Collision detection device for aerial work platform and control method thereof

Abstract

The invention discloses a collision detection device for an aerial work platform, and the device comprises a forward inclination triggering module which comprises a guide rail, and the two ends of the guide rail are respectively provided with a limiting block and a support; the sliding block is slidably arranged outside the guide rail in a sleeving manner; one end of the sliding block is connected with the support through a linear elastic piece. The middle of the sliding block is connected with a reel component through a pin shaft. One end of the flexible component penetrates through the sliding block and is connected with the free end of the reel component; the fastening unit is connected with the other end of the flexible component, so that the sliding block is stabilized in the middle of the guide rail in an initial state; the position detection module comprises a first detection switch, a second detection switch and a third detection switch which are arranged in parallel in the sliding direction of the guide rail, and the three detection switches are used for monitoring the front space and the sliding block respectively; according to the invention, whether a collision trend occurs on the aerial work platform or whether a device for collision detection fails can be judged in time, and the effect of early warning high-altitude obstacles in time is achieved.

Description

Technical Field

[0001] The present invention relates to the field of aerial work platforms, and in particular to a collision detection device for an aerial work platform and a control method thereof. Background Art

[0002] Self-propelled aerial work platforms, with their convenient and flexible features, provide ample convenience for operations that require height, while also significantly improving work efficiency and reducing construction costs. Therefore, they are becoming increasingly common, both on construction sites and in manufacturing operations.

[0003] However, when workers in high-altitude operations are operating vehicles, the surrounding environment is often complex. For example, when operating a vehicle or a boom in motion at high altitude, workers are very likely to fail to pay attention to obstacles above or behind, resulting in collisions or squeeze accidents. Therefore, it is crucial for operators to take precautions during the operation and to improve the danger warning function of the operating platform. Summary of the Invention

[0004] In response to the above technical problems, the present invention provides a collision detection device for an aerial work platform and a control method thereof, which can promptly determine whether there is a tendency for a collision to occur on the aerial work platform or whether the device for collision detection has failed; thereby, the present application solves the problem that existing aerial work platforms cannot provide timely warnings of high-altitude obstacles during operation.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical means: A collision detection device for an aerial work platform includes an operating platform for a person to stand on, and further includes: Forward tilt trigger module, including: A guide rail is installed on the outside of the handrail provided on one side of the operating platform; a limit block and a support are provided at the top and bottom ends of the guide rail respectively; A slider is slidably sleeved on the outside of the guide rail; one end of the slider is connected to the support through a linear elastic member; the middle part of the slider is rotatably connected to the reel component through a pin shaft; a flexible member, one end of which passes through the slider and is connected to the free end of the reel member; A fastening unit is installed on the outside of the handrail provided on the side of the operating platform away from the guide rail; the fastening unit is connected to the other end of the flexible member to stretch the flexible member so that the slider is stabilized in the middle of the guide rail in the initial state; Position detection module, including: A first detection switch, a second detection switch, and a third detection switch arranged in parallel along the sliding direction of the guide rail; wherein the first detection switch is arranged on one side of the support, the second detection switch is arranged on one side of the middle portion of the guide rail, and the third detection switch is arranged on one side of the limit block; The first detection switch, the second detection switch and the third detection switch respectively monitor the space in front to realize monitoring and feedback of the position information of the slider; The position detection module is electrically connected to the vehicle control system through the communication module.

[0006] The reel component adopts a flat spiral spring.

[0007] The tension of the planar volute spring is greater than the tension of the linear elastic member; Wherein, the linear elastic member is a tension spring.

[0008] The length of the slider is smaller than the distance between two adjacent detection switches.

[0009] Also includes: The buzzer and indicator light are both installed on the operating table of the aerial work platform and are used to remind the operator through sound and light alarms when the state of the collision detection device changes.

[0010] Also includes: The foot switch is a contact switch, which is electrically connected to the vehicle control system and is used to control the opening and closing of the collision detection device.

[0011] A control method for a collision detection device for an aerial work platform, which is applied to the collision detection device for the aerial work platform, comprises the following steps: S1: continuously trigger the foot switch; S2: After receiving the foot switch signal, the vehicle control system determines whether there is any action input in the current collision detection device; S3: When it is determined that there is no action input, the control system of the aerial work platform is activated; S4: When it is determined that there is an action input, the control system of the aerial work platform is turned off; S5: After completing S3, if there is no command input to the control system of the aerial work platform within 15 seconds, the control system of the aerial work platform is turned off and the subsequent steps of S1 are repeated; S6: After completing the S3 action, the control system of the aerial work platform receives a command input within 15 seconds to keep the control system of the aerial work platform activated; S7: The vehicle control system receives the status information transmitted by the collision detection device and determines whether its status has changed; S8: When the status information changes, shut down the control system of the aerial work platform; S9: The forward tilt trigger module in the collision detection device is reset, and the subsequent steps of S1 are repeated; S10: When the state information remains unchanged, repeat the subsequent steps of S1.

[0012] The status information transmitted by the collision detection device adopts the following judgment steps: A: Determine whether the first detection switch is triggered. If triggered, the recorded data is 1; if not triggered, the recorded data is 0. B: Determine whether the second detection switch is triggered. If triggered, the recorded data is 1; if not triggered, the recorded data is 0. C: Determine whether the third detection switch is triggered. If it is triggered, the recorded data is 1; if it is not triggered, the recorded data is 0; D: Defines a byte variable. The byte variable is in decimal. The values ​​0 to 7 of the byte variable correspond to eight states respectively. E: The real-time recorded data of the first detection switch, the second detection switch, and the third detection switch are combined into binary data; wherein the 0th bit is the recorded data of the third detection switch, the 1st bit is the recorded data of the second detection switch, and the 2nd bit is the recorded data of the first detection switch; F: Convert the binary data in step E into decimal data, and determine the corresponding state of the collision detection device at this time based on the byte variable; G: When the corresponding state of the collision detection device changes, shut down the control system of the aerial work platform; H: When the collision detection device is reset for more than 5 seconds, the foot switch is triggered again.

[0013] Beneficial effects: First, the slider of the present application is fixed with an elastic part at one end, and is fixed to the handrail through a flexible component at the other end; then, the slider is stably controlled in the middle of the guide rail; at this time, in conjunction with the multi-stage detection switch arranged on one side of the guide rail, when the operator on the aerial work platform squeezes the flexible component or the original elastic part fails due to avoiding obstacles, the slider will be driven to change its position accordingly; then, combined with the set control logic, the present application can timely determine whether there is a trend of collision on the aerial work platform or whether the device for collision detection has failed; thereby, the present application can realize redundant judgment of three signals, and while performing collision detection on the aerial work platform, it can also warn of the failure of the detection device, making the anti-collision warning more accurate and stable.

[0014] Second, by defining specific byte variables, the present application enables the recorded data fed back by the multi-level detection switch to be directly converted into the corresponding status; thus, when the vehicle control system is in control, the status of the collision detection device can be quickly determined, thereby determining whether a collision or device failure has occurred; thereby improving the ease of use of the collision detection device of the present application.

[0015] Third, the flexible mechanism can be accommodated in the reel component of the present application, thereby increasing the elongation of the flexible mechanism. If a severe squeezing accident occurs and causes the operator's body to lean forward significantly, the flexible rope can be stretched to a longer distance, which can avoid secondary injuries to personnel caused by the tightness of the flexible mechanism in the event of a squeezing accident due to the short stretching distance of the flexible mechanism.

[0016] Fourth, the present application adopts a detection mechanism for the broken chain of the flexible mechanism, so that when the flexible mechanism breaks or the unit fixing the flexible mechanism on the other side of the device becomes loose, the ECU control system can determine that the device is broken; thereby, restricting the use of the vehicle by personnel, avoiding squeezing accidents caused by the failure of the anti-collision device monitoring when personnel are operating the vehicle, and preventing operators from improperly using the vehicle to dismantle the anti-collision device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional view of the aerial work platform of the present invention; Figure 2 This is a front view of the forward tilt trigger module of the present invention; Figure 3 It is an operation flow chart of the aerial work platform of the present invention; Figure 4 It is a schematic diagram of the state of the anti-extrusion device of the aerial work platform of the present invention.

[0018] In the figure: 1. Guide rail; 2. Limit block; 3. Support; 4. Slider; 5. Reel component; 6. Pin; 7. Pulley; 8. Tension spring; 9. First detection switch; 10. Second detection switch; 11. Third detection switch; 12. Forward tilt trigger module; 13. Flexible component; 14. Fastening unit. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0020] See also Figures 1 to 3A collision detection device for an aerial work platform includes an operating platform for a person to stand on; further includes: a forward tilt trigger module 12, which includes: a guide rail 1, installed on the outside of a handrail provided on one side of the operating platform; a limit block 2 and a support 3 are respectively provided at the top and bottom ends of the guide rail 1; a slider 4 is slidably sleeved on the outside of the guide rail 1; one end of the slider 4 is connected to the support 3 through a linear elastic member (which can be an elastic member such as a spring or a gas rod); the middle part of the slider 4 is connected to a reel member 5 through a pin 6, and the end of the reel member 5 is connected to the pin 6 is fixed and the elastic metal sheet is wound around the outside of the pin shaft 6, so that the reel member 5 can rotate around the pin shaft 6; one end of the flexible member 13 passes through the slider 4 and is connected to the free end of the reel member 5; the fastening unit 14 is installed on the outside of the handrail arranged on the side of the operating platform away from the guide rail 1; the fastening unit 14 is connected to the other end of the flexible member 13 to stretch the flexible member 13, so that the slider 4 is stabilized in the middle of the guide rail 1 in the initial state; wherein, the side of the flexible member 13 close to the reel member 5 is wound on the pulley 7.

[0021] It also includes: a position detection module, which includes: a first detection switch 9, a second detection switch 10 and a third detection switch 11 arranged along the sliding direction of the guide rail 1; wherein, the first detection switch 9 is arranged on one side of the support 3, the second detection switch 10 is arranged on one side of the middle of the guide rail 1, and the third detection switch 11 is arranged on one side of the limit block 2; the first detection switch 9, the second detection switch 10 and the third detection switch 11 respectively monitor the space in front to realize monitoring and feedback of the position information of the slider 4.

[0022] Among them, the position detection module is electrically connected to the vehicle control system through the communication module.

[0023] When an operator is operating an aerial work platform, if an extrusion or collision accident occurs with an obstacle, the operator on the platform will lean forward toward the operating table, thereby squeezing the flexible mechanism; at this time, the stretched flexible mechanism drives the slider 4 in the device to move along the guide rail 1; and the slider 4 will trigger the detection switch inside the device, where the detection switch is connected to the ECU of the vehicle control system. After the ECU logically determines that an extrusion or collision accident has occurred, it will immediately trigger an alarm and restrict the vehicle from continuing to move in the dangerous direction.

[0024] The special feature of the present application is that the detection device can provide an early warning to the operator if the flexible mechanism becomes loose or broken even at the connection during long-term use.

[0025] Among them, if the vehicle control system determines that the device has failed through the status of the multi-level detection switch, it will prohibit people from operating the vehicle, greatly reducing the risk of people being injured in the event of a squeeze.

[0026] In addition, the device is equipped with a reel that can accommodate a flexible mechanism of a certain length. If a severe squeezing accident, falling objects from a high altitude, etc. occur, causing the operator's body to lean forward significantly, the flexible rope can be stretched to a longer distance, thereby avoiding secondary injuries to personnel caused by the short stretchable distance of the flexible mechanism and the tension of the flexible mechanism in the event of a squeezing accident.

[0027] Reference Figure 2 In order to ensure that the flexible mechanism can be stably wound up by the reel component 5, a flat spiral spring is adopted; wherein, the flat spiral spring is installed in the reel mechanism for receiving and fixing the flexible mechanism.

[0028] The linear elastic member adopts a tension spring 8, wherein the tension of the planar spiral spring is greater than the tension of the tension spring 8, which is used to ensure that when the slider 4 is pulled to the limit block 2, the flexible mechanism housed in the reel component 5 can be pulled out, so that the triggering of the three detection switches depends entirely on the expansion and contraction of the tension spring 8.

[0029] The device triggers three detection switches accordingly by driving the displacement of the slider 4 through a flexible mechanism and a tension spring 8; when squeezing occurs, the operator leans forward to avoid squeezing, causing the flexible mechanism to be pulled out, and the tension spring 8 to be stretched, driving the slider 4 to slide toward the third detection switch 11, triggering the detection switch. The vehicle ECU uses logical judgment to limit the vehicle's movement in the dangerous direction.

[0030] When a serious squeezing accident occurs, the operator's body leans forward or downward significantly; in order to avoid squeezing, the flexible mechanism is stretched by the operator, causing the slider 4 to move to the limit block 2, and the spiral spring can still be stretched to allow the flexible mechanism housed in the reel mechanism to continue to be pulled out, preventing secondary injuries to personnel caused by the tightness of the flexible mechanism in the event of an squeezing accident due to the short stretchable stroke of the flexible mechanism.

[0031] The device designed in the present application can detect the breakage of the flexible mechanism and the loosening of the fastening unit 14. If the flexible mechanism breaks, the tension spring 8 contracts and drives the slider 4 to move to the first detection switch 9. After the detection switch is triggered, the vehicle ECU control system determines that the device has failed; at the same time, if the fastening unit 14 is loose and causes the slider 4 to move toward the first detection switch 9, the pulling stroke of the flexible mechanism that triggers the extrusion warning will increase, increasing the harm to people in the event of an extrusion accident. When the slider 4 moves to trigger the first detection switch 9, the control system determines that the device has failed and restricts the use of the vehicle.

[0032] Reference Figure 2 As shown, the length of the slider 4 is less than the distance between two adjacent detection switches; thereby ensuring that at least one detection switch is triggered when the slider 4 slides along the guide rail 1, and when the slider 4 moves to the limit block 2, two detection switches will be triggered simultaneously.

[0033] Among them, the first detection switch 9 is numbered S1, the second detection switch 10 is numbered S2, and the third detection switch 11 is numbered S3. In the logic control, if the detection switch is triggered, it is recorded as 0 and described as state 1; if it is not triggered, it is recorded as 1 and described as state 0.

[0034] Then, when extrusion occurs, the status recorded data is S1 state 1, S2 state 0, S3 state 0; when the anti-collision device is reset, the status recorded data is S1 state 1, S2 state 0, S3 state 1; when the anti-collision device fails, the status recorded data is S1 state 0, S2 state 0, S3 state 1 or S1 state 0, S2 state 1, S3 state 1; the other states judge that the device is abnormal.

[0035] Among them, a byte variable (byte variable) state is defined, its 0th bit is S1 state, the 1st bit is S2 state, and the 2nd bit is S3 state. After the binary data of the state variable is converted to a decimal value, it is represented as 8 states from 0 to 7, as shown in Table 1.

[0036] State Device Status S3 S2 S1 7 abnormal 1 1 1 3 fracture 0 1 1 5 Reset 1 0 1 1 fracture 0 0 1 6 abnormal 1 1 0 2 abnormal 0 1 0 4 extrusion 1 0 0 0 abnormal 0 0 0 Table 1: Comparison table of state variables of anti-collision device Based on Table 1, the flexible mechanism of the device of the present application can reset itself when it is pulled out again. Therefore, if the operator leans forward when slightly squeezed or collided, he will subconsciously adjust his posture. At this time, the flexible mechanism may return to the reset state. The logical processing here should be implemented in conjunction with the foot switch on the operating table. The judgment of the squeeze state is divided into two types: (1) S1 and S2 detection switches are continuously triggered; (2) S1 and S2 squeeze detection switches are triggered on the rising edge; Therefore, no matter which of the above states is, as long as the byte variable State data of the anti-collision device state conversion changes, the vehicle movement is directly restricted at this time, and the action enable is invalid. When the device state is reset for more than 5s, the vehicle can continue to move after stepping on the pedal again; Therefore, the present application can greatly improve the safety of the operator by using the anti-collision device in conjunction with the foot switch.

[0037] like Figure 4 As shown, in order to meet the function of the anti-collision device to prompt the operator through sound and light alarms when detecting changes in the vehicle state; the present application is also designed with a buzzer and an indicator light, both of which are installed on the operating table of the aerial work platform, and are used to prompt the operator through the sound and light alarm when the state of the collision detection device changes; among them, according to the state of the anti-collision device, the sound and light alarm of the anti-collision device is divided into ① the buzzer does not sound and the indicator light is always on, ② the buzzer and the indicator light are output intermittently for 500ms, ③ the buzzer and the indicator light are output intermittently for 200ms, and ④ the indicator light is off and the buzzer is always on.

[0038] The foot switch used in this application is a contact switch, which is electrically connected to the vehicle control system and is used to control the opening and closing of the collision detection device.

[0039] Reference Figure 3 The working principle (control logic flow) of this application is as follows: S1: continuously trigger the foot switch; S2: After receiving the foot switch signal, the vehicle control system determines whether there is any action input in the current collision detection device; S3: When it is determined that there is no action input, the control system of the aerial work platform is activated; S4: When it is determined that there is an action input, the control system of the aerial work platform is turned off; S5: After completing S3, if there is no command input to the control system of the aerial work platform within 15 seconds, the control system of the aerial work platform is turned off and the subsequent steps of S1 are repeated; S6: After completing the S3 action, the control system of the aerial work platform receives a command input within 15 seconds to keep the control system of the aerial work platform activated; S7: The vehicle control system receives the status information transmitted by the collision detection device and determines whether its status has changed; S8: When the status information changes, shut down the control system of the aerial work platform; S9: The forward tilt trigger module 12 in the collision detection device is reset, and the subsequent steps of S1 are repeated; S10: When the state information remains unchanged, repeat the subsequent steps of S1.

[0040] Referring to 3 and 4, the status information transmitted by the collision detection device of the present application is determined by the following steps: A: Determine whether the first detection switch 9 is triggered. If triggered, the recorded data is 1; if not triggered, the recorded data is 0. B: Determine whether the second detection switch 10 is triggered. If triggered, the recorded data is 1; if not triggered, the recorded data is 0. C: Determine whether the third detection switch 11 is triggered. If it is triggered, the recorded data is 1; if it is not triggered, the recorded data is 0; D: Defines a byte variable. The byte variable is in decimal. The values ​​0 to 7 of the byte variable correspond to eight states respectively. E: The real-time recorded data of the first detection switch 9, the second detection switch 10, and the third detection switch 11 are combined into binary data; wherein the 0th bit is the recorded data of the third detection switch 11, the 1st bit is the recorded data of the second detection switch 10, and the 2nd bit is the recorded data of the first detection switch 9; F: Convert the binary data in step E into decimal data, and determine the corresponding state of the collision detection device at this time based on the byte variable; G: When the corresponding state of the collision detection device changes, shut down the control system of the aerial work platform; H: When the collision detection device is reset for more than 5 seconds, the foot switch is triggered again.

Claims

1. A collision detection device for an aerial work platform, comprising an operating platform for a person to stand on, characterized in that: Also includes: The forward tilt trigger module (12) comprises: A guide rail (1) is installed on the outside of a handrail arranged on one side of the operating platform; a limit block (2) and a support (3) are respectively arranged at the top and bottom ends of the guide rail (1); A slider (4) is slidably sleeved on the outside of the guide rail (1); one end of the slider (4) is connected to the support (3) via a linear elastic member; the middle of the slider (4) is rotatably connected to a reel component (5) via a pin shaft (6); a flexible member (13), one end of which passes through the slider (4) and is connected to the free end of the reel member (5); A fastening unit (14) is installed on the outside of a handrail provided on a side of the operating platform away from the guide rail (1); the fastening unit (14) is connected to the other end of the flexible member (13) to stretch the flexible member (13) so that the slider (4) is stabilized in the middle of the guide rail (1) in an initial state; Position detection module, including: A first detection switch (9), a second detection switch (10) and a third detection switch (11) are arranged in parallel along the sliding direction of the guide rail (1); wherein the first detection switch (9) is arranged on one side of the support (3), the second detection switch (10) is arranged on one side of the middle part of the guide rail (1), and the third detection switch (11) is arranged on one side of the limit block (2); The first detection switch (9), the second detection switch (10) and the third detection switch (11) respectively monitor the space in front, thereby realizing monitoring and feedback of the position information of the slider (4); The position detection module is electrically connected to the vehicle control system through the communication module.

2. The collision detection device for aerial work platform according to claim 1, characterized in that: The reel component (5) adopts a planar spiral spring.

3. The collision detection device for aerial work platform according to claim 2, characterized in that: The tension of the planar volute spring is greater than the tension of the linear elastic member; Wherein, the linear elastic member is a tension spring (8).

4. The collision detection device for aerial work platform according to claim 3, characterized in that: The length of the slider (4) is smaller than the distance between two adjacent detection switches.

5. The collision detection device for aerial work platform according to claim 1, characterized in that: Also includes: The buzzer and indicator light are both installed on the operating table of the aerial work platform and are used to prompt the operator through sound and light alarms when the state of the collision detection device changes.

6. The collision detection device for aerial work platform according to claim 1, characterized in that: Also includes: The foot switch is a contact switch, which is electrically connected to the vehicle control system and is used to control the opening and closing of the collision detection device.

7. A control method for a collision detection device for an aerial work platform, which is applied to the collision detection device for an aerial work platform as claimed in any one of claims 1 to 6; characterized in that: The following steps are involved: S1: continuously trigger the foot switch; S2: After receiving the foot switch signal, the vehicle control system determines whether there is any action input in the current collision detection device; S3: When it is determined that there is no action input, the control system of the aerial work platform is activated; S4: When it is determined that there is an action input, the control system of the aerial work platform is turned off; S5: After completing S3, if there is no command input to the control system of the aerial work platform within 15 seconds, the control system of the aerial work platform is turned off and the subsequent steps of S1 are repeated; S6: After completing S3, the control system of the aerial work platform receives a command input within 15 seconds to keep the control system of the aerial work platform activated; S7: The vehicle control system receives the status information transmitted by the collision detection device and determines whether its status has changed; S8: When the status information changes, shut down the control system of the aerial work platform; S9: the forward tilt trigger module (12) in the collision detection device is reset, and the subsequent steps of S1 are repeated; S10: When the state information remains unchanged, repeat the subsequent steps of S1.

8. The control method of the collision detection device for an aerial work platform according to claim 7, characterized in that: The status information transmitted by the collision detection device adopts the following judgment steps: A: Determine whether the first detection switch (9) is triggered, the recorded data if triggered is 1, and the recorded data if not triggered is 0; B: judging whether the second detection switch (10) is triggered, the recorded data if triggered is 1, and the recorded data if not triggered is 0; C: judging whether the third detection switch (11) is triggered, the recorded data if triggered is 1, and the recorded data if not triggered is 0; D: Define a byte variable, which is in decimal system. The byte variable values ​​0 to 7 correspond to eight states respectively. E: The real-time recorded data of the first detection switch (9), the second detection switch (10) and the third detection switch (11) are combined into binary data; wherein the 0th bit is the recorded data of the third detection switch (11), the 1st bit is the recorded data of the second detection switch (10), and the 2nd bit is the recorded data of the first detection switch (9); F: Convert the binary data in step E into decimal data, and determine the corresponding state of the collision detection device at this time according to the byte variable; G: When the corresponding state of the collision detection device changes, shut down the control system of the aerial work platform; H: When the collision detection device is reset for more than 5 seconds, the foot switch is triggered again.

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