A collision detection device and its control method for aerial work platforms

Abstract

This invention discloses a collision detection device for aerial work platforms, comprising: a forward tilt trigger module, including: a guide rail, with limit blocks and supports respectively provided at both ends of the guide rail; a slider, slidably sleeved on the outside of the guide rail; one end of the slider is connected to the support via a linear elastic element; a reel component is connected to the middle of the slider via a pin; a flexible component, one end of which passes through the slider and is connected to the free end of the reel component; a fastening unit is connected to the other end of the flexible component, so that the slider is initially stable in the middle of the guide rail; and a position detection module, including: a first detection switch, a second detection switch, and a third detection switch arranged parallel to the sliding direction of the guide rail, wherein the three detection switches respectively monitor the space in front and monitor the slider; this application can promptly determine whether there is a tendency for a collision to occur on the aerial work platform or whether the collision detection device has malfunctioned, thus playing a role in timely warning of obstacles at height.

Description

Technical Field

[0001] This invention relates to the field of aerial work platforms, and in particular to a collision detection device and control method for aerial work platforms. Background Technology

[0002] Self-propelled aerial work platforms, with their convenience and flexibility, provide ample support for operations requiring height, while also significantly improving work efficiency and reducing construction costs. Therefore, they are becoming increasingly common on both construction sites and manufacturing facilities.

[0003] However, when operating vehicles at height, the surrounding environment is often complex. For example, when operating vehicles at height or moving the boom, personnel are very likely to collide or be crushed due to failure to notice obstacles above or behind them. Therefore, it is crucial to take precautions for operators during operation and improve the hazard warning function of the operating platform. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a collision detection device and its control method for aerial work platforms, which can promptly determine whether there is a tendency for a collision to occur on the aerial work platform or whether the device used for collision detection has malfunctioned. Thus, this application solves the problem that existing aerial work platforms cannot provide timely warnings of obstacles at height during operation.

[0005] To achieve the above-mentioned technical objectives, the present invention employs the following technical means:

[0006] A collision detection device for aerial work platforms includes an operating platform for personnel to stand on, and further includes:

[0007] The forward tilt trigger module includes:

[0008] A guide rail is installed on the outside of a handrail located on one side of the operating platform; a limit block and a support are respectively provided at the top and bottom of the guide rail.

[0009] 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 element; a reel component is rotatably connected to the middle of the slider through a pin.

[0010] A flexible component, one end of which passes through the slider and is connected to the free end of the reel component;

[0011] A fastening unit is installed on the outside of the handrail on the side of the operating platform away from the guide rail; the fastening unit is connected to the other end of the flexible component to stretch the flexible component, so that the slider is stable in the middle of the guide rail in the initial state;

[0012] The position detection module includes:

[0013] A first detection switch, a second detection switch, and a third detection switch are arranged parallel to each other along the sliding direction of the guide rail; wherein, the first detection switch is located on one side of the support, the second detection switch is located on one side of the middle of the guide rail, and the third detection switch is located on one side of the limiting block;

[0014] The first detection switch, the second detection switch, and the third detection switch monitor the space in front of them respectively, so as to monitor and provide feedback on the position information of the slider.

[0015] The position detection module is electrically connected to the vehicle control system via a communication module.

[0016] The reel component is a planar spiral spring.

[0017] The tension of the planar spiral spring is greater than the tension of the linear elastic element;

[0018] The linear elastic element is a tension spring.

[0019] The length of the slider is less than the distance between two adjacent detection switches.

[0020] Also includes:

[0021] The buzzer and indicator light are both installed on the control panel of the aerial work platform to alert the operator through audible and visual alarms when the status of the collision detection device changes.

[0022] Also includes:

[0023] The foot switch is a contact switch that is electrically connected to the vehicle control system and is used to control the opening and closing of the collision detection device.

[0024] A control method for a collision detection device for aerial work platforms, applied to the aforementioned collision detection device for aerial work platforms, includes the following steps:

[0025] S1: Continuously triggers the foot switch;

[0026] S2: After receiving the foot switch signal, the vehicle control system determines whether the collision detection device has any input.

[0027] S3: When no action input is detected, activate the control system of the aerial work platform;

[0028] S4: When an action input is detected, the control system of the aerial work platform is shut down;

[0029] S5: After completing the S3 action, if there is no command input within 15 seconds on the control system of the aerial work platform, shut down the control system of the aerial work platform and repeat the subsequent steps of S1.

[0030] S6: After completing the S3 action, the aerial work platform's control system will receive a command input within 15 seconds to keep the aerial work platform's control system active.

[0031] S7: The vehicle control system receives status information transmitted by the collision detection device and determines whether its status has changed.

[0032] S8: When the status information changes, shut down the control system of the aerial work platform;

[0033] S9: The forward tilt trigger module in the collision detection device is reset, and the subsequent steps of S1 are repeated;

[0034] S10: If the state information remains unchanged, repeat the subsequent steps of S1.

[0035] The collision detection device transmits status information using the following judgment steps:

[0036] A: Determine whether the first detection switch has been triggered. If it has been triggered, the recorded data is 1; if it has not been triggered, the recorded data is 0.

[0037] B: Determine whether the second detection switch has been triggered. If it has been triggered, the recorded data is 1; if it has not been triggered, the recorded data is 0.

[0038] C: Determine whether the third detection switch has been triggered. If it has been triggered, the recorded data is 1; if it has not been triggered, the recorded data is 0.

[0039] D: Define a byte variable, which is in decimal; where the value of the byte variable is 0 to 7, each corresponding to one of the eight states.

[0040] E: The real-time recorded data from the first detection switch, the second detection switch, and the third detection switch are combined into binary data; where bit 0 is the recorded data of the third detection switch, bit 1 is the recorded data of the second detection switch, and bit 2 is the recorded data of the first detection switch.

[0041] F: Convert the binary data in step E into decimal data, and determine the corresponding state of the collision detection device based on the byte variable;

[0042] G: When the corresponding state of the collision detection device changes, shut down the control system of the aerial work platform;

[0043] H: If the collision detection device resets for more than 5 seconds, the foot switch will be triggered again.

[0044] Beneficial effects:

[0045] First, one end of the slider in this application is fixed with an elastic element, and the other end is fixed to the handrail via a flexible component. The slider is then stably controlled in the middle of the guide rail. At this time, in conjunction with the multi-stage detection switches installed on one side of the guide rail, when the operator on the aerial work platform squeezes the flexible component or the original elastic element fails due to avoiding an obstacle, the slider will be driven to undergo a corresponding positional change. Furthermore, combined with the pre-set control logic, this application can promptly determine whether there is a tendency for a collision to occur on the aerial work platform or whether the collision detection device has failed. Thus, this application can achieve redundant judgment of three signals, and while performing collision detection on the aerial work platform, it can also provide early warning of the detection device's failure, making the anti-collision warning more accurate and stable.

[0046] Secondly, by defining specific byte variables, this application enables the recorded data fed back by multi-level detection switches to be directly converted into corresponding status conditions. Consequently, when the vehicle control system is in control, it can quickly determine the status of the collision detection device, thereby determining whether a collision has occurred or if the device has malfunctioned. This improves the ease of use of the collision detection device in this application.

[0047] Third, the reel component of this application can accommodate a flexible mechanism, thereby increasing the elongation of the flexible mechanism. If a violent crushing accident occurs and causes the operator's body to lean forward significantly, the flexible rope can be stretched for a longer distance, which can avoid secondary injuries to personnel caused by the flexible mechanism being too tight in the event of a crushing accident due to its short stretching distance.

[0048] Fourth, this application uses a flexible mechanism to detect chain breakage, 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 detect the device breakage. This restricts the use of vehicles by personnel, avoids crushing accidents caused by the failure of the anti-collision device monitoring, and also prevents operators from improperly using vehicles to disassemble the anti-collision device. Attached Figure Description

[0049] Figure 1 This is a three-dimensional view of the aerial work platform of the present invention;

[0050] Figure 2 This is the front view of the forward tilt trigger module of the present invention;

[0051] Figure 3 This is a flowchart of the operation of the aerial work platform of the present invention;

[0052] Figure 4 This is a schematic diagram showing the state of the anti-pinch device for aerial work platforms according to the present invention.

[0053] In the diagram: 1. Guide rail; 2. Limiting 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 Implementation

[0054] 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.

[0055] See Figures 1 to 3 A collision detection device for an aerial work platform includes an operating platform for personnel to stand on; it also includes a forward tilt trigger module 12, which includes: a guide rail 1, installed on the outside of a handrail on one side of the operating platform; a limit block 2 and a support 3 are respectively provided at the top and bottom of the guide rail 1; a slider 4, 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 element (such as a spring or a gas spring); a reel component 5 is connected to the middle of the slider 4 through a pin 6, and the end of the reel component 5 is connected to the pin. 6. Fix and wrap the elastic metal sheet around the outside of the pin 6 so that the reel component 5 can rotate around the pin 6; one end of the flexible component 13 passes through the slider 4 and is connected to the free end of the reel component 5; the fastening unit 14 is installed on the outside of the handrail 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 component 13 to stretch the flexible component 13 so that the slider 4 is stable in the middle of the guide rail 1 in the initial state; wherein, the side of the flexible component 13 closest to the reel component 5 is wrapped around the pulley 7.

[0056] 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 located on one side of the support 3, the second detection switch 10 is located on one side of the middle of the guide rail 1, and the third detection switch 11 is located 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, realizing the monitoring and feedback of the position information of the slider 4.

[0057] The position detection module is electrically connected to the vehicle control system via a communication module.

[0058] When an operator is operating an aerial work platform, if the operator on the platform is squeezed or collides with an obstacle, their body will lean forward towards the control panel, thus squeezing the flexible mechanism. At this time, the stretched flexible mechanism will cause the slider 4 inside the device to move along the guide rail 1. The slider 4 will trigger the detection switch inside the device, which is connected to the ECU of the vehicle control system. After the ECU judges through logic that a squeezing or collision accident has occurred, it will immediately trigger an alarm and restrict the vehicle from continuing to move in the dangerous direction.

[0059] The unique feature of this application is that it can provide an early warning to the operator if the flexible mechanism becomes loose or breaks during long-term use.

[0060] If the vehicle control system determines that the device has failed by detecting the status of the multi-level switches, it will prohibit personnel from operating the vehicle, greatly reducing the risk of injury to personnel in the event of a crush.

[0061] Furthermore, the device has a reel that can hold a flexible mechanism of a certain length. In the event of a severe crushing accident or falling object from a height that causes the operator's body to lean forward significantly, the flexible rope can be stretched for a longer distance. This can prevent secondary injuries to personnel caused by the flexible mechanism being too tight during a crushing accident due to its short stretching range.

[0062] Reference Figure 2 To ensure the flexible mechanism can be stably held by the reel component 5, a planar spiral spring is used; wherein, the planar spiral spring is installed in the reel mechanism used to house and fix the flexible mechanism.

[0063] The linear elastic element uses a tension spring 8, wherein the tension of the planar spiral spring is greater than that of the tension spring 8. This is to ensure that the flexible mechanism housed in the reel component 5 can be pulled out when the slider 4 is pulled to the limit block 2, so that the triggering of the three detection switches relies entirely on the extension and retraction of the tension spring 8.

[0064] The device uses a flexible mechanism and a tension spring 8 to move the slider 4 to trigger three detection switches. When a squeeze occurs, the operator leans forward to avoid the squeeze, causing the flexible mechanism to be pulled out and the tension spring 8 to be stretched, which causes the slider 4 to slide towards the third detection switch 11, triggering the detection switch. The vehicle ECU then uses logic to restrict the vehicle from moving in the dangerous direction.

[0065] In the event of a severe crushing accident, when the operator leans forward or downward significantly, the flexible mechanism is stretched by the operator to avoid being crushed. This causes the slider 4 to move to the limit block 2, and the spiral spring can still be stretched to pull out the flexible mechanism stored in the reel mechanism. This prevents secondary injuries to personnel caused by the flexible mechanism being too tight during a crushing accident due to its short stretching stroke.

[0066] The device designed in this application can detect chain breakage of the flexible mechanism and 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 triggering the detection switch, the vehicle ECU control system judges that the device has failed. At the same time, if the fastening unit 14 is loose, causing the slider 4 to move towards the first detection switch 9, the pull-out stroke of the flexible mechanism that triggers the crush warning increases, increasing the risk of injury to personnel in the event of a crush accident. When the slider 4 moves to the point where the first detection switch 9 is triggered, the control system judges that the device has failed and restricts the use of the vehicle.

[0067] Reference Figure 2 As shown, the length of slider 4 is less than the distance between two adjacent detection switches; thus, when slider 4 slides along guide rail 1, at least one detection switch is triggered, and when slider 4 moves to limit block 2, both detection switches are triggered simultaneously.

[0068] 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.

[0069] Subsequently, when a crush occurs, the status record data is S1 state 1, S2 state 0, and S3 state 0; when the anti-collision device resets, the status record data is S1 state 1, S2 state 0, and S3 state 1; when the anti-collision device fails, the status record data is S1 state 0, S2 state 0, and S3 state 1 or S1 state 0, S2 state 1, and S3 state 1; other states indicate that the device is abnormal.

[0070] In this context, we define another byte variable named 'state', where bit 0 represents state S1, bit 1 represents state S2, and bit 2 represents state S3. After the binary data of the 'state' variable is converted to decimal values, it represents 8 states from 0 to 7, as shown in Table 1.

[0071] 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

[0072] Table 1: State Variable Comparison Table for Anti-collision Devices

[0073] Based on Table 1, the flexible mechanism of the device in this application can self-reset when it is pulled out. Therefore, if the operator leans forward after being slightly squeezed or collided, he will subconsciously adjust his posture. At this time, the flexible mechanism may return to the reset state. The logic 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 by the rising edge. Therefore, regardless of the above state, as long as the byte variable State data of the anti-collision device state transformation changes, the vehicle movement is directly restricted and the action enable is disabled. When the device state is reset for more than 5 seconds, the foot pedal can be pressed again and the vehicle can continue to move. Thus, by using the anti-collision device in conjunction with the foot switch, this application can greatly improve the safety of the operator.

[0074] like Figure 4 As shown, to meet the function of the anti-collision device in alerting the operator through audible and visual alarms when detecting changes in vehicle status, this application also includes a buzzer and an indicator light, both installed on the operating platform of the aerial work platform, used to alert the operator through audible and visual alarms when the status of the collision detection device changes. The audible and visual alarms of the anti-collision device are categorized according to its status: ① buzzer not sounding, indicator light constantly on; ② buzzer and indicator light intermittently outputting for 500ms; ③ buzzer and indicator light intermittently outputting for 200ms; ④ indicator light off, buzzer constantly on.

[0075] 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.

[0076] Reference Figure 3 The working principle (control logic flow) of this application is as follows:

[0077] S1: Continuously triggers the foot switch;

[0078] S2: After receiving the foot switch signal, the vehicle control system determines whether the collision detection device has any input.

[0079] S3: When no action input is detected, activate the control system of the aerial work platform;

[0080] S4: When an action input is detected, the control system of the aerial work platform is shut down;

[0081] S5: After completing the S3 action, if there is no command input within 15 seconds on the control system of the aerial work platform, shut down the control system of the aerial work platform and repeat the subsequent steps of S1.

[0082] S6: After completing the S3 action, the aerial work platform's control system will receive a command input within 15 seconds to keep the aerial work platform's control system active.

[0083] S7: The vehicle control system receives status information transmitted by the collision detection device and determines whether its status has changed.

[0084] S8: When the status information changes, shut down the control system of the aerial work platform;

[0085] S9: The forward tilt trigger module 12 in the collision detection device is reset, and the subsequent steps of S1 are repeated;

[0086] S10: If the state information remains unchanged, repeat the subsequent steps of S1.

[0087] Referring to 3 and 4, the status information transmitted by the collision detection device of this application is determined through the following steps:

[0088] A: Determine whether the first detection switch 9 has been triggered. If it has been triggered, the recorded data is 1; if it has not been triggered, the recorded data is 0.

[0089] B: Determine whether the second detection switch 10 is triggered. If it is triggered, the recorded data is 1; if it is not triggered, the recorded data is 0.

[0090] C: Determine whether the third detection switch 11 has been triggered. If it has been triggered, the recorded data is 1; if it has not been triggered, the recorded data is 0.

[0091] D: Define a byte variable, which is in decimal; where the value of the byte variable is 0 to 7, each corresponding to one of the eight states.

[0092] 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.

[0093] F: Convert the binary data in step E into decimal data, and determine the corresponding state of the collision detection device based on the byte variable;

[0094] G: When the corresponding state of the collision detection device changes, shut down the control system of the aerial work platform;

[0095] H: If the collision detection device resets for more than 5 seconds, the foot switch will be triggered again.

Claims

1. A control method for a collision detection device for an aerial work platform, the collision detection device for the aerial work platform comprising an operating platform for personnel to stand on, characterized in that, Also includes: Forward tilt trigger module (12), including: The guide rail (1) is installed on the outside of the handrail on one side of the operating platform; the top and bottom ends of the guide rail (1) are respectively provided with Set a limit block (2) and a support (3); The slider (4) is slidably sleeved on the outside of the guide rail (1); one end of the slider (4) is connected to the support through a linear elastic element. (3) Connection; The middle part of the slider (4) is rotatably connected to the reel component (5) via a pin (6); A flexible member (13) has one end passing through the slider (4) and connected to the free end of the reel member (5); The fastening unit (14) is installed on the outside of the handrail on the side of the operating platform away from the guide rail (1); the fastening unit The element (14) is connected to the other end of the flexible member (13) to stretch the flexible member (13) and make the slider (4) It is stabilized in the middle of the guide rail (1) in the initial state; The position detection module includes: The first detection switch (9), the second detection switch (10), and the third detection switch are arranged parallel to each other along the sliding direction of the guide rail (1). Switch (11); wherein, the first detection switch (9) is located on one side of the support (3), and the second detection switch (10) is located on the other side. The third detection switch (11) is located on one side of the middle part of the guide rail (1); The first detection switch (9), the second detection switch (10), and the third detection switch (11) respectively detect the space in front. The system monitors and provides feedback on the position information of the slider (4). The position detection module is electrically connected to the vehicle control system via a communication module; The foot switch is a contact switch that is electrically connected to the vehicle control system and is used to control the opening and closing of the collision detection device. The control method for a collision detection device used in aerial work platforms includes the following steps: S1: Continuously triggers the foot switch; S2: After receiving the foot switch signal, the vehicle control system determines whether the collision detection device has any input. S3: When no action input is detected, activate the control system of the aerial work platform; S4: When an action input is detected, the control system of the aerial work platform is shut down; S5: After completing the S3 action, if there is no command input within 15 seconds on the control system of the aerial work platform, shut down the control system of the aerial work platform and repeat the subsequent steps of S1. S6: After completing the S3 action, the aerial work platform's control system will receive a command input within 15 seconds to keep the aerial work platform's control system active. S7: The vehicle control system receives status information transmitted by the collision detection device and determines whether its status has changed. The collision detection device transmits status information using the following judgment steps: A: Determine whether the first detection switch (9) is triggered. If it is triggered, the recorded data is 1; if it is not triggered, the recorded data is 0. B: Determine whether the second detection switch (10) is triggered. If it is triggered, the recorded data is 1; if it is 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: Define a byte variable, which is in decimal; where the value of the byte variable is 0 to 7, each corresponding to one of the eight states. E: The real-time recorded data from the first detection switch (9), the second detection switch (10), and the third detection switch (11) are combined to form a complete system. Binary data; where 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 collision detection device based on the byte variable. The corresponding state; G: When the corresponding state of the collision detection device changes, shut down the control system of the aerial work platform; H: If the collision detection device resets for more than 5 seconds, the foot switch will be triggered again; 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: If the state information remains unchanged, repeat the subsequent steps of S1.

2. The control method for the collision detection device for aerial work platforms according to claim 1, characterized in that: The reel component (5) is a planar spiral spring.

3. The control method for the collision detection device for aerial work platforms according to claim 2, characterized in that: The tension of the planar spiral spring is greater than the tension of the linear elastic element; The linear elastic element is a tension spring (8).

4. The control method for the collision detection device for aerial work platforms according to claim 1, characterized in that: The length of the slider (4) is less than the distance between two adjacent detection switches.

5. The control method for the collision detection device for aerial work platforms according to claim 1, characterized in that, The collision detection device for the aerial work platform also includes a buzzer and an indicator light, both installed on the operating panel of the aerial work platform, used to alert the operator through audible and visual alarms when the status of the collision detection device changes.

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