Platform anti-collision control system

Abstract

The invention discloses a platform anti-collision control system. The system comprises a platform controller, an electrical control module and an anti-collision sensor, wherein the platform controller is in communication connection with the electrical control module, the electrical control module is in communication connection with the anti-collision sensor, and the platform controller is arranged in target equipment; the anti-collision sensor is used for monitoring the target operation platform in real time based on monitoring conditions set by a user and sending a monitoring result to the electrical control module; the electrical control module is used for generating a control command based on a preset result generation rule after receiving the monitoring result; and the platform controller is used for executing anti-collision operation on the target equipment in response to the received control command. According to the technical scheme, when the target equipment works on the target work platform, three-dimensional protection of the target equipment can be achieved, safety and flexibility of anti-collision protection are enhanced, and construction safety and construction efficiency are guaranteed.

Description

Technical Field

[0001] The invention relates to the field of construction safety, and in particular to a platform anti-collision control system. Background Art

[0002] During the on-site construction of traditional aerial work platforms, when operators operate the equipment for lifting or walking, they often face various complex situations and may encounter various obstacles. These obstacles are of various shapes, including planes, slopes, curved surfaces, etc. Even some parts of the platform itself may become obstacles that hinder the normal operation of the equipment under certain circumstances.

[0003] At present, the mainstream anti-collision solution on the market is to install travel switches at the four corners of the platform to trigger the limiting action. However, this solution has many drawbacks that cannot be ignored. First, this detection method that relies only on contact has a very limited detection range, and it is difficult to monitor the entire platform in an all-round and blind spot-free manner, resulting in a high safety risk for on-site construction. Second, due to contact protection, the contacts of the travel switch are prone to failure after a period of use due to frequent touch and wear. This forces the construction party to frequently replace the travel switch, which not only significantly increases the construction cost, but also greatly reduces the construction efficiency, seriously affecting the progress of the project. Third, the solution only sets up a first-level protection, but lacks the function of a second-level reminder, which undoubtedly puts the safety risk at a relatively high level. Once the travel switch fails, it will not only cause serious damage to the expensive equipment, but also may cause personal injury, leading to unimaginable consequences. In addition, for models equipped with an extension platform, after the extension platform is pulled out, complex changes to the structure are required to achieve detection of the extension platform range, and the operational flexibility and convenience are extremely poor.

[0004] In summary, the existing platform anti-collision solutions have the problem of low construction safety and construction efficiency due to the poor safety and flexibility of anti-collision protection. Summary of the invention

[0005] The present invention provides a platform anti-collision control system, which can solve the problem of low construction safety and construction efficiency caused by poor safety and flexibility of anti-collision protection in existing platform anti-collision solutions.

[0006] According to one aspect of the present invention, there is provided a platform collision avoidance control system, the system comprising: a platform controller, an electrical control module and an collision avoidance sensor;

[0007] The platform controller establishes a communication connection with the electrical control module, the electrical control module establishes a communication connection with the anti-collision sensor, the platform controller is arranged in the target device, and the target device is arranged on the target working platform;

[0008] The anti-collision sensor is used to monitor the target working platform in real time based on the monitoring conditions set by the user, and send the monitoring results to the electrical control module;

[0009] The electrical control module is used to generate a control command based on a preset result generation rule after receiving the monitoring result and send it to the platform controller;

[0010] The platform controller is used to perform an anti-collision operation on the target device in response to the received control command.

[0011] Among them, the anti-collision sensor specifically includes: at least one radar unit; the radar unit is used to be installed on the target work platform according to the user's actual working conditions, perform real-time monitoring of the target work platform based on the monitoring conditions set by the user, generate monitoring results and send them to the electrical control module.

[0012] Furthermore, the radar unit includes: a real-time monitoring subunit and an information collection subunit; the real-time monitoring subunit is used to generate a first monitoring area and a second monitoring area based on monitoring conditions set by a user, wherein the monitoring conditions include the length, width, height of the first monitoring area and the length, width and height of the second monitoring area, and the length of the first monitoring area is greater than the length of the second monitoring area, the width of the first monitoring area is greater than the width of the second monitoring area, and the height of the first monitoring area is greater than the height of the second monitoring area; the real-time monitoring subunit is also used to perform real-time monitoring of each monitoring area, and when an obstacle is detected in any monitoring area, a trigger command is generated and sent to the information collection subunit; the information collection subunit is used to determine the position of the obstacle when receiving the trigger command, generate a monitoring result matching the obstacle and send it to the electrical control module, wherein the monitoring result is a first-level monitoring result or a second-level monitoring result.

[0013] Furthermore, the information collection subunit is specifically used to: when it is determined that the obstacle is located in the first monitoring area, generate a primary monitoring result and send it to the electrical control module; when it is determined that the obstacle is located in the second monitoring area, generate a secondary monitoring result and send it to the electrical control module.

[0014] Among them, the electrical control module specifically includes: a first-level control unit, which is used to respond to the reception of the first-level monitoring results, generate a first-level control command based on a preset result generation rule and send it to the platform controller; a second-level control unit, which is used to respond to the reception of the second-level monitoring results, generate a second-level control command based on a preset result generation rule and send it to the platform controller.

[0015] Wherein, the platform controller specifically includes: a receiving unit, a first execution unit and a second execution unit; the receiving unit is used to determine whether the received control command is a first-level control command, and send the first-level control command to the first-level control unit after determining that the received command is a first-level control command; the receiving unit is also used to send the control command to the second-level control unit after determining that the received command is not a first-level control command. The first-level execution unit is used to perform a first-level collision avoidance operation on the target device according to the received first-level control command, wherein the first-level collision avoidance operation includes: at least one of a visual prompt, a sound prompt and a deceleration prompt; the second-level execution unit is used to perform an action prohibition operation on the target device according to the received second-level control command to limit the overall action of the target device.

[0016] Optionally, the platform controller further includes: a manual intervention switch, used to release the platform controller's anti-collision operation on the target device in response to a user's pressing operation.

[0017] Optionally, the platform anti-collision control system further includes: a data recording module that establishes a communication connection with the electrical control module; wherein the recording module is used to obtain and record the monitoring results of the anti-collision sensor and the control commands generated by the electrical control module.

[0018] Optionally, the radar unit is at least one of a millimeter wave radar, an infrared radar and an ultrasonic radar.

[0019] Optionally, the electrical control module establishes a communication connection with the anti-collision sensor via a CAN bus communication protocol.

[0020] The technical solution of the embodiment of the present invention uses an anti-collision sensor to monitor the target work platform in real time based on the monitoring conditions set by the user, and sends the monitoring results to the electrical control module. After receiving the monitoring results, the electrical control module generates a control command based on a preset result generation rule and sends it to the platform controller. Finally, the platform controller performs an anti-collision operation on the target device in response to the received control command. This solves the problem of low construction safety and construction efficiency caused by the poor safety and flexibility of anti-collision protection in the existing platform anti-collision scheme, realizes three-dimensional protection of the target equipment during construction operations, enhances the safety and flexibility of anti-collision protection, and ensures construction safety and construction efficiency.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0023] Figure 1 is a schematic structural diagram of a remotely controllable transfer vehicle system provided according to Embodiment 1 of the present invention;

[0024] Figure 2 It is a structural schematic diagram of a transfer vehicle module provided according to the second embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1This is a structural schematic diagram of a platform anti-collision control system provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where anti-collision protection and anti-collision control are performed on a target device when the target device is operating on a target operating platform.

[0029] like Figure 1 As shown, the system includes: a platform controller 110 , an electrical control module 120 and an anti-collision sensor 130 .

[0030] The platform controller 110 establishes a communication connection with the electrical control module 120 , and the electrical control module establishes a communication connection with the anti-collision sensor 130 . The platform controller 110 is disposed in a target device, and the target device is disposed on a target working platform.

[0031] The electrical control module and the anti-collision sensor 130 establish a communication connection through the CAN bus communication protocol; further, the CAN bus communication protocol is a serial communication protocol used in the fields of automobiles, industrial automation, etc. In this system, the CAN bus communication protocol is used to realize data transmission between the anti-collision sensor 130 and the electrical control module 120.

[0032] In this embodiment, the target work platform includes but is not limited to aerial work platforms of models such as T14JE-2 and T16JE-2, as well as other construction work platforms used in scenarios such as building construction, equipment installation and maintenance, etc.

[0033] The anti-collision sensor 130 is used to monitor the target working platform in real time based on the monitoring conditions set by the user, and send the monitoring results to the electrical control module 120 .

[0034] Among them, the anti-collision sensor 130 specifically includes: at least one radar unit; the radar unit is used to be installed on the target work platform according to the user's actual working conditions, perform real-time monitoring of the target work platform based on the monitoring conditions set by the user, generate monitoring results and send them to the electrical control module 120.

[0035] Among them, the radar unit is: at least one of a millimeter wave radar, an infrared radar and an ultrasonic radar; the anti-collision sensor 130 includes at least one radar unit. It should be noted that the type and quantity of the radar unit are usually selected based on the actual working conditions. To ensure that the target work platform can be fully monitored, the total coverage area of ​​multiple radars should be larger than the area of ​​the target work platform. These radar units can be installed on the target work platform according to the actual working conditions of the user. Taking the millimeter wave radar as an example, it operates in the millimeter wave frequency band (usually 30-300GHz). In some working conditions with high requirements for monitoring accuracy and relatively open working environment, such as the facade construction of large buildings, the millimeter wave radar can play a better role. In actual installation, two or more millimeter wave radars can be installed diagonally on some aerial work platforms. The number of radars is based on the coverage area of ​​a single radar unit and the area of ​​the target work platform.

[0036] Optionally, the radar unit can also be at least one of an infrared radar or an ultrasonic radar. Infrared radar uses infrared rays to detect target objects, and determines the position and distance of the object by emitting infrared beams and receiving infrared rays reflected by the object. In some high-altitude work scenes in small spaces, such as indoor equipment installation and maintenance, the infrared radar is small in size and suitable for close-range detection due to limited space, making it a suitable choice. Ultrasonic radar works using ultrasonic waves, and by emitting ultrasonic pulses, measuring the time from the emission of ultrasonic waves to the reflection of the object, the distance between the object and the sensor is calculated. Ultrasonic radars are used on some simple aerial work platforms, or in working conditions where the monitoring accuracy requirements are not particularly high, but close-range obstacles need to be detected quickly. These different types of radar units are selected and combined in quantity according to the actual working conditions, and the target work platform is monitored in real time, and the monitoring results are generated and sent to the electrical control module 120.

[0037] Furthermore, the radar unit includes: a real-time monitoring subunit and an information collection subunit; the real-time monitoring subunit is used to generate a first monitoring area and a second monitoring area based on monitoring conditions set by a user, wherein the monitoring conditions include the length, width, height of the first monitoring area and the length, width and height of the second monitoring area, and the length of the first monitoring area is greater than the length of the second monitoring area, the width of the first monitoring area is greater than the width of the second monitoring area, and the height of the first monitoring area is greater than the height of the second monitoring area; the real-time monitoring subunit is also used to perform real-time monitoring of each monitoring area, and when an obstacle is detected in any monitoring area, a trigger command is generated and sent to the information collection subunit; the information collection subunit is used to determine the position of the obstacle when receiving the trigger command, generate a monitoring result matching the obstacle and send it to the electrical control module 120, wherein the monitoring result is a first-level monitoring result or a second-level monitoring result.

[0038] Furthermore, the information collection subunit is specifically used to: when it is determined that the obstacle is located in the first monitoring area, generate a primary monitoring result and send it to the electrical control module 120; when it is determined that the obstacle is located in the second monitoring area, generate a secondary monitoring result and send it to the electrical control module 120.

[0039] The electrical control module 120 is used to generate a control command based on a preset result generation rule after receiving the monitoring result and send it to the platform controller 110 .

[0040] On the basis of the above modules, the electrical control module 120 specifically includes: a first-level control unit, which is used to respond to the reception of the first-level monitoring results, generate a first-level control command based on a preset result generation rule and send it to the platform controller 110; a second-level control unit, which is used to respond to the reception of the second-level monitoring results, generate a second-level control command based on a preset result generation rule and send it to the platform controller 110.

[0041] Specifically, in the platform anti-collision control system, on the basis of the existing platform controller 110, the electrical control module 120 and the anti-collision sensor 130, the electrical control module 120 is specifically subdivided into a primary control unit and a secondary control unit. The primary control unit is an important component of the electrical control module 120 for processing the primary monitoring results. The primary monitoring result usually means that a certain degree of but relatively mild potential danger is detected on the target work platform. The primary monitoring result here generally means that the obstacle is at a relatively far distance and has not yet posed an urgent threat to the target equipment, but has entered the range that requires attention. For example, in the scene of the aerial work platform, when the anti-collision sensor 130 detects that there are other objects approaching at a certain distance from the platform (such as 5 meters away), a primary monitoring result will be generated at this time. After receiving the primary monitoring result, the primary control unit will generate a primary control command according to the preset result generation rule. The preset result generation rule is a series of logical criteria determined after a large number of actual tests and data analysis, which comprehensively considers multiple factors such as the working environment and the performance of the target equipment. Taking a common aerial work platform as an example, when the first-level control unit receives the first-level monitoring result, it may generate instructions to remind the operator according to the preset rules. These instructions will be sent through the communication connection established with the platform controller 110. The generated first-level control command usually includes controlling the target device to issue a visual prompt, such as a flashing warning light; or issuing a sound prompt, such as an intermittent beep; it may also generate a deceleration prompt to appropriately reduce the operating speed of the target device to prevent possible collisions. The second-level control unit is the key part to deal with more urgent and dangerous situations. The second-level monitoring result indicates that the obstacle has entered the close range that poses a serious threat to the target device, and the situation is more critical. For example, when the anti-collision sensor 130 detects that the obstacle is only about 1 meter away from the aerial work platform, a second-level monitoring result will be generated. After receiving the second-level monitoring result, the second-level control unit also generates a second-level control command based on the preset result generation rule. The preset rules at this time are more stringent, with the purpose of avoiding collision accidents to the greatest extent. The generated second-level control command is usually more stringent and direct than the first-level control command, and generally requires the target device to perform an action prohibition operation to comprehensively restrict the entire machine action of the target device. This is to prevent the target equipment from continuing to move and colliding with obstacles, to ensure the safety of the workers and the integrity of the equipment. The secondary control unit will quickly send the generated secondary control command to the platform controller 110 through the communication connection, so that the platform controller 110 can execute the corresponding action prohibition operation in time. In the entire platform anti-collision control system, the primary control unit and the secondary control unit of the electrical control module 120 have clear division of labor and work together to generate corresponding control commands based on different degrees of monitoring results and convey them to the platform controller 110, thereby effectively ensuring the safe operation of the target work platform and target equipment.

[0042] The platform controller 110 is configured to perform an anti-collision operation on the target device in response to the received control command.

[0043] On the basis of the above modules, the platform controller 110 specifically includes: a receiving unit, a first execution unit and a second execution unit; the receiving unit is used to determine whether the received control command is a first-level control command, and send the first-level control command to the first-level control unit after determining that the received command is a first-level control command; the receiving unit is also used to send the control command to the second-level control unit after determining that the received command is not a first-level control command; the first-level execution unit is used to perform a first-level collision avoidance operation on the target device according to the received first-level control command, wherein the first-level collision avoidance operation includes: at least one of a visual prompt, a sound prompt and a deceleration prompt; the second-level execution unit is used to perform an action prohibition operation on the target device according to the received second-level control command to limit the overall action of the target device.

[0044] Specifically, the platform controller 110 can be subdivided into a receiving unit, a first execution unit and a second execution unit based on the existing system modules. When the receiving unit receives the control command from the electrical control module 120, it will quickly determine whether the command is a first-level control command. For example, in an aerial work scene, when an object gradually approaches at a certain safe distance from the work platform, the generation of a first-level control command will be triggered. If the receiving unit determines that the received is a first-level control command, it will send the command to the first-level execution unit. The first-level execution unit will perform a first-level collision avoidance operation on the target device according to the received first-level control command. The first-level collision avoidance operation includes a variety of forms to ensure that the operator's attention can be attracted in time. Visual prompts are one of the common first-level collision avoidance operations, such as controlling the flashing of the warning light on the target device to remind the operator. On some aerial work platforms, the warning light usually uses high-brightness, eye-catching colors, such as red or yellow, so that it can be clearly seen under various lighting conditions. Sound prompts are also an important reminder method. Generally, intermittent beeps are emitted by a buzzer. The frequency and rhythm of the sound can be adjusted according to the degree of danger, so that the operator can quickly detect abnormal conditions. The deceleration prompt is to reduce the risk of collision of the target equipment by adjusting the power system of the equipment to appropriately reduce the operating speed of the target equipment. For example, for an aerial work platform that is rising or moving, the primary execution unit will control the hydraulic system or motor to reduce its output power, thereby reducing the rising speed or moving speed of the platform. When the receiving unit determines that the received command is not a primary control command, it means that a secondary control command is received. The secondary control command is generated by the secondary control unit of the electrical control module 120 when the anti-collision sensor 130 detects a very urgent dangerous situation. For example, when an object approaches the work platform quickly and the distance is very close, and a collision may occur immediately, the generation of the secondary control command will be triggered. The receiving unit will send the secondary control command to the secondary execution unit. The secondary execution unit performs an action prohibition operation on the target equipment according to the received secondary control command, which is a more stringent and direct anti-collision measure. The purpose of the action prohibition operation is to comprehensively restrict the entire machine action of the target equipment to prevent the equipment from continuing to move and colliding with obstacles. For aerial work platforms, the secondary execution unit will immediately cut off the power source of the equipment, stop the oil supply of the hydraulic system or the operation of the motor, and make the platform unable to perform any actions such as rising, descending, and moving. At the same time, the braking system of the equipment may also be locked to ensure that the equipment remains stationary in an emergency, to maximize the safety of the workers and the integrity of the equipment. In the entire platform anti-collision control system, the receiving unit, the first execution unit, and the second execution unit of the platform controller 110 work closely together to accurately perform corresponding anti-collision operations according to different control commands, providing reliable protection for the safe operation of the target work platform.

[0045] Optionally, the platform controller 110 further includes: a manual intervention switch, configured to release the platform controller's anti-collision operation on the target device in response to a pressing operation by a user.

[0046] Optionally, the platform anti-collision control system further includes: a data recording module that establishes a communication connection with the electrical control module; wherein the recording module is used to obtain and record the monitoring results of the anti-collision sensor 130 and the control commands generated by the electrical control module 120.

[0047] Specifically, in this embodiment, the platform controller 110 is also equipped with a manual intervention switch. In the actual operation process, although the platform anti-collision control system can automatically perform anti-collision operations based on preset rules and monitoring data, there may be some special cases, and the automatic judgment of the system may not meet the actual needs. For example, when performing some special equipment debugging or specific operation tasks, the target equipment needs to run according to a specific trajectory and method, and the so-called "obstacle" detected by the system at this time may be an object that is allowed to exist or needs to be approached in the operation process, and the automatic anti-collision operation will affect the normal operation. The manual intervention switch is set to deal with such situations. When the user realizes that the platform controller needs to release the anti-collision operation of the target equipment, just press the manual intervention switch. This operation will trigger a series of signal transmission and logic processing processes, so that the platform controller temporarily stops performing anti-collision operations on the target equipment based on monitoring results and control commands. However, in order to ensure the safety of the operation, manual intervention usually has a certain time limit or other constraints to avoid collision accidents caused by excessive manual intervention. For example, manual intervention operations may only be allowed in a specific operating mode, and the duration cannot exceed a preset time. It should be noted that the restriction conditions for manual intervention are limited by relevant personnel according to actual construction needs, and this embodiment does not limit its restriction conditions.

[0048] In addition, the platform anti-collision control system also includes a data recording module that establishes a communication connection with the electrical control module. During the operation of the entire system, the anti-collision sensor 130 will continue to monitor the target work platform in real time and send the monitoring results to the electrical control module 120; the electrical control module 120 will generate corresponding control commands based on the preset rules according to these monitoring results and send them to the platform controller 110. The function of the data recording module is to obtain and record these key information. It can collect the monitoring results of the anti-collision sensor 130 in real time, and these monitoring results record in detail the location, distance, moving speed and other information of obstacles around the target work platform. For example, in a scene of an aerial work platform, the monitoring results may show that at a certain moment, there is an object approaching at a speed of 0.5 meters per second 3 meters away from the left side of the platform. At the same time, the data recording module will also record the control commands generated by the electrical control module 120, including the type of command (primary control command or secondary control command), generation time, etc. These recorded data are of great value. On the one hand, they can be used for system troubleshooting and performance evaluation. If an abnormal situation occurs during the operation, by viewing the recorded data, the technician can analyze whether there is an error in sensor monitoring or a problem in the control command generation logic. On the other hand, these data can also provide a basis for system optimization. By analyzing a large number of monitoring results and control commands, the preset monitoring conditions and result generation rules can be further optimized, so that the system can operate more accurately and efficiently in different operating environments and working conditions. Moreover, the data recording module usually has data storage and management functions. It can store the recorded data in a local storage device, or upload the data to a remote server through the network, which is convenient for managers to view and analyze remotely.

[0049] The technical solution of the embodiment of the present invention uses an anti-collision sensor to monitor the target work platform in real time based on the monitoring conditions set by the user, and sends the monitoring results to the electrical control module. After receiving the monitoring results, the electrical control module generates a control command based on a preset result generation rule and sends it to the platform controller. Finally, the platform controller performs an anti-collision operation on the target device in response to the received control command. This solves the problem of low construction safety and construction efficiency caused by the poor safety and flexibility of anti-collision protection in the existing platform anti-collision scheme, realizes three-dimensional protection of the target equipment during construction operations, enhances the safety and flexibility of anti-collision protection, and ensures construction safety and construction efficiency.

[0050] Embodiment 2

[0051] Figure 2This is a schematic diagram of the structure of an anti-collision sensor provided in the second embodiment of the present invention. This embodiment is applicable to the situation where the target device is operating on the target working platform and performs anti-collision protection and anti-collision control on the target device.

[0052] like Figure 2 As shown, the anti-collision sensor specifically includes: at least one radar unit.

[0053] Among them, the radar unit is used to be installed on the target working platform according to the user's actual working conditions, perform real-time monitoring of the target working platform based on the monitoring conditions set by the user, generate monitoring results and send them to the electrical control module.

[0054] Specifically, the radar unit further includes: a real-time monitoring subunit 210 and an information collection subunit 220; the real-time monitoring subunit 210 is used to generate a first monitoring area and a second monitoring area based on monitoring conditions set by a user, wherein the monitoring conditions include the length, width, height of the first monitoring area and the length, width and height of the second monitoring area, and the length of the first monitoring area is greater than the length of the second monitoring area, the width of the first monitoring area is greater than the width of the second monitoring area, and the height of the first monitoring area is greater than the height of the second monitoring area; the real-time monitoring subunit 210 is also used to perform real-time monitoring of each monitoring area, and when an obstacle is detected in any monitoring area, a trigger command is generated and sent to the information collection subunit 220.

[0055] Exemplarily, the real-time monitoring subunit 210 will first generate the first monitoring area and the second monitoring area according to the monitoring conditions set by the user. These monitoring conditions include the precise length, width and height information of the first monitoring area and the second monitoring area. The reason for setting two monitoring areas of different sizes is to monitor obstacles within different distance ranges in a graded manner so that the system can respond differently according to the degree of danger. For example, in a large aerial work platform scene, the first monitoring area may be set to a range of 5 meters from the periphery of the platform, and its length, width and height are set according to the actual size of the work platform and the possible working range; while the second monitoring area is relatively small, which may be a range of 1 meter from the periphery of the platform. All dimensions of the first monitoring area are larger than those of the second monitoring area, because the first monitoring area is mainly used to warn of potential dangers in advance, while the second monitoring area is used to deal with more urgent dangerous situations. After the monitoring area is generated, the real-time monitoring subunit 210 will conduct real-time monitoring of each monitoring area. This process involves advanced radar detection technology. Taking millimeter-wave radar as an example, it continuously emits millimeter-wave signals and receives reflected signals. By analyzing the time, frequency and other parameters of the reflected signal, the real-time monitoring subunit 210 can accurately determine whether there are obstacles in the monitoring area. It should be noted that since the technology of detecting whether there are obstacles by radar technology is a mature existing technology, the present embodiment does not explain the principle of determining obstacles in detail. When an obstacle is detected in the first monitoring area, it means that there may be a certain potential danger, but it has not yet posed a direct threat to the target equipment. For example, other construction equipment slowly approaches 5 meters around the aerial work platform, and the real-time monitoring subunit 210 will immediately capture this situation and quickly generate a trigger command. Similarly, when an obstacle is detected in the second monitoring area, this indicates that the dangerous situation is more urgent, such as an object suddenly breaks in 1 meter away from the platform, and the real-time monitoring subunit 210 will also generate a trigger command in time; further, these trigger commands contain basic information about the obstacle, such as the monitoring area, approximate location, etc. The real-time monitoring subunit 210 will quickly send the generated trigger command to the information collection subunit 220. After receiving the trigger command, the information collection subunit 220 will further collect and analyze the information of the obstacle in detail, providing a basis for the subsequent electrical control module 120 to generate accurate control commands. Throughout the process, the real-time monitoring subunit 210, with its precise monitoring and timely response capabilities, ensures that the platform anti-collision control system can grasp the environmental changes around the target working platform in real time, laying a solid foundation for ensuring work safety.

[0056] The information collection subunit 220 is used to determine the position of the obstacle when receiving a trigger command, generate a monitoring result matching the obstacle and send it to the electrical control module, wherein the monitoring result is a primary monitoring result or a secondary monitoring result.

[0057] Furthermore, the information collection subunit 220 is specifically used to: when it is determined that the obstacle is located in the first monitoring area, generate a primary monitoring result and send it to the electrical control module; when it is determined that the obstacle is located in the second monitoring area, generate a secondary monitoring result and send it to the electrical control module.

[0058] Exemplarily, when the information collection subunit 220 receives a trigger command, the trigger command already contains the approximate information of the monitoring area where the obstacle is located. The information collection subunit 220 will further combine the detection data of the radar unit to accurately determine the specific location of the obstacle. Complex algorithms and data processing techniques are used here to ensure the accuracy of position judgment. Taking millimeter wave radar as an example, it can accurately calculate the specific coordinate position of the obstacle relative to the radar unit and the target work platform by analyzing the characteristics of the reflected wave, such as reflection time, angle, etc. Based on the accurate judgment of the obstacle position, the information collection subunit 220 will generate monitoring results that match the obstacle, and these monitoring results are divided into primary monitoring results and secondary monitoring results. This hierarchical monitoring result helps the electrical control module make corresponding decisions according to different degrees of danger, so as to more effectively ensure the safety of the target work platform. Specifically, when the information collection subunit 220 determines that the obstacle is located in the first monitoring area, it will generate a primary monitoring result. The information collection subunit 220 will send the generated first-level monitoring results to the electrical control module in a timely manner so that it can generate corresponding first-level control commands according to preset rules, such as issuing visual or sound prompts to remind the operator to pay attention. When the information collection subunit 220 determines that the obstacle is located in the second monitoring area, it will generate a second-level monitoring result. The second monitoring area is a relatively small range close to the target work platform. Once an obstacle enters this area, it means that the dangerous situation is more urgent and a collision may occur at any time. For example, the second monitoring area may be set to a range of 0-1 meters from the periphery of the platform. When an object enters this area, the system needs to take more stringent measures immediately to avoid collision. The second-level monitoring results will also contain detailed information about the obstacles, but compared with the first-level monitoring results, the degree of danger it conveys is higher. The information collection subunit 220 will quickly send the second-level monitoring results to the electrical control module, prompting it to generate a second-level control command to ensure the safety of the platform and operators.

[0059] The technical solution of the embodiment of the present invention generates a first monitoring area and a second monitoring area based on the monitoring conditions set by the user through the real-time monitoring subunit of the anti-collision sensor, and monitors each monitoring area in real time through the real-time monitoring subunit, and generates a trigger command and sends it to the information collection subunit when an obstacle is detected in any monitoring area. Then, the information collection subunit of the anti-collision sensor determines the position of the obstacle when receiving the trigger command, generates a monitoring result matching the obstacle and sends it to the electrical control module, and then, after receiving the monitoring result, the electrical control module generates a control command based on a preset result generation rule and sends it to the platform controller, and finally, the platform controller performs an anti-collision operation on the target device in response to the received control command, thereby solving the problem of low construction safety and construction efficiency caused by the poor safety and flexibility of anti-collision protection in the existing platform anti-collision scheme, realizing three-dimensional protection of the target device during construction, enhancing the safety and flexibility of anti-collision protection, and ensuring construction safety and construction efficiency.

[0060] Specific implementation scenarios

[0061] Step 1: In the aerial work scene of building construction, there is an aerial work equipment as the target equipment set up on the target work platform at the construction site. Professional technicians reasonably install anti-collision sensors on the target work platform according to the actual working conditions on site. Due to the complex on-site environment and the presence of multiple directions where obstacles may appear, multiple radar units are installed, specifically two millimeter-wave radars and one ultrasonic radar. The millimeter-wave radar is installed on both sides of the top of the work platform and can cover a large horizontal range; the ultrasonic radar is installed on the bottom edge of the platform to detect possible obstacles below. At the same time, the platform controller is installed in the control room of the aerial work platform, the electrical control module is installed in the electrical cabinet of the platform, and the communication connection between the electrical control module and the anti-collision sensor, and between the platform controller and the electrical control module is established through the CAN bus communication protocol. According to the size of the work platform and the possible working range, the technicians set the monitoring conditions for the anti-collision sensor, including the length of the first monitoring area of ​​5 meters, the width of 4 meters, and the height of 3 meters, and the length of the second monitoring area of ​​2 meters, the width of 1.5 meters, and the height of 1 meter.

[0062] Step 2: During the aerial work process, if the work requirement at this time is to move the aerial work platform to the designated work position. Assume that the platform moves from the current position to the target position at a speed of 0.5m / s. When the real-time monitoring subunit of the anti-collision sensor detects that an obstacle has entered the first monitoring area, for example, a steel pipe used for construction is slowly moving into the first monitoring area 4 meters in front of the platform, the real-time monitoring subunit will immediately generate a trigger command and send it to the information collection subunit. After receiving the trigger command, the information collection subunit accurately determines that the obstacle is located in the first monitoring area by analyzing the radar data, and then generates a first-level monitoring result and sends it to the electrical control module.

[0063] Step 3: After receiving the first-level monitoring results, the first-level control unit of the electrical control module generates a first-level control command based on the preset result generation rules. The preset rules stipulate that when the first-level monitoring results are received, the operator should be reminded and slow down appropriately. Therefore, the generated first-level control command includes a visual prompt of a flashing warning light on the control platform, an audio prompt of an intermittent beep, and a deceleration prompt to reduce the platform's moving speed to 0.2m / s. Then, the first-level control unit sends the first-level control command to the platform controller through a communication connection.

[0064] Step 4: After the receiving unit of the platform controller receives the first-level control command, it determines that this is a first-level control command and sends it to the first-level execution unit. According to the received first-level control command, the first-level execution unit immediately controls the warning light of the aerial work platform to start flashing, the buzzer to emit intermittent buzzing sounds, and adjusts the power system of the platform to reduce the moving speed of the platform from 0.5m / s to 0.2m / s. During the movement of the platform, the data recording module obtains and records the monitoring results of the anti-collision sensor and the control commands generated by the electrical control module in real time, such as recording the time and position of the obstacle entering the first monitoring area, and the specific content of the first-level control command.

[0065] Step 5: If the obstacle approaches further and enters the second monitoring area while the platform continues to move, for example, the steel pipe moves to 1 meter in front of the platform. The real-time monitoring subunit generates a trigger command again and sends it to the information collection subunit. The information collection subunit determines that the obstacle is located in the second monitoring area, generates a secondary monitoring result and sends it to the electrical control module. After receiving the secondary monitoring result, the secondary control unit of the electrical control module generates a secondary control command based on the preset rules, that is, immediately stops all actions of the platform. The secondary control unit sends the secondary control command to the platform controller. The receiving unit of the platform controller determines that this is not a primary control command and sends it to the secondary execution unit. The secondary execution unit quickly cuts off the power source of the platform, stops the movement of the platform, and locks the brake system to make the platform stationary. At this time, if the operator determines that the operation can continue according to the actual situation and needs to release the anti-collision operation, he can press the manual intervention switch on the platform controller to temporarily release the anti-collision operation of the platform controller on the target device. However, the operation of the manual intervention switch has a time limit. If the automatic anti-collision function is not restored after the specified time, the system will automatically restart the anti-collision operation.

[0066] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A platform anti-collision control system, characterized in that: include: Platform controller, electrical control module and anti-collision sensors; The platform controller establishes a communication connection with the electrical control module, the electrical control module establishes a communication connection with the anti-collision sensor, the platform controller is arranged in the target device, and the target device is arranged on the target working platform; The anti-collision sensor is used to monitor the target working platform in real time based on the monitoring conditions set by the user, and send the monitoring results to the electrical control module; The electrical control module is used to generate a control command based on a preset result generation rule after receiving the monitoring result and send it to the platform controller; The platform controller is used to perform an anti-collision operation on the target device in response to the received control command.

2. The system according to claim 1, characterized in that The anti-collision sensor specifically includes: at least one radar unit; The radar unit is used to be installed on the target working platform according to the actual working conditions of the user, to perform real-time monitoring of the target working platform based on the monitoring conditions set by the user, to generate monitoring results and to send them to the electrical control module.

3. The system according to claim 2, characterized in that The radar unit includes: a real-time monitoring subunit and an information collection subunit; The real-time monitoring subunit is used to generate a first monitoring area and a second monitoring area based on monitoring conditions set by a user, wherein the monitoring conditions include the length, width, and height of the first monitoring area and the length, width, and height of the second monitoring area, and the length of the first monitoring area is greater than the length of the second monitoring area, the width of the first monitoring area is greater than the width of the second monitoring area, and the height of the first monitoring area is greater than the height of the second monitoring area; The real-time monitoring subunit is also used to monitor each monitoring area in real time, and when an obstacle is detected in any monitoring area, a trigger command is generated and sent to the information collection subunit; The information collection subunit is used to determine the position of the obstacle when receiving a trigger command, generate a monitoring result matching the obstacle and send it to the electrical control module, wherein the monitoring result is a primary monitoring result or a secondary monitoring result.

4. The system according to claim 3, characterized in that The information collection subunit is specifically used for: When it is determined that the obstacle is located in the first monitoring area, a first-level monitoring result is generated and sent to the electrical control module; When it is determined that the obstacle is located in the second monitoring area, a secondary monitoring result is generated and sent to the electrical control module.

5. The system according to any one of claims 1 to 4, characterized in that: The electrical control module specifically comprises: A primary control unit, for generating a primary control command based on a preset result generation rule in response to receiving the primary monitoring result and sending the command to the platform controller; The secondary control unit is used to generate a secondary control command based on a preset result generation rule in response to receiving the secondary monitoring result and send it to the platform controller.

6. The system according to claim 5, characterized in that The platform controller specifically includes: a receiving unit, a first executing unit and a second executing unit; The receiving unit is used to determine whether the received control command is a primary control command, and after determining that the received command is a primary control command, send the primary control command to the primary control unit; The receiving unit is further configured to send the control command to the secondary control unit after determining that the received command is not a primary control command; The first-level execution unit is used to perform a first-level collision avoidance operation on the target device according to the received first-level control command, wherein the first-level collision avoidance operation includes: at least one of a visual prompt, a sound prompt, and a deceleration prompt; The secondary execution unit is used to execute an action prohibition operation on the target device according to the received secondary control command, so as to limit the whole machine action of the target device.

7. The system according to claim 1, characterized in that The platform controller further includes: The manual intervention switch is used to release the platform controller from the anti-collision operation on the target device in response to a pressing operation by a user.

8. The system according to claim 1, characterized in that The platform anti-collision control system further includes: a data recording module that establishes a communication connection with the electrical control module; The recording module is used to obtain and record the monitoring results of the anti-collision sensor and the control commands generated by the electrical control module.

9. The system according to claim 2, characterized in that The radar unit is at least one of a millimeter wave radar, an infrared radar and an ultrasonic radar.

10. The system according to claim 1, characterized in that The electrical control module establishes a communication connection with the anti-collision sensor via a CAN bus communication protocol.

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