Automatic control system and method of mechanical structure working platform based on multimodal perception

Abstract

The present invention relates to an automatic control system and method for a mechanical structure working platform based on multimodal perception, and belongs to the field of mechanical structure working platform control. The system of the present invention includes a measurement perception module, an information processing module, a remote control module and an automatic execution module. The comprehensive situation information of the platform is obtained by setting a laser rangefinder, a height coder / scanner, a cylinder stroke detector, an image recording and recognition device and other measurement perception devices at a specific position of the working platform; the information processing module processes the situation information and transmits the calculation results to the remote control module in real time. The remote control module adjusts the start and stop action and flow of the hydraulic system in real time according to parameters such as distance and height, and drives the automatic execution modules such as the hydraulic cylinder to realize the acceleration, deceleration or start and stop of the platform action. The present invention also improves the safety of the platform action to a certain extent and reduces the possibility of human error operation.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical structure work platform control, and in particular relates to an automatic control system and method for a mechanical structure work platform based on multi-modal perception. Background Art

[0002] In the field of space launch, the vertical assembly test and launch status of the carrier rocket are closer, which is more conducive to the overall test of the rocket and the maintenance of the rocket-ground interface status. Due to the high height of the rocket body, especially large and medium-sized rockets are generally above 50 meters, its testing and operation require the establishment of multi-layer work platforms at different heights in the vertical direction. The platform is a mechanical steel structure, and the single-layer platform is divided into left and right sides, which can provide a support platform for testing and operation for staff and related equipment. A semicircular space is left in the middle of each set of platforms. When closed, the rocket body is surrounded. There is about 20cm of space between the platform and the rocket body, which enables personnel to operate the rocket body at close range, such as Figure 1 shown.

[0003] The single-side working platform is composed of a lifting section, left and right rotating sections and a middle push-pull section. The platform is hydraulically driven and can complete lifting, pushing, pulling and rotating movements. The left and right rotating sections are driven by a single oil cylinder, and the push-pull section is driven synchronously by two oil cylinders on the left and right. The platform is lifted and lowered by the left and right oil cylinders synchronously, and the guide wheels run up and down along the guide rails. The lower part of the platform is a load-bearing truss to maintain the stability of the overall structure. The upper surface is the working interface for the operator. The guide rails and latches bear the overall weight of the platform and the personnel.

[0004] The edge of the platform is close to the arrow body, and the deviation in the parking position of the arrow body causes the platform to collide with the arrow body during movement. The platform is made of steel structure. If it collides with the arrow body, it is likely to cause serious damage to the arrow body under the hydraulic driving force, affecting the safety of the arrow body. At the same time, since the platform lacks effective electronic measurement and sensing means when it was designed, in order to ensure safety and reliability, the operation of the platform adopts a multi-person, purely manual operation method. Each action often requires the cooperation of 5-7 people to complete, including 1 hydraulic operator, 2 left and right latch operators, and 2-4 observers. It is time-consuming and labor-intensive, and there is a risk of collision with the arrow body due to improper observation or operation.

[0005] Therefore, in order to solve the problems of low automation, high labor consumption and high safety risks of steel structure platforms, it is urgent to design a highly reliable working platform automatic control system. Summary of the invention

[0006] 1. Technical issues to be resolved

[0007] The technical problem to be solved by the present invention is how to provide an automatic control system and method for a mechanical structure working platform based on multimodal perception, so as to solve the problems of low automation level, high labor consumption and high safety risks of the current rocket test working platform.

[0008] (II) Technical solution

[0009] In order to solve the above technical problems, the present invention proposes an automatic control system for a mechanical structure working platform based on multimodal perception, characterized in that the system includes a measurement perception module, an information processing module, a remote control module and an automatic execution module.

[0010] The measurement and perception module is composed of measurement sensors arranged at various positions of the working platform. The single-layer single-side platform includes: lifting section, middle push-pull section and left and right rotation section. The measurement and perception module of each platform includes 6 laser rangefinders, 1 height coding scanning device, 4 cylinder stroke detectors, 2 angle sensors, 4 stroke limit switches, and 2 image recording and recognition devices and their auxiliary dialogue equipment;

[0011] Four laser rangefinders are evenly distributed in the arc area of ​​the platform, including two in the middle push-pull section and one each in the left and right rotating sections, which are used to measure the real-time distance between the arc section and the arrow body during the process of the push-pull section pushing forward and the rotating section closing; one laser rangefinder is arranged on each side of the platform lifting section near the guide rail to measure the distance between the upper and lower platforms;

[0012] A height barcode label is attached to the inner side of the platform lifting rail, and a barcode scanning device is installed on the guide wheel support on the platform side to obtain the position height of the platform in real time for the control module to decide whether the height is adjusted in place;

[0013] The two oil cylinders in the middle push-pull section and the two oil cylinders in the lifting section are respectively provided with travel detectors to measure the telescopic distance and displacement speed of the hydraulic oil cylinders, so as to obtain the operating speed and travel of the platform push-pull and lifting;

[0014] The oil cylinder stroke detector uses a wire sensor, which can be built into the piston rod or placed outside the cylinder body. The platform control system adjusts the oil flow rate of each cylinder in real time based on the data fed back by the stroke detector to achieve precise control of the cylinder operation.

[0015] The limit switches of the rotary section are installed at the two positions of 0 and 90 degrees of the rotary shaft rotation to ensure that the platform rotary section can be accurately triggered and fed back to the information processing module when it is in the open and closed state; the limit switches of the push-pull section are installed at the front and rear limit positions of the push-pull guide rail to ensure that the platform can be accurately triggered and fed back to the information processing module after being pushed or pulled into place;

[0016] A camera device is installed on each of the bottom trusses on the left and right sides of the upper working platform of the current working platform to monitor the overall situation of the current working platform, including the distribution of personnel and equipment on the upper surface of the platform and the matching situation between the platform and the rocket body; the camera device is equipped with a voice dialogue device to realize the remote monitoring of the platform and the remote dialogue function with the personnel above the platform;

[0017] The information processing module includes: information processing computers, analysis software, data servers and related communication equipment; various data obtained by the measurement and perception module are collected to the information processing module for calculation and analysis, and the distance between the platform and the rocket body in various directions, the position of the middle push-pull section, the opening and closing angles of the left and right rotating sections, the position and height of the entire platform and the overall situation of the equipment and personnel on the platform surface are obtained, and various distance, angle, height and other data are transmitted to the remote control module for control strategy adjustment;

[0018] The remote control module is responsible for the motion control of the entire platform, including: control operation host computer, main control PLC, communication and related IO modules, used to collect equipment parameters of the hydraulic system of the working platform, receive key status data from the information processing module, and send instructions to the automatic execution module;

[0019] The automatic execution module includes the control slave station PLC of each platform, the hydraulic pump station control slave station PLC, hydraulic pump, proportional relief valve, proportional flow valve, hydraulic cylinder, hydraulic latch and hydraulic lock, and completes the platform action by receiving instructions.

[0020] The present invention also provides a method for automatic control of a mechanical structure working platform based on multimodal perception, the method comprising:

[0021] S1, state preparation stage

[0022] S11. Complete the inspection of relevant modules in the control cabinet, hydraulic system, platform mechanical structure, status of various sensing and measuring sensors, and status of personnel and equipment above the platform;

[0023] S12. After checking that there are no abnormalities, power on the control cabinet, various sensors, and all unpowered equipment in the hydraulic system, and complete the startup and operation of the host computer, hydraulic pump station, and related valve control boxes;

[0024] S13. After the host computer is turned on, check the network communication status of each station in the control system, and check whether the data feedback of the hydraulic system related equipment and various sensing and measuring sensors is normal;

[0025] S2, platform action stage

[0026] The platform action phase completes the following tasks:

[0027] The operator observes the status of personnel and equipment above the platform through the camera device. If there are still people working on the platform, the operator will warn them through the loudspeaker device built into the camera device, and urge them to leave the platform as soon as possible; and start playing the prompt voice "Platform adjustment, please do not approach"; then complete the platform extension action, platform retraction action, platform closure action, platform deployment action and platform lifting action;

[0028] S3, System withdrawal stage

[0029] S31. After completing all adjustments on the platform, ensure that the hydraulic latches are properly inserted and the platform is in a safe state;

[0030] S32, complete the shutdown of the hydraulic pump and the upper control system;

[0031] S33. Complete power-off of the control cabinet, various sensors, and hydraulic systems except the camera device.

[0032] (III) Beneficial effects

[0033] The present invention proposes an automatic control system and method for a mechanical structure working platform based on multimodal perception. By using the working platform automatic control system, the present invention can realize remote automatic control of the steel structure working platform, reduce the workload of operators and observers when the platform is in motion, and realize unattended on-site operation; the use of automatic control also improves the safety of platform movement to a certain extent and reduces the possibility of human error operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a structural diagram of the steel structure working platform targeted by the present invention;

[0035] Figure 2 This is a schematic diagram of the platform automatic control system;

[0036] Figure 3 This is a schematic diagram of data interaction between modules of the platform automatic control system;

[0037] Figure 4 This is a schematic diagram of the platform's laser ranging radar ranging;

[0038] Figure 5 It is a schematic diagram of the height encoding device;

[0039] Figure 6 (a) is a schematic diagram of the platform lifting driven synchronously by dual cylinders;

[0040] Figure 6(b) is a schematic diagram of the push-pull of the platform driven synchronously by dual oil cylinders;

[0041] Figure 6(c) is a cylinder stroke cable sensor;

[0042] Figure 7It is the hinge shaft angle sensor of the platform rotary section;

[0043] Figure 8 Schematic diagram of the camera device layout. DETAILED DESCRIPTION

[0044] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0045] The present invention designs an automatic control system for a work platform based on multimodal perception and measurement means, aiming to solve the problems of low automation, high labor consumption and high safety risks of the current rocket test work platform, and to improve the efficiency and safety of the platform's operation.

[0046] 1. Overall architecture

[0047] The mechanical structure working platform automatic control system based on multimodal perception of the present invention (hereinafter referred to as the control system) includes: a measurement perception module, an information processing module, a remote control module and an automatic execution module, specifically as follows Figure 2 shown.

[0048] The comprehensive situation information of the platform is obtained by setting up measuring and sensing devices such as laser rangefinder, height encoder / scanner, cylinder stroke detector, image recording and recognition device at specific positions of the working platform; the measuring and sensing module transmits the data obtained by each measuring and sensing device to the information processing module for real-time calculation and analysis, and obtains the pushing, pulling, rotating and lifting movement situation of the platform, the elevation and advance distance of the platform, and the distribution status of personnel and equipment on the platform surface; the information processing module transmits the calculation results to the remote control module in real time, and the remote control module adjusts the start and stop action and flow of the hydraulic system in real time according to parameters such as distance and height, and drives automatic execution modules such as hydraulic cylinders to realize acceleration, deceleration or start and stop of the platform action.

[0049] 2. Measurement perception module

[0050] The measurement and perception module is mainly composed of measurement sensors arranged at various positions of the working platform. Taking a single-layer single-side platform as an example, each working platform includes: a lifting section, an intermediate push-pull section, and a left and right rotation section; the measurement and perception module of each working platform mainly includes 6 laser rangefinders, 1 height coding scanning device, 4 cylinder stroke detectors, 2 angle sensors, 4 stroke limit switches, and 2 image recording and recognition devices and their auxiliary dialogue equipment.

[0051] The specific distribution is as follows:

[0052] 1) Laser rangefinder

[0053] like Figure 4As shown, 4 laser rangefinders are evenly distributed in the arc area of ​​the platform, of which 2 are arranged in the middle push-pull section and 1 each in the left and right rotating sections, which are used to measure the real-time distance between the arc position and the arrow body during the process of the push-pull section pushing forward and the rotating section closing. The control system adjusts the platform action in real time according to the measured distance data (the distance of the middle push-pull section takes the minimum value of the measurement results of the two laser rangefinders), and maintains the maximum speed action when the distance is greater than or equal to D1; when the distance is greater than or equal to D2 and less than D1, the speed is adjusted to 60% of the maximum speed; when the distance is greater than or equal to D3 and less than D2, the speed is adjusted to 40% of the maximum speed; when the speed is less than D3, the speed is adjusted to 20% of the maximum speed; when the distance is equal to D4, the operation is stopped. If the distance is less than D4 meters during the operation of the platform, the control system immediately stops the operation of the platform and sends an alarm to the operator.

[0054] Similarly, to ensure the safety of the equipment during the lifting process of the platform, a laser rangefinder is installed on both sides of the platform lifting section near the guide rail to measure the distance between the upper and lower platforms. The control system adjusts the platform movement according to the measured distance data. When the value is equal to h+1 meter (h is the minimum safe distance between platforms), the speed begins to gradually decrease until it stops completely when the distance h is reached. When the distance is less than h, the platform cannot continue to move in the approaching direction and sends an alarm to the operator.

[0055] 2) Height coding and scanning device

[0056] like Figure 5 As shown, a height barcode label is pasted on the inner side of the platform lifting guide rail, and a code scanning device is installed on the guide wheel support on the platform side to obtain the position height of the platform in real time for the control module to decide whether the height is adjusted in place.

[0057] Among them, the barcode label corresponds to the pin hole on the guide rail one by one, and its elevation measurement accuracy is equal to the minimum spacing of the pin holes. The platform elevation information is entered on the barcode label and can be read by a code scanning device. The code scanning device is installed on the guide wheel support on the platform side, and rises and falls synchronously with the platform. It can obtain the position height of the platform in real time for the control module to decide whether the height is adjusted in place.

[0058] 3) Cylinder stroke detector

[0059] like Figure 6(a) , 6(b) As shown in 6(c), stroke detectors are respectively provided for the two cylinders in the middle push-pull section and the two cylinders in the lifting section to measure the telescopic distance and displacement speed of the hydraulic cylinders so as to obtain the operating speed and stroke of the platform push-pull and lifting.

[0060] The cylinder stroke detector uses a pull-wire sensor, which can be built into the piston rod or externally placed on the cylinder body. The platform control system adjusts the oil inlet flow of each cylinder in real time through the data feedback from the stroke detector to achieve precise control of the cylinder operation, which can ensure the accuracy of the platform's pushing, pulling, and lifting actions, and also ensure the synchronization of the dual cylinders' actions.

[0061] 4) Angle sensor

[0062] like Figure 7 As shown in the figure, an angle sensor is set at the connection between the left and right rotating sections and the lifting section to measure the real-time angle θ and angular velocity ω of the rotating section. The control system adjusts the oil flow rate of the rotating cylinder according to the collected data to achieve precise control of the closing and opening of the rotating section and smooth parking. When the real-time angle θ is 90°, the rotating section is in a fully open state; and when the real-time angle θ is 0°, the rotating section is in a closed state, ensuring that the state of the platform rotating section opening and closing in place can be accurately triggered and fed back to the information processing module.

[0063] Angle sensors can be in the form of a combination of an absolute encoder (for measuring angle) and an incremental encoder (for measuring angular velocity).

[0064] 5) Travel limit switch

[0065] The travel limit switch is mainly used to collect signals such as the push-pull section is pushed and pulled in place, and can be mechanical or magnetic induction. The limit switch of the push-pull section is installed on the front and rear limit of the push-pull guide rail to ensure that the platform can be accurately triggered and fed back to the information processing module after being pushed or pulled in place.

[0066] 6) Video / image recording, recognition and voice dialogue devices

[0067] In the current working platform ( Figure 8 The upper working platform of the middle platform 1) Figure 8 2) A camera device is installed on each of the bottom trusses on the left and right sides of the middle platform to monitor the overall situation of the current working platform, including the personnel and equipment distribution on the upper surface of the platform, the matching status of the platform and the rocket body, etc. The camera device has the function of focusing and adjusting the direction, and is equipped with a voice dialogue device to realize the remote monitoring of the platform and the remote dialogue function with the personnel above the platform. During the platform movement, the voice function continuously plays the prompt "Platform adjustment, please do not approach".

[0068] 3. Information processing module

[0069] The information processing module includes: information processing computers, analysis software, data servers and related communication equipment. The various data obtained by the measurement and perception module are collected to the information processing module for calculation and analysis to obtain the distance between the platform and the rocket body in various directions, the position of the middle push-pull section, the opening and closing angles of the left and right rotating sections, the position and height of the entire platform, and the overall situation of the equipment and personnel on the platform surface. The various distance, angle, height and other data are transmitted to the remote control module for control strategy adjustment.

[0070] 4. Remote control module

[0071] The remote control module is responsible for the motion control of the entire platform, including: controlling the upper computer, main control PLC, communication and related IO modules, which are used to collect equipment parameters such as pressure, flow, motor current, etc. of the hydraulic system of the working platform, receive key status data such as distance, height, angle, etc. from the information processing module, and send instructions to automatic execution modules such as hydraulic oil source and hydraulic valve group.

[0072] 5. Automatic execution module

[0073] The automatic execution module includes the control slave station PLC of each platform, the control slave station PLC of the hydraulic pump station, the hydraulic pump, the proportional relief valve, the proportional flow valve, the hydraulic cylinder, the hydraulic latch and the hydraulic interlock, and completes the platform action by receiving instructions, including:

[0074] The hydraulic pump is used to adjust the output flow of the proportional pump;

[0075] The proportional relief valve is used to adjust the system output pressure;

[0076] Proportional flow valves are used to adjust the flow of hydraulic oil into actuators such as hydraulic cylinders;

[0077] The hydraulic cylinder is used to adjust the execution of the action, and the speed of the action is achieved under the control of the oil flow regulation;

[0078] Hydraulic latches and hydraulic locks are used to adjust the execution of actions, replacing the current manual work of platform opening and closing locking, latch insertion and extraction, etc.

[0079] like Figure 3As shown, the hydraulic actuators and various measurement and sensing sensors of the system are arranged on the platform site, and the hydraulic pump is set in the high-rise pump station room of the building. The control system master station PLC, information processing computer and control host computer are set in the centralized monitoring room, the control slave station PLC of each platform is set on the upper surface of each platform, and the hydraulic pump station control slave station PLC is set in the hydraulic pump station room. The master PLC sends various equipment execution instructions to each slave station PLC and summarizes various data collected by each slave station PLC. Each control slave station PLC is responsible for receiving various instructions from the master station PLC, sending various data collected by itself to the master station PLC, issuing execution instructions to each platform or pump station equipment, collecting execution feedback and measurement perception data, etc. Communication is established between the master and slave station PLCs through an optical fiber network.

[0080] Except for the camera device in the measurement and perception module, which is in a long-term powered-on operation state, the rest are powered on before the platform moves and powered off after the action is completed.

[0081] The automatic control method of a mechanical structure working platform based on multi-modal perception of the present invention comprises three stages: state preparation, platform action, and system withdrawal.

[0082] S1, state preparation stage

[0083] The status preparation phase mainly completes the following tasks:

[0084] S11. Complete the inspection of the status of relevant modules in the control cabinet, hydraulic system, platform mechanical structure, various sensing and measuring sensors, and personnel and equipment above the platform;

[0085] S12. After checking that there are no abnormalities, power on all unpowered equipment such as the control cabinet, various sensors, and hydraulic systems, and complete the startup and operation of the host computer, hydraulic pump station, and related valve control boxes;

[0086] S13. After the host computer is turned on, check the network communication status of each station in the control system, and check whether the data feedback of the hydraulic system related equipment and various perception and measurement sensors is normal.

[0087] S2, platform action stage

[0088] The platform action phase mainly completes the following tasks:

[0089] The operator uses the camera to observe the status of personnel and equipment above the platform. If there are still people working on the platform, the operator will use the camera's built-in loudspeaker to warn them and urge them to leave the platform as soon as possible; and start playing the prompt voice "Platform adjustment, please do not approach".

[0090] (1) Platform extension action

[0091] The operator selects the X-layer middle push-pull section on the upper computer software and clicks the "extend" button. The software then controls the slave PLC of the X-layer platform through the master PLC to send an extension action command to the X-layer middle push-pull section equipment and receive feedback from the equipment. The slave PLC controls the valve groups of the hydraulic cylinders on both sides of the middle push-pull section to extend the cylinders, driving the middle push-pull section to push forward (toward the direction of the arrow body).

[0092] The control system sets the hydraulic system pressure to N1MPa, and adjusts the flow of the hydraulic system in real time according to the distance between the platform and the rocket body measured by the two laser rangefinders in the middle push-pull section (taking the minimum value of the two rangefinders' measurement results) to achieve the purpose of speed regulation. When the measured distance is greater than or equal to D1, the system adjusts the hydraulic system flow to the maximum value V within 10s. m , and keep the platform moving at the maximum speed; when the distance is greater than or equal to D2 and less than D1, adjust the flow rate to V within 5s m 60%; when the distance is greater than or equal to D3 and less than D2, adjust the flow rate to V within 5s. m 40%; when the speed is less than D3, adjust the flow rate to V within 5s m When the distance is equal to D4, the platform stops running within 2 seconds. If the distance is less than D4 during the platform operation, the control system immediately stops the platform operation and sends an alarm to the operator. The system adjusts the speed of the platform movement in real time according to the distance between the platform and the arrow body to achieve stable deceleration and safe extension of the platform.

[0093] (2) Platform retraction action

[0094] The operator selects the X-layer middle push-pull section on the upper computer software and clicks the "retract" button. The software controls the slave PLC of the X-layer platform through the master PLC to send a retract action command to the X-layer middle push-pull section equipment and receive feedback from the equipment. The PLC automatically controls the valve groups of the hydraulic cylinders on both sides to realize the retraction of the cylinders, driving the middle push-pull section to retract backward (away from the direction of the arrow body).

[0095] The control system sets the hydraulic system pressure to N1MPa, and adjusts the flow of the hydraulic system in real time according to the distance between the platform and the rocket body measured by the two laser rangefinders in the middle push-pull section (taking the minimum value of the two rangefinders' measurement results) to achieve the purpose of speed regulation. The control flow is gradually adjusted from small to large, and adjusted to the maximum flow V within 10s. m ; When the remaining stroke of the cylinder is less than 0.5 meters, the flow rate will automatically decrease, and finally V m The platform will then be operated at 20% of the rated speed until it stops, thereby achieving stable deceleration and smooth retraction of the platform.

[0096] (3) Platform closing action

[0097] The operator selects the left / right rotary section of the X-layer platform on the upper computer software and clicks the "Close" button. The software controls the slave PLC of the X-layer platform through the master PLC to send a closing action command to the left / right rotary section equipment of the X-layer platform and receive feedback information from the equipment. The PLC controls the valve group of the hydraulic cylinder of the automatic control platform to extend the cylinder, driving the left / right rotary section of the platform to close (close to the arrow body direction) to the arrow holding state.

[0098] The control system sets the hydraulic system pressure to N2MPa, and adjusts the flow of the hydraulic system in real time according to the angle θ measured by the left / right rotary section angle sensor to achieve the purpose of speed regulation. When the measured θ is greater than 50°, the system adjusts the hydraulic system flow to the maximum value V within 10s. m , and keep the platform moving at the maximum speed; when the measured θ is greater than 30° and less than 50°, adjust the flow rate to V within 5s m 60%; when the measured value of θ is greater than 10° and less than 30°, adjust the flow rate to V within 5 seconds. m 40%; when the measured value of θ is less than 10°, adjust the flow rate to V within 5 seconds. m 20% until it reaches the designated position and then stops running.

[0099] During the closing process of the rotary stage platform, the laser rangefinder at the front of the platform measures the distance between the platform and the rocket body in real time. If the real-time distance is less than 0.4 meters, the flow rate is forced to be adjusted to V within 2 seconds based on the angle control. m If the real-time distance is detected to be less than 0.2 meters, the platform operation will be stopped immediately and an alarm will be issued to the operator.

[0100] When the angle sensor detects that the angle is 0° and the platform is closed, the system controls the hydraulic latch to insert into the socket to lock the platform.

[0101] (4) Platform deployment actions

[0102] The operator selects the left / right rotary section of the X-layer platform on the host computer software and clicks the "Expand" button. The software controls the slave PLC of the X-layer platform through the master PLC to send an expansion action command to the left / right rotary section equipment of the X-layer platform and receive feedback information from the equipment. The PLC controls the valve group of the hydraulic cylinder of the automatic control platform to realize the retraction of the cylinder, driving the left / right rotary section of the platform to expand (away from the direction of the arrow body).

[0103] The control system sets the hydraulic system pressure to N2MPa, and adjusts the flow of the hydraulic system in real time according to the angle θ measured by the left / right rotary section angle sensor to achieve the purpose of speed regulation. When the measured θ is less than 50°, the system adjusts the hydraulic system flow to the maximum value V within 10s. m, and keep the platform moving at maximum speed; when it is measured that θ is greater than or equal to 50° and less than 80°, adjust the flow rate to 60% of V m within 5 s; when it is measured that θ is greater than or equal to 80°, adjust the flow rate to 20% of V m within 5 s until the operation is in place and stop running.

[0104] When the angle sensor detects that the angle is 90°, after the platform is fully deployed, the system controls the hydraulic pin to insert into the jack to lock the platform.

[0105] (5) Platform lifting action

[0106] The operator selects the X-layer platform on the upper computer software and clicks the "up" / "down" button. The software controls the slave PLC of the X-layer platform through the master control PLC to send up / down action instructions to the equipment of the X-layer platform lifting section and receive the feedback information of the equipment. The PLC automatically controls the on / off of the valve group of the platform hydraulic cylinder to realize the telescopic of the two sides of the cylinder and drive the platform to lift / lower.

[0107] The amplitude of each lifting / lowering action of the platform is selected among three strokes of L1, L2, and L3 (L1 < L2 < L3). The hydraulic system pressure is set to N3 MPa, and the system flow rate automatically realizes the acceleration adjustment from small to large and the final deceleration adjustment from large to small of the lifting / lowering action according to the selected stroke, so as to realize the stable deceleration and smooth stop of the platform. If the stroke L1 is selected, the control system adjusts the flow rate to 40% of the maximum flow rate V m within 5 s, keep running until the remaining stroke is 0.2 m and gradually decelerate to 20%V m , and run until the lifting / lowering is in place; if the stroke L2 is selected, the control system adjusts the flow rate to 75% of the maximum flow rate V m within 7 s, keep running until the remaining stroke is 0.4 m and then gradually decelerate to 40%V m , when the remaining stroke is 0.2 m, decelerate again to 20%V m , and run until the lifting / lowering is in place; if the stroke L3 is selected, the control system adjusts the flow rate to the maximum flow rate V m within 10 s, keep running until the remaining stroke is 0.4 m and then gradually decelerate to 40%V m , when the remaining stroke is 0.2 m, decelerate again to 20%V m , and run until the lifting / lowering is in place. When selecting the stroke, if the system detects that the distance between the X-layer platform and the X + 1-layer platform (taking the minimum value of the distances measured by the two laser rangefinders in the lifting section) is less than the selected stroke L1 / L2 / L3, it will refuse to execute and issue an alarm prompt. When the platform lifting / lowering is in place and reaches a specific elevation, control the hydraulic pins on both sides to extend and insert into the guide rail jacks on both sides to fix the platform.

[0108] After the platform is lifted into place, the platform's height barcode scanning device starts scanning the height barcode on the inside of the lifting rail to obtain the real-time height of the platform. The slave PLC transmits the real-time height data to the master PLC and displays it on the host computer.

[0109] S3, System withdrawal stage

[0110] S31. After completing all adjustments on the platform, ensure that the hydraulic latches are properly inserted and the platform is in a safe state;

[0111] S32, complete the shutdown of the hydraulic pump and the upper control system;

[0112] S33. Complete power-off of all equipment except the camera device, including the control cabinet, various sensors, hydraulic system, etc.

[0113] Application Effect

[0114] The present invention can realize remote automatic control of the steel structure working platform by using the working platform automatic control system, reduce the workload of operators and observers when the platform is in motion, and realize unattended operation on site; the use of automatic control also improves the safety of platform movement to a certain extent and reduces the possibility of human error operation.

[0115] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic control system for a mechanical structure working platform based on multimodal perception, characterized in that: The system includes a measurement perception module, an information processing module, a remote control module and an automatic execution module. The measurement and perception module is composed of measurement sensors arranged at various positions of the working platform. The single-layer single-side platform includes: lifting section, middle push-pull section and left and right rotation section. The measurement and perception module of each platform includes 6 laser rangefinders, 1 height coding scanning device, 4 cylinder stroke detectors, 2 angle sensors, 4 stroke limit switches, and 2 image recording and recognition devices and their auxiliary dialogue equipment; Four laser rangefinders are evenly distributed in the arc area of ​​the platform, including two in the middle push-pull section and one each in the left and right rotating sections, which are used to measure the real-time distance between the arc section and the arrow body during the process of the push-pull section pushing forward and the rotating section closing; one laser rangefinder is arranged on each side of the platform lifting section near the guide rail to measure the distance between the upper and lower platforms; A height barcode label is attached to the inner side of the platform lifting rail, and a barcode scanning device is installed on the guide wheel support on the platform side to obtain the position height of the platform in real time for the control module to decide whether the height is adjusted in place; The two oil cylinders in the middle push-pull section and the two oil cylinders in the lifting section are respectively provided with travel detectors to measure the telescopic distance and displacement speed of the hydraulic oil cylinders, so as to obtain the operating speed and travel of the platform push-pull and lifting; An angle sensor is set at the connection between the left and right rotating sections and the lifting section to measure the real-time angle θ and angular velocity ω of the rotating section. The control system adjusts the oil inlet flow of the rotating cylinder according to the collected data to achieve precise control of the closing and opening of the rotating section and stable parking. When the real-time angle θ is 90°, the rotating section is in a fully open state; when the real-time angle θ is 0°, the rotating section is in a closed state. The limit switch of the push-pull section adopts mechanical or magnetic induction switch, which is installed on the front and rear limit of the push-pull guide rail to ensure that the platform can be accurately triggered and fed back to the information processing module after being pushed or pulled into place; A camera device is installed on each of the bottom trusses on the left and right sides of the upper working platform of the current working platform to monitor the overall situation of the current working platform, including the distribution of personnel and equipment on the upper surface of the platform and the matching situation between the platform and the rocket body; the camera device is equipped with a voice dialogue device to realize the remote monitoring of the platform and the remote dialogue function with the personnel above the platform; The information processing module includes: information processing computers, analysis software, data servers and related communication equipment; various data obtained by the measurement and perception module are collected to the information processing module for calculation and analysis, and the distance between the platform and the rocket body in various directions, the position of the middle push-pull section, the opening and closing angles of the left and right rotating sections, the position and height of the entire platform and the overall situation of the equipment and personnel on the platform surface are obtained, and various distance, angle and height data are transmitted to the remote control module for control strategy adjustment; The remote control module is responsible for the motion control of the entire platform, including: control operation host computer, main control PLC, communication and related IO modules, used to collect equipment parameters of the hydraulic system of the working platform, receive key status data from the information processing module, and send instructions to the automatic execution module; The automatic execution module includes the control slave station PLC of each platform, the hydraulic pump station control slave station PLC, hydraulic pump, proportional relief valve, proportional flow valve, hydraulic cylinder, hydraulic latch and hydraulic lock, and completes the platform action by receiving instructions.

2. The mechanical structure working platform automatic control system based on multimodal perception as claimed in claim 1, characterized in that: The system adjusts the platform action in real time according to the distance data measured by the laser rangefinder: When the middle push-pull section is in motion, the distance is the minimum of the measurement results of the two laser rangefinders in the middle push-pull section. When the distance is greater than or equal to D1, the maximum speed is maintained; when the distance is greater than or equal to D2 and less than D1, the speed is adjusted to 60% of the maximum speed; when the distance is greater than or equal to D3 and less than D2, the speed is adjusted to 40% of the maximum speed; when the speed is less than D3, the speed is adjusted to 20% of the maximum speed; when the distance is equal to D4, the operation is stopped; if the distance is less than D4 meters during the operation of the platform, the control system immediately stops the operation of the platform and sends an alarm to the operator; When the rotary section is in motion, the system provides a safety criterion for the closing action of the rotary section platform based on the distance measured by the rotary section laser rangefinder, and forces the system to slow down or stop in an emergency; When the lifting section is in motion, the system provides a safety criterion for the lifting platform based on the distance data between the upper and lower platforms measured by the laser rangefinder of the lifting section. When the distance value is equal to h+0.4 meters, the platform lifting speed is forced to be reduced until it stops completely when the distance h is reached. When the distance is less than or equal to h, the platform cannot continue to move in the approaching direction and an alarm is issued to the operator, where h is the minimum safe distance between platforms.

3. The automatic control system for a mechanical structure working platform based on multimodal perception as claimed in claim 1, characterized in that: The barcode label corresponds to the pin hole on the guide rail one by one, and the elevation measurement accuracy is equal to the minimum spacing between the pin holes. The platform elevation information is entered on the barcode label and can be read by a scanning device. The scanning device is installed on the guide wheel support on the platform side and rises and falls synchronously with the platform. The position height of the platform is obtained in real time for the control module to decide whether the height is adjusted in place.

4. The automatic control system for a mechanical structure working platform based on multimodal perception as claimed in claim 1, characterized in that: The cylinder stroke detector uses a wire sensor, which is built into the piston rod or externally placed on the cylinder body. The system adjusts the oil flow rate of each cylinder in real time based on the data fed back by the stroke detector to achieve precise control of the cylinder operation.

5. The automatic control system for a mechanical structure working platform based on multimodal perception as claimed in claim 1, characterized in that: The angle sensor uses an absolute encoder to measure the angle and an incremental encoder to measure the angular velocity. When the rotary platform moves, the hydraulic system flow is adjusted in real time according to the angle data measured by the angle sensor, thereby controlling the speed of the platform movement and achieving smooth operation of the platform.

6. The automatic control system for a mechanical structure working platform based on multimodal perception according to any one of claims 1 to 5, characterized in that: The system's hydraulic actuators and various measurement and sensing sensors are arranged on the platform site, and the hydraulic pump is installed in the high-rise pump station room of the building; the control system master station PLC, information processing computer and control host computer are arranged in the centralized monitoring room, the control slave station PLC of each platform is arranged on the upper surface of each platform, and the hydraulic pump station control slave station PLC is arranged in the hydraulic pump station room; the master PLC sends various equipment execution instructions to each slave station PLC, and summarizes various data collected by each slave station PLC; each control slave station PLC is responsible for receiving various instructions from the master station PLC, responsible for sending various data collected by itself to the master station PLC, responsible for issuing execution instructions to their respective platforms or pump station equipment, collecting execution status feedback and measurement and sensing data, and the master and slave station PLCs establish communication through a fiber optic network.

7. The automatic control system for a mechanical structure working platform based on multimodal perception as claimed in claim 6, characterized in that: Except for the camera device in the measurement and perception module, which is in a long-term powered-on state, the rest are powered on before the platform moves and powered off after the action is completed.

8. A method for automatic control of a mechanical structure working platform based on multimodal perception based on the system according to any one of claims 1 to 7, characterized in that: The method includes: S1, state preparation stage S11. Complete the inspection of relevant modules in the control cabinet, hydraulic system, platform mechanical structure, status of various sensing and measuring sensors, and status of personnel and equipment above the platform; S12. After checking that there are no abnormalities, power on the control cabinet, various sensors, and all unpowered equipment in the hydraulic system, and complete the startup and operation of the host computer, hydraulic pump station, and related valve control boxes; S13. After the host computer is turned on, check the network communication status of each station in the control system, and check whether the data feedback of the hydraulic system related equipment and various sensing and measuring sensors is normal; S2, platform action stage The platform action phase completes the following tasks: The operator observes the status of personnel and equipment above the platform through the camera device. If there are still people working on the platform, the operator will warn them through the built-in loudspeaker of the camera device and urge them to leave the platform as soon as possible; and start playing the prompt voice "Platform adjustment, please do not approach"; then complete the platform extension action, platform retraction action, platform closure action, platform deployment action and platform lifting action; S3, System withdrawal stage S31. After completing all adjustments on the platform, ensure that the hydraulic latches are properly inserted and the platform is in a safe state; S32, complete the shutdown of the hydraulic pump and the upper control system; S33. Complete power-off of the control cabinet, various sensors, and hydraulic systems except the camera device.

9. The automatic control system for a mechanical structure working platform based on multimodal perception as claimed in claim 8, characterized in that: The platform extension action specifically includes: The operator selects the X-layer middle push-pull section on the upper computer software and clicks the "extend" button. The software then controls the slave PLC of the X-layer platform through the master PLC to send an extension action command to the X-layer middle push-pull section equipment and receive feedback information from the equipment. The slave PLC controls the valve groups of the hydraulic cylinders on both sides of the middle push-pull section to extend the cylinders, driving the middle push-pull section to be pushed out in the direction close to the arrow body. The control system sets the hydraulic system pressure to N1 MPa, and adjusts the flow of the hydraulic system in real time according to the distance between the platform and the rocket body measured by the two laser rangefinders in the middle push-pull section to achieve the purpose of speed regulation; when the measured distance is greater than or equal to D1, the system adjusts the flow of the hydraulic system to the maximum value V within 10s. m , and keep the platform moving at the maximum speed; when the distance is greater than or equal to D2 and less than D1, adjust the flow rate to V within 5s m 60%; when the distance is greater than or equal to D3 and less than D2, adjust the flow rate to V within 5s. m 40%; when the speed is less than D3, adjust the flow rate to V within 5s m 20% of the platform’s distance; when the distance is equal to D4, the platform stops running within 2 seconds; if the distance is less than D4 during the platform’s operation, the control system immediately stops the platform and sends an alarm to the operator; the system adjusts the platform’s movement speed in real time according to the distance between the platform and the arrow body to achieve stable deceleration and safe extension of the platform; The platform retracting action specifically includes: The operator selects the X-layer middle push-pull section on the upper computer software and clicks the "retract" button. The software controls the slave PLC of the X-layer platform through the master PLC to send a retract action instruction to the X-layer middle push-pull section equipment and receive feedback information from the equipment; the PLC automatically controls the valve groups of the hydraulic cylinders on both sides to realize the retraction of the cylinders, driving the middle push-pull section to be retracted away from the arrow body; The control system sets the hydraulic system pressure to N1 MPa, and adjusts the flow of the hydraulic system in real time according to the distance between the platform and the rocket body measured by the two laser rangefinders in the middle push-pull section to achieve the purpose of speed regulation; the control flow is gradually adjusted from small to large, and adjusted to the maximum flow V within 10s. m ; When the remaining stroke of the cylinder is less than 0.5 meters, the flow rate will be automatically reduced, and finally V m The platform will then be operated at 20% of the original speed until it stops, thereby achieving stable deceleration and smooth retraction of the platform; The platform closing action specifically includes: The operator selects the left / right rotary section of the X-layer platform on the upper computer software and clicks the "Close" button. The software controls the slave PLC of the X-layer platform through the master PLC to send a closing action command to the left / right rotary section equipment of the X-layer platform and receive feedback information from the equipment; the PLC controls the valve group of the hydraulic cylinder of the automatic control platform to extend the cylinder, driving the left / right rotary section of the platform to close, that is, close to the direction of the arrow body, and become an arrow-holding state; The control system sets the hydraulic system pressure to N2 MPa, and adjusts the flow of the hydraulic system in real time according to the angle θ measured by the left / right rotary section angle sensor to achieve the purpose of speed regulation; when the measured θ is greater than 50°, the system adjusts the flow of the hydraulic system to the maximum value V within 10 seconds. m , and keep the platform moving at the maximum speed; when the measured θ is greater than 30° and less than 50°, adjust the flow rate to V within 5s m 60%; when the measured value of θ is greater than 10° and less than 30°, adjust the flow rate to V within 5 seconds. m 40%; when the measured value of θ is less than 10°, adjust the flow rate to V within 5 seconds. m 20% until the operation is in place and then stop running; During the closing process of the rotary stage platform, the laser rangefinder at the front of the platform measures the distance between the platform and the rocket body in real time. If the real-time distance is less than 0.4 meters, the flow rate is forced to be adjusted to V within 2 seconds based on the angle control. m If the real-time distance is less than 0.2 meters, the platform will be stopped immediately and an alarm will be issued to the operator; When the angle sensor detects that the angle is 0° and the platform is closed, the system controls the hydraulic latch to insert into the socket to lock the platform; The platform deployment action specifically includes: The operator selects the left / right rotary section of the X-layer platform on the upper computer software and clicks the "Expand" button. The software controls the slave PLC of the X-layer platform through the master PLC to send an expansion action command to the left / right rotary section equipment of the X-layer platform and receive feedback information from the equipment; the PLC controls the valve group of the hydraulic cylinder of the automatic control platform to realize the retraction of the cylinder, driving the left / right rotary section of the platform to expand, that is, away from the direction of the arrow body; The control system sets the hydraulic system pressure to N2 MPa, and adjusts the flow of the hydraulic system in real time according to the angle θ measured by the left / right rotary section angle sensor to achieve the purpose of speed regulation; when the measured θ is less than 50°, the system adjusts the flow of the hydraulic system to the maximum value V within 10s. m , and keep the platform moving at the maximum speed; when the measured value of θ is greater than or equal to 50° and less than 80°, adjust the flow rate to V within 5s. m 60%; when the measured value of θ is greater than or equal to 80°, adjust the flow rate to V within 5 seconds. m 20% until the operation is in place and then stop running; When the angle sensor detects that the angle is 90° and the platform is unfolded into place, the system controls the hydraulic pin to be inserted into the socket to lock the platform.

10. The automatic control system of a mechanical structure working platform based on multimodal perception according to claim 8, characterized in that: The platform lifting action specifically includes: The operator selects the X-layer platform on the upper computer software and clicks the "up" / "down" button. The software controls the slave PLC of the X-layer platform through the master PLC to send the up / down action command to the lifting section equipment of the X-layer platform and receive the feedback information of the equipment; the PLC automatically controls the valve group of the platform hydraulic cylinder to realize the extension and retraction of the cylinders on both sides, driving the platform to rise / lower; The amplitude of each lifting action of the platform is selected among three strokes L1, L2, and L3, where L1 < L2 < L3; the pressure of the hydraulic system is set to N3 MPa, and the system flow automatically adjusts the lifting action to accelerate from small to large and finally decelerate from large to small according to the selected stroke, achieving stable deceleration and smooth stop of the platform; if the stroke L1 is selected, the control system will adjust the flow to 40% of the maximum flow V within 5 s, maintain the operation until the remaining stroke is 0.2 m, and then gradually decelerate to 20% V m and run until reaching the lift / lower position; if the stroke L2 is selected, the control system will adjust the flow to 75% of the maximum flow V within 7 s, maintain the operation until the remaining stroke is 0.4 m, then gradually decelerate to 40% V m and when the remaining stroke is 0.2 m, decelerate again to 20% V m and run until reaching the lift / lower position; if the stroke L3 is selected, the control system will adjust the flow to the maximum flow V within 10 s, maintain the operation until the remaining stroke is 0.4 m, then gradually decelerate to 40% V m and when the remaining stroke is 0.2 m, decelerate again to 20% V m and run until reaching the lift / lower position; when selecting the stroke, if the system detects that the distance between the X - layer platform and the X + 1 - layer platform is less than the selected stroke L1 / L2 / L3, it will refuse to execute and issue an alarm prompt; when the platform is lifted / lowered in place and reaches a specific elevation, control the hydraulic pins on both sides to extend and insert into the guide rail jacks on both sides to fix the platform; m and run until reaching the lift / lower position; if the stroke L3 is selected, the control system will adjust the flow to the maximum flow V within 10 s, maintain the operation until the remaining stroke is 0.4 m, then gradually decelerate to 40% V m and when the remaining stroke is 0.2 m, decelerate again to 20% V m and run until reaching the lift / lower position; when selecting the stroke, if the system detects that the distance between the X - layer platform and the X + 1 - layer platform is less than the selected stroke L1 / L2 / L3, it will refuse to execute and issue an alarm prompt; when the platform is lifted / lowered in place and reaches a specific elevation, control the hydraulic pins on both sides to extend and insert into the guide rail jacks on both sides to fix the platform; After the platform is lifted into place, the platform's height barcode scanning device starts to scan the height barcode on the inside of the lifting guide rail to obtain the real-time height of the platform; the slave PLC transmits the real-time height data to the master PLC and displays it on the host computer.

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