Automatic protection method for lift truck for general assembly of large communication satellite

Abstract

The invention provides an automatic protection method for a lift truck for general assembly of a large communication satellite, which comprises the following steps: a plurality of sensors are arranged on an operation platform of the lift truck, the plurality of sensors are positioned in the + X direction, the + / -Y direction and the-Z direction of the operation platform, and each sensor comprises a plurality of paths which can be independently arranged; the sensor is an ultrasonic sensor, the horizontal detection angle of the sensor is 120-140 degrees, and the vertical detection angle of the sensor is 10-20 degrees; configuring a response threshold value for the sensor, and controlling the moving state of the operation platform based on the response threshold value so as to prevent the operation platform from touching the large communication satellite; the response threshold comprises a first threshold and a second threshold, and when the distance between the operation platform and the large communication satellite reaches the first threshold, the operation platform is controlled to decelerate; when the distance between the operation platform and the large communication satellite reaches a second threshold value, the operation platform is controlled to stop moving. By arranging a plurality of sensors and parameters thereof, the touch with the large communication satellite during final assembly can be automatically prevented, and the large communication satellite is prevented from being damaged.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of satellite assembly, in particular to an automatic protection method for a lifting vehicle used for large communication satellite assembly. BACKGROUND

[0002] The lifting vehicle is an essential auxiliary equipment in the spacecraft assembly process. There are many protrusions such as various antennas and solar wings on the large communication satellite. When the lifting vehicle walks around the protrusions and performs high-altitude operation, the safety risk is high. The lifting vehicle may be bumped and the satellite may be damaged due to improper operation of personnel.

[0003] Therefore, an automatic protection method is needed to prevent the lifting vehicle from bumping with the satellite while meeting the requirements of satellite assembly operation, so as to ensure the safety during the satellite assembly process. SUMMARY

[0004] The application aims to provide an automatic protection method for a lifting vehicle used for large communication satellite assembly, which can solve at least one of the above technical problems. The specific scheme is as follows:

[0005] According to the specific embodiment of the application, the application provides an automatic protection method for a lifting vehicle used for large communication satellite assembly, which comprises:

[0006] A plurality of sensors are arranged on the operation platform of the lifting vehicle. The plurality of sensors are located in the +X direction, the ±Y direction and the -Z direction of the operation platform. Each sensor comprises a plurality of channels which can be independently set. The sensor is an ultrasonic sensor, and the horizontal detection angle is 120°-140°, and the vertical detection angle is 10°-20°.

[0007] A response threshold value of the sensor is configured, and the movement state of the operation platform is controlled based on the response threshold value to avoid the operation platform touching the large communication satellite. The response threshold value comprises a first threshold value and a second threshold value. When the operation platform is away from the large communication satellite by the first threshold value, the operation platform is controlled to slow down. When the operation platform is away from the large communication satellite by the second threshold value, the operation platform is controlled to stop moving.

[0008] In some embodiments, when the operation platform is away from the large communication satellite by the first threshold value, the operation platform is controlled to slow down, which comprises:

[0009] When the operation platform is away from the large communication satellite by the first threshold value, the operation platform is controlled to slow down at a first preset acceleration. When the operation platform is away from the large communication satellite by the third threshold value, the operation platform is controlled to slow down at a second preset acceleration.

[0010] wherein the first preset acceleration is less than the second preset acceleration.

[0011] In some embodiments, the plurality of sensors is 8, two of which are located in the +X direction of the operation platform, two of which are located in the +Y direction of the operation platform, two of which are located in the -Y direction of the operation platform, and two of which are located in the -Z direction of the operation platform; wherein the detection field of view of the adjacent one of the two sensors located in the same direction at least partially overlaps.

[0012] In some embodiments, the second threshold value of the adjacent one of the two sensors located in the same direction is configured to make the overlapping range of the detection field of view of the adjacent one of the two sensors located in the same direction at the second threshold value be 10%-60%.

[0013] In some embodiments, the second threshold value of the adjacent one of the two sensors located in the same direction is configured to make the second threshold value of the adjacent one of the two sensors located in the same direction be greater than the second threshold value of the other one.

[0014] In some embodiments, the second threshold value of the adjacent one of the two sensors located in the +X direction of the operation platform is 363mm, and the second threshold value of the other one of the two sensors located in the +X direction of the operation platform is 300mm.

[0015] In some embodiments, the one in the -X direction of the two sensors located in the +Y direction of the operation platform is closed in the one in the -X direction; and the one in the -X direction of the two sensors located in the -Y direction of the operation platform is closed in the one in the -X direction.

[0016] In some embodiments, the front end of the operation platform comprises a first rounded corner and a second rounded corner; the overlapping range of the detection field of view of the adjacent one of the two sensors adjacent to the first rounded corner at the second threshold value at least partially overlaps; and the overlapping range of the detection field of view of the adjacent one of the two sensors adjacent to the second rounded corner at the second threshold value at least partially overlaps.

[0017] In some embodiments, the mounting position of the sensor adjacent to the first rounded corner in the +Y direction of the operation platform is moved so that the overlapping range of the detection field of view of the adjacent one of the two sensors adjacent to the first rounded corner at the second threshold value is 10%-25%; and the mounting position of the sensor adjacent to the second rounded corner in the -Y direction of the operation platform is moved so that the overlapping range of the detection field of view of the adjacent one of the two sensors adjacent to the second rounded corner at the second threshold value is 10%-25%.

[0018] In some embodiments, two sensors located in the -Z direction are positioned near the edge of the operating platform in the +X direction.

[0019] Compared with the prior art, the above-described solutions of this application have at least the following beneficial effects:

[0020] This application provides an automatic protection method for a lifting vehicle used in the assembly of large communication satellites. By installing multiple sensors on the lifting vehicle and setting the parameters of each sensor, the method can effectively prevent the lifting vehicle from colliding with the satellite product, avoid production accidents, and ensure the safety of satellite assembly operations. Attached Figure Description

[0021] Figure 1 A flowchart illustrating the automatic protection method for a lifting vehicle used in the assembly of large communication satellites, as shown in this embodiment, is presented.

[0022] Figure 2 A structural diagram of the lifting vehicle in this embodiment is shown.

[0023] Figure 3 A structural diagram of the sensor installation location in this embodiment is shown.

[0024] Figure 4 The diagram shows the mounting structure of the +X direction sensor in this embodiment.

[0025] Figure 5 The diagram shows the mounting structure of the +Y direction sensor in this embodiment.

[0026] Figure 6 The diagram shows the installation structure of the Z-direction sensor in this embodiment.

[0027] Figure 7 A schematic diagram of the sensor response relationship of the operating platform in this embodiment is shown.

[0028] Figure 8 A schematic diagram of the sensor response relationship of an operating platform according to another embodiment is shown.

[0029] Figure 9 A schematic diagram of the sensor response relationship of the operating platform in another embodiment is shown.

[0030] Figure 10 A schematic diagram of the Z-direction sensor response relationship in this embodiment is shown.

[0031] Figure 11 A schematic diagram of the control logic of this embodiment is shown. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0034] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0035] It should be understood that although the terms first, second, third, etc., may be used to describe structures in the embodiments of this application, these structures should not be limited to these terms. These terms are only used to distinguish different structures. For example, without departing from the scope of the embodiments of this application, a first component may also be referred to as a second component, and similarly, a second component may also be referred to as a first component.

[0036] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0037] Lifting vehicles are essential auxiliary equipment in the spacecraft assembly process. They are used to work around large communication satellites to complete the assembly of these satellites. However, large communication satellites (also known as satellites) have many protrusions such as antennas and solar panels, which are relatively easy to damage. The safety risks are high when the lifting vehicle moves around them and works at high altitudes. There is a possibility that the lifting vehicle may collide with or damage the satellite due to improper operation by personnel.

[0038] Based on this, this application provides an automatic protection method for a lifting vehicle used in the assembly of large communication satellites, comprising: arranging multiple sensors on the operating platform of the lifting vehicle, the multiple sensors being located in the +X direction, ±Y direction, and -Z direction of the operating platform, each sensor including independently configurable multiple channels; the sensors being ultrasonic sensors with a horizontal detection angle of 120-140° and a vertical detection angle of 10-20°; configuring response thresholds for the sensors, and controlling the movement state of the operating platform based on the response thresholds to prevent the operating platform from touching the large communication satellite; the response thresholds include a first threshold and a second threshold, when the distance between the operating platform and the large communication satellite reaches the first threshold, controlling the operating platform to decelerate; when the distance between the operating platform and the large communication satellite reaches the second threshold, controlling the operating platform to stop moving.

[0039] This application provides an automatic protection method for a lifting vehicle used in the assembly of large communication satellites. By installing multiple sensors on the lifting vehicle and setting the parameters of each sensor, the method can effectively prevent the lifting vehicle from colliding with the satellite product, avoid production accidents, and ensure the safety of satellite assembly operations.

[0040] The optional embodiments of this application are described in detail below with reference to the accompanying drawings. The following description, using the phrase "in some embodiments," omits the same features and describes several different implementation methods. It is understood that, without conflict, multiple embodiments can be freely combined to form more complex technical solutions, and should not be construed as multiple components of a single embodiment.

[0041] According to the specific implementation of this application, such as Figure 1 As shown, this application provides an automatic protection method for a lifting vehicle used in the assembly of large communication satellites, comprising the following steps:

[0042] Step S102: Arrange multiple sensors on the operating platform of the lifting vehicle. The multiple sensors are located in the +X direction, ±Y direction and -Z direction of the operating platform. Each sensor includes multiple independently configurable channels. The sensors are ultrasonic sensors with a horizontal detection angle of 120-140° and a vertical detection angle of 10-20°.

[0043] Step S104: Configure a response threshold for the sensor, and control the movement state of the operating platform based on the response threshold to avoid the operating platform from touching the large communication satellite; the response threshold includes a first threshold and a second threshold. When the operating platform reaches the first threshold in distance from the large communication satellite, control the operating platform to decelerate; when the operating platform reaches the second threshold in distance from the large communication satellite, control the operating platform to stop moving.

[0044] like Figure 2 As shown, the lifting vehicle includes a drive platform 10 and an operating platform 20. The drive platform 10 is used to drive the lifting vehicle to move, and the operating platform 20 allows the operator to stand inside the operating platform of the lifting vehicle to operate the vehicle, so as to bring the front end or side end of the operating platform close to the satellite for final assembly work.

[0045] To clearly represent the position and structure of the operating platform or the lifting vehicle, a three-dimensional Cartesian coordinate system is constructed. The forward direction of the lifting vehicle (i.e., the direction set by the operating platform) is defined as the +X direction; the backward direction of the lifting vehicle (i.e., the direction set by the drive platform) is defined as the -X direction; the left side of the forward direction of the lifting vehicle is defined as the +Y direction; the right side of the forward direction of the lifting vehicle is defined as the -Y direction; the vertical upward direction of the lifting vehicle is defined as the +Z direction; and the vertical downward direction of the lifting vehicle is defined as the -Z direction.

[0046] Specifically, the operating platform 20 includes a platform tread 21 for personnel to stand on; the platform tread 21 includes a bottom surface 211 along the -Z direction and a top surface 212 along the +Z direction. The structure and dimensions of the platform tread 21 (930mm long × 690mm wide) are as follows: Figure 2 As shown. A platform guardrail 22 is installed on the platform tread 21 to protect operators. The platform guardrail 22 includes horizontal guardrails 221 and vertical guardrails 222. The vertical guardrails 222 extend upwards along the platform tread 21, intersecting with the horizontal guardrails 221 to form the platform guardrail 22. A platform toe board 23 is installed around the edge of the platform tread 21 to prevent operators from falling. The platform toe board 23 includes a front toe board 231 in the +X direction, a left toe board 232 in the +Y direction, and a right toe board 233 in the -Y direction.

[0047] Sensors typically include individual or fused applications of radar (millimeter wave, ultrasonic, laser), vision cameras, and infrared and laser sensors, as well as ultrasonic sensors.

[0048] The satellite's outer surface is covered with a highly reflective single-sided aluminized polyimide film and has many irregularly shaped protrusions, resulting in sloping and uneven surfaces. Infrared or laser sensors may experience measurement errors due to abnormal reflection angles or reflection signals, making them unsuitable.

[0049] The satellite assembly site is a classified area, and the use of products with recording functions is prohibited. In addition, changes in lighting conditions during certain assembly processes may affect the monitoring effect of visual camera devices, so they are not applicable.

[0050] According to the satellite assembly operation requirements, the distance between the lifting vehicle operating platform and the satellite is approximately 0.2m to 1m. Millimeter-wave radar has a detection blind zone when the distance is less than 1m, while lidar is large in size and needs to be installed externally, which is equivalent to adding a large protrusion to the outside of the lifting vehicle operating platform. This would affect the assembly operation distance and operational safety, and therefore it is not suitable.

[0051] Therefore, this application uses an ultrasonic sensor, which features high accuracy in short-distance measurement, immunity to light effects, large horizontal and vertical measurement angles, and suitability for embedded installation. Optionally, for accurate detection of obstacle positions, this application uses a three-channel independently configurable high-sensitivity ultrasonic sensor. The three-channel independently configurable design means that each sensor includes three independently controlled transceiver units, each of which can be independently controlled to be turned on or off. Furthermore, the parameters of each channel can also be independently set, which will not be listed or elaborated here.

[0052] like Figure 3 As shown, multiple sensors 30 are disposed in the +X, ±Y, and -Z directions of the operating platform 20 to monitor the positions of satellites in front, left, right, and below the operating platform during operation, ensuring full coverage of the protection range during satellite assembly. Specifically, there are eight sensors. Two of them are located on the outer edge of the front foot plate 231 in the +X direction of the operating platform 20, such as the first sensor 31 and the second sensor 32, to monitor the position of satellites in front of the operating platform; two are disposed on the outer edge of the left foot plate 232 in the +Y direction of the operating platform 20, such as the third sensor 33 and the fourth sensor 34, to monitor the position of satellites on the left side of the operating platform; and two are disposed on the outer edge of the right foot plate 233 in the -Y direction of the operating platform 20, such as the fifth sensor 35 and the sixth sensor 36, to monitor the position of satellites on the right side of the operating platform. Considering the satellite assembly process of this application, the front end of the operating platform needs to be raised above the satellite for operation. At this time, the lower surface of the platform tread is a blind spot, and the front end is prone to collision with the satellite's top antenna. Therefore, it is necessary to install sensors under the operating platform. Thus, two sensors are set near the edge of the bottom surface 211 in the -Z direction of the operating platform 20, such as the seventh sensor 37 and the eighth sensor 38.

[0053] Sensors in the +X and ±Y directions are installed using a semi-embedded mounting method with recessed holes to reduce their exposed size and minimize their impact on the final assembly distance. They are also equipped with a semi-covered protective shell 41 to prevent damage from personnel stepping on them. The sensor placement in the +X direction is not affected by the guardrail vertical bars 222. The protective shell structure is as follows: Figure 4 As shown; the sensor placement positions in the ±Y direction may be affected by the guardrail vertical bar 222. To avoid false triggering, the protective shell 46 structure is as follows. Figure 5 As shown.

[0054] The sensor in the -Z direction is installed externally and is equipped with a full-coverage protective shell 47 to prevent bottom contact, pressure, and impact. The protective shell structure is as follows: Figure 6 As shown.

[0055] All protective shells are bolted to the vehicle body. The bolts are inserted inward and equipped with anti-loosening nuts to prevent them from falling and injuring the satellite or personnel in case of accidental loosening.

[0056] The travel speed of the satellite assembly lift is approximately 0.17 m / s to 1.1 m / s, and the braking distance is approximately 0.02 m to 0.1 m. During assembly, the distance between the vehicle and the satellite must not be less than 0.2 m. To meet the requirements of safe satellite assembly, a three-channel ultrasonic sensor is used, each channel of which can be individually turned off or on. The sum of the horizontal detection angles of the three channels is 120°-140° (e.g., 130°), and the vertical detection angle is 10°-20° (e.g., 15°). The detection range is 0.03 m to 4.5 m, and the response time is approximately 5 ms.

[0057] In step S104, the response threshold of the lifting vehicle control system to the sensor is configured, and the movement state of the operating platform is controlled based on the response threshold to avoid the operating platform from colliding with the large communication satellite. A deceleration warning setting is set. When the sensor detects that the distance to the collision object is less than a first threshold, the vehicle's movement and lifting system are forcibly limited to a low-speed operating state. For example, the first threshold can be set to 400mm-500mm, such as 500mm. This threshold is still a safe distance, and the speed of the lifting vehicle needs to be controlled in advance to avoid the operating platform from colliding with the large communication satellite. A stop setting is set. When the sensor detects that the distance to the collision object is less than a second threshold, the vehicle stops immediately. The second threshold is, for example, 200-300mm, such as 300mm. This distance is a dangerous distance, extremely close to the satellite, therefore, it is necessary to stop.

[0058] In some embodiments, when the distance between the operating platform and the large communication satellite reaches the first threshold, controlling the operating platform to decelerate includes: when the distance between the operating platform and the large communication satellite reaches the first threshold, controlling the operating platform to decelerate with a first preset acceleration; when the distance between the operating platform and the large communication satellite reaches the third threshold, controlling the operating platform to decelerate with a second preset acceleration; wherein the first preset acceleration is less than the second preset acceleration.

[0059] To avoid impacting the mobility of the lifting vehicle, segmented deceleration control is implemented as it approaches the satellite. Upon reaching the first threshold, the vehicle initially decelerates slowly, maintaining a relatively high speed to quickly reach the designated position. When the third threshold is reached, approaching the second threshold, it rapidly decelerates until it stops, preventing a collision with the satellite. Optionally, the first threshold can be set to 500mm, the third threshold to 400mm, and the second threshold to 300mm. Specifically, when the operating platform is 500mm away, it initially decelerates slowly, maintaining a relatively high speed. At 400mm, it rapidly decelerates, and at 300mm, it immediately stops or even loses power to prevent a collision. This embodiment, by employing segmented deceleration control, ensures both the mobility of the lifting vehicle and prevents collisions with the satellite, scientifically and rationally improving overall assembly efficiency.

[0060] In some embodiments, the detection fields of two sensors located in the same direction and adjacent to each other at least partially overlap.

[0061] The detection fields of view of two adjacent sensors located in the same direction must at least partially overlap to ensure that there is no detection blind zone between them. If the detection fields of view of two adjacent sensors located in the same direction do not overlap, there will be a detection blind zone between them. Components such as satellite antennas or panels will pass through the blind zone, causing the sensors to fail to respond and thus damaging satellite components.

[0062] In some embodiments, the second threshold of a path of two adjacent sensors in the same direction is configured such that the overlap of the detection field of view of the two adjacent sensors in the same direction at the second threshold is 10%-60%.

[0063] like Figure 7As shown, the second threshold of the path of two sensors (such as the third sensor 33 and the fourth sensor 34) located in the same direction is configured separately, so that the overlap range of the detection field of view of the path of the two sensors (such as the third sensor 33 and the fourth sensor 34) located in the same direction at the second threshold is 10%-60%. For example, the overlap range of the detection field of view of the path of the third sensor 33 and the fourth sensor 34 located in the same direction at the second threshold is 40%.

[0064] like Figure 7 As shown, the red sector represents the detection field of view of each sensor at the second threshold, meaning the satellite and operating platform will stop immediately upon reaching this second threshold. For the detection field of view of adjacent sensors 33 and 34 at the second threshold, the aforementioned overlap refers to the percentage of the arc of one sector that lies within the other sector, relative to the total arc length. For example... Figure 7 In this context, the arc length (corresponding to arc ac) of one sector (corresponding to the third sensor 33) that lies within another sector (corresponding to the fourth sensor 34) represents the percentage of the total arc length (corresponding to arc ac). The size of this overlap range can be adjusted by changing the spacing between the two sensors, the detection angle of adjacent branches, or the value of the second threshold.

[0065] Understandably, when the overlap is too small, for example, 5%, the detection field of view of two adjacent sensors at the second threshold just overlaps. Due to sensor transmission / reception cycle factors or sensor response sensitivity factors, this can lead to sensor malfunction, causing satellite components to touch the operating platform and resulting in damage. Therefore, experiments have shown that when the overlap of the detection field of view of two adjacent sensors (such as the first sensor 31 and the second sensor 32, or the third sensor 33 and the fourth sensor 34) at the second threshold is greater than 10%, the probability of successfully responding to the second threshold is greatly increased. When the overlap is too large, for example, 80%-90%, the two sensors must be closer together, which will affect the detection on the other side of the sensor, increase the number of detectors, and thus increase cost and equipment complexity. Therefore, in this embodiment, setting the overlap of the detection field of view of two adjacent sensors at the second threshold to 10%-60% can eliminate blind spots and achieve the best detection effect.

[0066] In some embodiments, the second threshold of a path for two adjacent sensors in the same direction is configured such that the second threshold of the path for two adjacent sensors in the same direction is greater than the second threshold of other paths.

[0067] Because the detection fields of two sensors (such as the first sensor 31 and the second sensor 32) overlap in adjacent paths, a detection blind zone H1 exists in between (such as...). Figure 8 As shown), if the second threshold of one of the two adjacent channels of the sensors is adjusted, for example to 363mm, then... Figure 9 As shown, by making it greater than the threshold of other paths (the threshold of other paths is, for example, 300mm), as long as H1 is less than 363mm, the satellite component will definitely stop moving in response to the adjusted second threshold as it approaches the operating platform. Otherwise, the satellite component will enter the blind zone before reaching the original second threshold (300mm) as it approaches the operating platform, which will damage the satellite component.

[0068] The entire response process is as follows: During the process of the satellite component approaching the operating platform along the -X direction, in one scenario, if the satellite component approaches the operating platform along point F, the central response of sensor 32 will first reach the first threshold (e.g., 500mm) at line A, and the operating platform will begin to slowly decelerate with the first acceleration. Then, upon reaching the third threshold (e.g., 400mm) at line B, the operating platform will begin to rapidly decelerate with the second acceleration. Subsequently, if the satellite component reaches point F, since the value of line C is 363mm, it will not reach the second threshold (e.g., 300mm) at this point. The satellite component will continue to approach the operating platform until it reaches line D, and then stops after reaching the second threshold (e.g., 300mm). In another scenario, if the satellite component approaches the operating platform along point E, the threshold response of lines A and B is as described above. When the satellite component approaches point E from line B, since the second threshold of this path is adjusted to 363mm (the value of line C), the satellite component will respond to the sensor before reaching the blind zone and stop approaching to avoid a collision. If the second threshold of this path is not adjusted, the satellite component will inevitably need to reach the D line (e.g., 300mm) to respond, but this is the blind zone of the sensor, and the operating platform will not stop moving, resulting in a collision with the satellite component.

[0069] In some embodiments, based on factors such as the size of the aforementioned operating platform and the field of view of the detector, the second threshold for one path of two sensors located in the +X direction of the operating platform that are adjacent to each other is set to 363mm, and the second threshold for the other paths of two sensors located in the +X direction of the operating platform is set to 300mm.

[0070] In some embodiments, one of the two sensors located in the +Y direction of the operating platform, the sensor 33 facing the -X direction, is turned off; and one of the two sensors located in the -Y direction of the operating platform, the sensor 35 facing the -X direction, is turned off.

[0071] like Figure 9As shown, in order to avoid the operating platform stopping prematurely before entering the working position due to interference from the third detector 33 and the fifth detector 35 on the object in the -X direction, the detection function of the third detector 33 and the fifth detector 35 in the -X direction needs to be turned off.

[0072] In some embodiments, the front end of the operating platform includes a first rounded corner and a second rounded corner; the field of view of adjacent paths of two sensors near the first rounded corner at least partially overlaps; the detection field of view of adjacent paths of two sensors near the second rounded corner at the second threshold at least partially overlaps. As described above, if the detection field of view of adjacent paths of two sensors near the rounded corner at the second threshold does not overlap, a blind zone will occur at the rounded corner, thereby colliding with the rounded corner and damaging satellite components.

[0073] In some embodiments, the mounting position of the sensor near the first rounded corner in the +Y direction of the operating platform is moved so that the overlap range of the detection field of view of the adjacent paths of the two sensors near the first rounded corner at the second threshold is 10%-25%; the mounting position of the sensor near the second rounded corner in the -Y direction of the operating platform is moved so that the overlap range of the detection field of view of the adjacent paths of the two sensors near the second rounded corner at the second threshold is 10%-25%.

[0074] The definition of the overlapping range is as described above and will not be repeated here.

[0075] like Figure 9As shown, the overlap range of the detection field of view of two sensors (such as the first sensor 31 and the fourth sensor 34) near the first rounded corner at the second threshold is 10%-25%, for example, 20%. It is understandable that when the overlap range is too small, for example, 5%, the detection field of view of the two adjacent sensors at the second threshold just overlaps. Due to sensor transmission / reception cycle factors or sensor response sensitivity factors, this can lead to sensor malfunction, causing satellite components to touch the operating platform and resulting in damage to the satellite components. Therefore, experiments have shown that when the overlap range of the detection field of view of two sensors (such as the first sensor 31 and the second sensor 32, or the third sensor 33 and the fourth sensor 34) in the same direction at the second threshold is greater than 10%, the probability of successfully responding to the second threshold is greatly increased. When the overlap range is too large, for example, 80%-90%, the two sensors must be closer together, which presents an installation obstacle at the rounded corner position. Furthermore, considering the positional relationship of the non-rounded corner position sensors, in this embodiment, the overlap range of the detection field of view of the adjacent paths of two sensors near the first rounded corner (such as the first sensor 31 and the fourth sensor 34) at the second threshold is set to 10%-25%, which can eliminate blind spots and achieve the best detection effect. Similarly, the overlap range of the detection field of view of the adjacent paths of two sensors near the second rounded corner at the second threshold is also 10%-25%.

[0076] In some embodiments, such as Figure 10 As shown, two sensors located in the -Z direction are positioned near the edge of the operating platform in the +X direction to ensure full vertical protection coverage of the front end of the operating platform.

[0077] like Figure 11 As shown, the central processing unit (control board) receives the I / O signal from the ultrasonic sensor, determines the distance between the operating platform and the colliding object, and provides different execution methods:

[0078] 1) If the object does not enter the first threshold detection range, the indicator light on the control box will not light up, and the graphic corresponding to each sensor position on the operation platform model in the status display screen will be green;

[0079] 2) When a collision object is detected at the first threshold, the indicator light on the control box is constantly yellow, the voice module prompts "Please pay attention to safety", and the graphic corresponding to the sensor position on the operating platform model in the status display screen is yellow to remind the personnel that a certain position is close to the collision object. At the same time, the control board controls the movement of the lifting vehicle and the speed of the lifting mechanism drive motor through the relay, forcing the lifting vehicle to decelerate in two stages to enter the lowest speed operation state.

[0080] 3) When a collision object is detected at the second threshold, the indicator light on the control box stays red, the voice module prompts "Danger, stop", and the graphic corresponding to the sensor position on the operating platform model in the status display screen is displayed in red to inform the personnel that there is a collision risk at a certain position. At the same time, the control board controls the emergency stop switch of the lifting vehicle through the relay, so that the lifting vehicle enters the emergency stop power-off state.

[0081] In addition, personnel can also control the system according to different scenarios:

[0082] 1) When the lift is in a power-off state, and the personnel are aware of the location with a collision risk, and it is necessary to continue working under special conditions, the power supply to the lift can be restored by pressing and holding the "unlock button" to control the relay and continue to approach the satellite in a low-speed walking state;

[0083] 2) When personnel drive the lift vehicle in a non-working area away from the satellite, in order to avoid accidental sensor activation by passing objects or personnel, the automatic control function of the lift vehicle can be temporarily turned off by using the "Function On / Off Knob".

[0084] This application provides an automatic protection method for a lifting vehicle used in the assembly of large communication satellites. By installing multiple sensors on the lifting vehicle and setting the parameters of each sensor, the method can effectively prevent the lifting vehicle from colliding with the satellite product, avoid production accidents, and ensure the safety of satellite assembly operations.

[0085] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0086] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An automatic protection method for a lifting vehicle used in the assembly of large communication satellites, characterized in that, include: Multiple sensors are arranged on the operating platform of the lifting vehicle. The multiple sensors are located in the +X direction, ±Y direction and -Z direction of the operating platform. Each sensor includes multiple independently configurable channels. The sensors are ultrasonic sensors with a horizontal detection angle of 120°-140° and a vertical detection angle of 10°-20°. Configure a response threshold for the sensor, and control the movement state of the operating platform based on the response threshold to avoid the operating platform from touching the large communication satellite; the response threshold includes a first threshold and a second threshold, and when the operating platform reaches the first threshold in distance from the large communication satellite, control the operating platform to decelerate; When the distance between the operating platform and the large communication satellite reaches the second threshold, the operating platform is controlled to stop moving.

2. The method according to claim 1, characterized in that, When the distance between the operating platform and the large communication satellite reaches the first threshold, controlling the operating platform to decelerate includes: When the distance between the operating platform and the large communication satellite reaches the first threshold, the operating platform is controlled to decelerate at a first preset acceleration; when the distance between the operating platform and the large communication satellite reaches the third threshold, the operating platform is controlled to decelerate at a second preset acceleration. Wherein, the first preset acceleration is less than the second preset acceleration.

3. The method according to claim 1, characterized in that, The plurality of sensors consists of eight sensors: two located in the +X direction of the operating platform, two in the +Y direction, two in the -Y direction, and two in the -Z direction; wherein, the detection fields of two adjacent sensors located in the same direction at least partially overlap.

4. The method according to claim 3, characterized in that, Configure the second threshold for the path of two adjacent sensors in the same direction, so that the overlap range of the detection field of view of the two adjacent sensors in the same direction at the second threshold is 10%-60%.

5. The method according to claim 3, characterized in that, Configure the second threshold of one path for two adjacent sensors in the same direction, such that the second threshold of one path for two adjacent sensors in the same direction is greater than the second threshold of other paths.

6. The method according to claim 5, characterized in that, The second threshold for one of the two sensors located in the +X direction of the operating platform is 363mm, and the second threshold for the other two sensors located in the +X direction of the operating platform is 300mm.

7. The method according to claim 3, characterized in that, One of the two sensors located in the +Y direction of the operating platform, the one facing the -X direction, is turned off; the one of the two sensors located in the -Y direction of the operating platform, the one facing the -X direction, is turned off.

8. The method according to claim 3, characterized in that, The front end of the operating platform includes a first rounded corner and a second rounded corner; the detection fields of two adjacent sensors near the first rounded corner overlap at least partially at the second threshold. The detection fields of two adjacent sensors near the second rounded corner overlap at least partially at the second threshold.

9. The method according to claim 8, characterized in that, Move the mounting position of the sensor near the first rounded corner in the +Y direction of the operating platform so that the overlap range of the detection field of view of the adjacent paths of the two sensors near the first rounded corner at the second threshold is 10%-25%; move the mounting position of the sensor near the second rounded corner in the -Y direction of the operating platform so that the overlap range of the detection field of view of the adjacent paths of the two sensors near the second rounded corner at the second threshold is 10%-25%.

10. The method according to claim 3, characterized in that, Two sensors located in the -Z direction are positioned near the edge of the operating platform in the +X direction.

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