is arranged in parallel with the second telescopic arm. The first transverse hydraulic cylinder is connected to the first telescopic arm to provide power for transverse telescopic movement to the first telescopic arm, and the first longitudinal hydraulic cylinder is connected to the second telescopic arm to provide power for longitudinal telescopic movement to the second telescopic arm; a first control box, which is connected to the first hydraulic cylinder and the level detection module respectively, and is arranged outside the fixing frame, and is used to control the working state of the first hydraulic cylinder according to the level information; Wherein, the working state of the first hydraulic cylinder includes opening and closing.

5. The intelligent control system for preventing platform rollover according to claim 4 is characterized in that: The hydraulic lifting module comprises: A jack, which is arranged under the working platform at a preset fulcrum, and is used to lift the working platform and adjust the levelness of the working platform; A second hydraulic cylinder connected to the jack to provide the power required for the jack to lift; a second control box connected to the second hydraulic cylinder and the level detection module, and used for controlling the working state of the second hydraulic cylinder according to the level information; Wherein, the working state of the second hydraulic cylinder includes opening, closing and outputting different hydraulic pressures; Wherein, each of the jacks is arranged corresponding to the corresponding preset fulcrum, and the position of the preset point is related to the structure of the working platform.

6. The intelligent control system for preventing platform rollover according to claim 5 is characterized in that: The level detection module further includes a level determiner for determining the level information; The levelness determiner is connected to the first control box, the second control box and a third control box arranged in the displacement correction module to control the movement of the longitudinal adjustment mechanism and the lateral adjustment mechanism, so as to transmit determination information to the first control box, the second control box and the third control box; Wherein, if the levelness is less than or equal to a preset horizontal angle, the levelness determiner determines that the working platform is in a standard working condition; If the levelness is greater than the preset horizontal angle, and the levelness is less than or equal to the preset collapse angle, the levelness determiner determines that the working platform is in a tilted working condition; If the levelness is greater than a preset collapse angle, the levelness determiner determines that the working platform is in a critical collapse condition.

7. The intelligent control system for preventing platform rollover according to claim 6 is characterized in that: The standard working condition is that the support and fixing module, the crank arm movement module, the hydraulic jacking module and the displacement correction module can all work with a preset support structure, a preset hydraulic power and a preset jacking height.

8. The intelligent control system for preventing platform rollover according to claim 7 is characterized in that: The displacement correction module also includes: A longitudinal slide rail, which is connected to the longitudinal adjustment mechanism and is used to set up the longitudinal adjustment mechanism and provide a sliding track for the longitudinal adjustment mechanism; A transverse slide rail connected to the transverse adjustment mechanism, used to set up the transverse adjustment mechanism and provide a sliding track for the transverse adjustment mechanism; a third control box, which is used to adjust the working state of the longitudinal adjustment mechanism or the transverse adjustment mechanism according to the horizontality information; The displacement correction module works only under the standard working condition, and reduces the distance between the center of gravity of the working platform and the center of gravity of the load by controlling the position of the longitudinal adjustment mechanism on the longitudinal slide rail and the position of the transverse adjustment mechanism on the transverse slide rail; The displacement correction module determines whether to self-lock the longitudinal adjustment mechanism or the lateral adjustment mechanism according to the displacement of the longitudinal adjustment mechanism and the lateral adjustment mechanism; Wherein, if the displacement of the longitudinal adjustment mechanism exceeds its maximum longitudinal adjustment displacement, the displacement correction module self-locks the longitudinal adjustment mechanism; If the displacement of the lateral adjustment mechanism exceeds its maximum lateral adjustment displacement, the displacement correction module will self-lock the lateral adjustment mechanism.

9. The intelligent control system for preventing platform rollover according to claim 8, characterized in that: The second control box adjusts the working state of each jack by adjusting the working power of the second hydraulic cylinder under the tilting working condition to balance the tilt angle of the working platform; Wherein, the hydraulic working power of each jack in the adjustment can be adjusted independently.

10. The intelligent control system for preventing platform rollover according to claim 9, characterized in that: The first control box controls the first hydraulic cylinder to reduce the hydraulic lifting force at a first preset pressure release speed under the critical collapse condition to drive each of the telescopic arms to lower their height; At the same time, under the condition of critical collapse, the second control box controls the second hydraulic cylinder to reduce the hydraulic lifting force at a second preset pressure release speed to drive each jack to lower its height until the height of each telescopic arm and the jack is restored to the unlifted state.

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