Mobile aerial work platform four-point weighing control method and weighing system

Abstract

The invention discloses a four-point weighing control method and weighing system for a mobile aerial work platform, and belongs to the technical field of aerial work platforms, and the system comprises a controller, a display, a plurality of dual-redundancy CAN signal pin shaft sensors and a tilt angle sensor. The plurality of dual-redundancy CAN signal pin shaft sensors are arranged on a plurality of supporting points of the mobile aerial work platform and are used for collecting multi-path dual-redundancy digital signals and transmitting the multi-path dual-redundancy digital signals to the controller; the tilt angle sensor is used for measuring the tilt angles of the mobile aerial work platform in the horizontal direction and the vertical direction to obtain tilt angle data and inputting the tilt angle data into the controller; and the controller judges whether the current load of the mobile aerial work platform is within an allowable rated load range or not according to the range of the multi-path dual-redundancy digital signals, so that the real-time load capacity or a fault code of the mobile aerial work platform is displayed through the display. The safety performance of the movable aerial work platform is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial work platforms, in particular to a four-point weighing control method and weighing system for a mobile aerial work platform. Background Art

[0002] With the rapid evolution of mobile aerial work platforms towards electrification, intelligence, and networking, users' demands for the safety, reliability, and intelligence of equipment are increasing day by day. As a core functional module of mobile aerial work platforms, the weighing system directly affects the overload protection, stability control, and operation efficiency of the equipment. However, traditional oil pressure weighing systems are limited by dynamic pressure fluctuations, temperature drift, off-load errors, etc., and it is difficult to meet the requirements of high precision and high reliability. Summary of the Invention

[0003] The purpose of the present invention is to provide a four-point weighing control method and weighing system for a mobile aerial work platform. By judging whether the self-check of each weighing sensor is qualified through the digital signals of heavy objects obtained by a multi-channel dual-redundancy signal pin sensor, and then obtaining the real-time load of the heavy object through the analysis of the force angle, the safety performance of the mobile aerial work platform is improved. The present invention is realized through the following technical solutions.

[0004] In a first aspect, the present invention provides a four-point weighing control method for a mobile aerial work platform, including: Obtaining a weighing signal from a dual-redundancy pin sensor; wherein, dual-redundancy pin sensors are provided at each support point of the platform; Obtaining the inclination angles of the actual force F of the dual-redundancy pin sensor in the horizontal and vertical directions from an inclination sensor; In response to determining that the current real-time load is within the rated load range through the weighing signal, calculating the real-time load of the mobile aerial work platform according to the inclination angle.

[0005] Optionally, the process of judging whether the current real-time load is within the rated load range through the weighing signal includes, For each dual-redundancy pin sensor, calculating the sum value of the two-way weighing signals; Detecting the dual-redundancy pin sensor according to the sum value of the dual-redundancy pin sensor and each weighing signal; If all dual-redundancy pin sensors pass the detection, it is determined that the current real-time load is within the rated load range.

[0006] Optionally, detecting the dual-redundancy pin sensor according to the sum value of the dual-redundancy pin sensor and each weighing signal includes: Traversing all dual-redundancy pin sensors. If the sum value of the dual-redundancy pin sensor does not exceed the threshold and each weighing signal is within the preset range, it is determined that the dual-redundancy pin sensor passes the detection.

[0007] In the present invention, the sum value threshold of each pair of redundant digital signal weighing signals is 24 mA; the range value of each redundant digital signal weighing signal in each pair of redundant digital signal weighing signals is in the range of 4 mA - 20 mA.

[0008] Optionally, if the number of pairs of redundant pin shaft sensors that fail the detection is greater than or equal to the threshold, a first warning is sent to the interaction side; if the number of pairs of redundant pin shaft sensors that fail the detection is less than the threshold, a second warning and the fault code of the pairs of redundant pin shaft sensors that fail the detection are sent to the interaction side, and the rated load of the mobile aerial work platform is adjusted to 80% of the rated load when no failure occurs; Among them, the first warning is that the display shows an alarm prompt and restricts the actions of the mobile aerial work platform; the second warning is a triggered warning and the display shows an alarm prompt.

[0009] In the present invention, the above-mentioned threshold is 2, that is, when two or more pairs of redundant pin shaft sensors fail the detection, the mobile aerial work platform restricts its actions.

[0010] Optionally, calculating the real-time load of the mobile aerial work platform according to the tilt angle includes: calculating the force F1 exerted by the mobile aerial work platform in the vertical direction according to the tilt angle, and then converting the force F1 into a current value to obtain the real-time load of the mobile aerial work platform.

[0011] Optionally, converting the force F1 into a current value to obtain the real-time load of the mobile aerial work platform includes: the pair of redundant CAN signal pin shaft sensors convert the force value F1 into a current value and transmit the current value to the controller, and the controller calculates the actual load of the mobile aerial work platform according to the range relationship calculation formula corresponding to the current value.

[0012] In the present invention, the current value range for converting the force value into a current value is in the range of 4 mA - 20 mA. In practical applications, there is a range relationship calculation formula between the current value in this range and its corresponding weight value. According to this range relationship calculation formula, the actual load of the mobile aerial work platform can be obtained. For example, if the application scenario is to find the load of a trolley, the load corresponding to the current range of 4 mA - 20 mA is in the range of 0 - 100 kg, that is, for any current value within the range of 4 mA - 20 mA, there is its corresponding load in kilograms, and the range is 0 - 100 kg. In other embodiments, if other types of sensors are used, the force value can be converted into a voltage value or a resistance value.

[0013] Optionally, the inclination data includes the inclination angle α of the actual force F of the dual-redundancy CAN signal pin shaft sensor in the direction perpendicular to the plane where the dual-redundancy CAN signal pin shaft sensor is located, and the angle β between the mobile aerial work platform and the ground. Among them, the allowable inclination angle range of the mobile aerial work platform in the horizontal direction is ±15°.

[0014] Optionally, the force F1 of the mobile aerial work platform in the vertical direction is calculated according to the inclination angle by the following formula: F1 = F * cos(α - β), In the formula, when the angle α is in the range of 0 - 45°, the vertical force compensation coefficient of F1 varies within the range of 1 to 0.5.

[0015] In a second aspect, the present invention provides a four-point weighing system for a mobile aerial work platform, which is characterized by including: a controller, a plurality of dual-redundancy CAN signal pin shaft sensors, and an inclination sensor; The plurality of dual-redundancy CAN signal pin shaft sensors are installed at multiple support points of the mobile aerial work platform to obtain dual-redundancy digital signal weighing signals; The inclination sensor is installed at the chassis of the mobile aerial work platform to obtain the inclination angles of the mobile aerial work platform in the horizontal and vertical directions; The controller uses the four-point weighing control method for the mobile aerial work platform as described in the first aspect to perform weighing calculations.

[0016] In a third aspect, the present invention provides a computer-readable storage medium, on which a computer program / instructions are stored. When the computer program / instructions are executed by a processor, the steps of the four-point weighing control method for the mobile aerial work platform as described in the first aspect are implemented. Beneficial effects

[0017] (1) By respectively installing dual-redundancy CAN signal pin shaft sensors at the four support points of the mobile aerial work platform, the uniform distribution of the dual-redundancy CAN signal pin shaft sensors can sense the multi-dimensional force distribution of the heavy object and eliminate the offloading error. That is, when the heavy object is not at the center of gravity position of the mobile aerial work platform, the real-time load of the mobile aerial work platform can also be measured in combination with the inclination data, overcoming the problem that the oil pressure weighing sensor in the prior art is affected by the offloading error.

[0018] (2) By using dual-redundant CAN signal pin sensors and inclination sensors to obtain data and control and process the data, the present invention overcomes the problem in the prior art that the oil pressure weighing sensor needs to measure the oil pressure of the lifting cylinder and is affected by temperature. In addition, the intelligent protection designed by the present invention can realize that when a dual-redundant CAN signal pin sensor fails in one path, the mobile aerial work platform will only give a warning and can still continue to work, improving the work efficiency.

[0019] (3) By cross-checking the superposition value of each dual-redundant digital signal and the range value of each redundant digital signal in each dual-redundant digital signal designed by the present invention, the pin sensor with a fault can be quickly identified according to the cross-check result, improving the maintenance efficiency of the staff. Brief Description of the Drawings

[0020] Figure 1 The figure shows a schematic flow chart of the control method for the four-point weighing system of the mobile aerial work platform in an embodiment of the present invention; Figure 2 The figure shows a schematic diagram of the force loading of the dual-redundant CAN signal pin sensor when the mobile aerial work platform does not tilt; Figure 3 The figure shows a schematic diagram of the force loading of the dual-redundant CAN signal pin sensor when the mobile aerial work platform tilts. Detailed Embodiment

[0021] The following is further described in conjunction with the drawings and specific embodiments. In the description of the present invention, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. Embodiment

[0022] This embodiment introduces a four-point weighing control method for a mobile aerial work platform, which is characterized by including: Obtaining weighing signals from dual-redundant pin sensors; wherein, dual-redundant pin sensors are provided at each support point of the platform; Obtaining the inclination angles of the actual force F of the dual-redundant pin sensor in the horizontal and vertical directions from the inclination sensor; In response to judging that the current real-time load is within the rated load range through the weighing signal, calculating the real-time load of the mobile aerial work platform according to the inclination angle.

[0023] In this embodiment, four-way dual-redundant pin sensors are designed and distributed at the four support points of the mobile aerial work platform. These four-way dual-redundant pin sensors are respectively named id1, id2, id3, and id4 on the bus. Embodiment

[0024] Based on Embodiment 1, this embodiment introduces the specific implementation process of a four-point weighing control method for a mobile aerial work platform, as Figure 1 shown, which specifically includes the following content: Step 1: The controller performs self-check on the received multi-way dual-redundant digital signals to obtain the self-check results; if the self-check results of each multi-way dual-redundant digital signal are qualified, proceed to Step 2; if the number of unqualified self-check results of the dual-redundant digital signals is greater than or equal to 2, proceed to Step 3, otherwise proceed to Step 4; Step 2: The controller performs cyclic self-check, calculates the force based on the inclination data, thereby calculates the real-time load of the mobile aerial work platform, and transmits the real-time load to the display for displaying the real-time load, and ends; Step 3: Trigger an alarm, the display shows an alarm prompt, restrict the actions of the mobile aerial work platform, and end; Step 4: Trigger an alarm, the display shows an alarm prompt, and proceed to Step 5; Step 5: The controller identifies the unqualified dual-redundant pin sensors according to the self-check results, sends an unqualified instruction to the display, and displays the fault codes of the unqualified dual-redundant pin sensors to identify the specific unqualified dual-redundant pin sensors, and proceed to Step 6; Step 6: The load of the mobile aerial work platform is automatically adjusted to 80% of the rated load, the controller performs cyclic self-check, and the mobile aerial work platform operates normally, and proceed to Step 7; Step 7: The controller calculates the actual load of the mobile aerial work platform based on the force and transmits it to the display for displaying the actual load of the mobile aerial work platform, and ends.

[0025] In this embodiment, the fault types that occur in the dual-redundant pin sensors include: id1 redundancy fault, id1 short circuit fault, id1 open circuit fault, id1 overload fault, id1 partial load warning, id1 horizontal extrusion and other faults; id2 redundancy fault, id2 short circuit fault, id2 open circuit fault, dual id2 overload fault, dual id2 partial load warning, id2 horizontal extrusion and other faults; id3 redundancy fault, id3 short circuit fault, id3 open circuit fault, id3 overload fault, id3 partial load warning, id3 horizontal extrusion and other faults; id4 redundancy fault, id4 short circuit fault, id4 open circuit fault, id4 overload fault, id4 partial load warning, id4 horizontal extrusion and other faults.

[0026] In step 1, the controller performs self-check on the received multi-channel dual-redundant digital signal weighing signals, including: mutually checking the superimposed value of each channel of dual-redundant digital signal weighing signals and the range value of each redundant digital signal weighing signal in each channel of dual-redundant digital signal weighing signals. The mutual check on the superimposed value of each channel of dual-redundant digital signal weighing signals includes: the superimposed value of each channel of dual-redundant digital signal weighing signals shall not exceed 24 mA; the mutual check on the range value of each redundant digital signal weighing signal in each channel of dual-redundant digital signal weighing signals includes: the range value of each redundant digital signal weighing signal is within the range of 4 mA - 20 mA.

[0027] In this embodiment, the dual-redundant digital signal weighing signals measured by id1 include id11 and id12, the dual-redundant digital signal weighing signals measured by id2 include id21 and id22, the dual-redundant digital signal weighing signals measured by id3 include id31 and id32, and the dual-redundant digital signal weighing signals measured by id4 include id41 and id42. The process of self-check is to first judge the range of each dual-redundant digital signal weighing signal id11 - id42 to check whether they are all within the range of 4 mA - 20 mA; then check that the superimposed values of each pair of signals, namely the values of id11 + id12, id21 + id22, id31 + id32, and id41 + id42, do not exceed 24 mA.

[0028] In step 2, the inclination data includes the inclination angle α of the actual force F of the dual-redundant pin shaft sensor in the direction perpendicular to the plane where the dual-redundant pin shaft sensor is located and the angle β between the mobile aerial work platform and the ground. Among them, the allowable inclination angle range of the mobile aerial work platform in the horizontal direction is ±15°. In this embodiment, the allowable inclination angle of the mobile aerial work platform in the vertical direction is also ±15°.

[0029] In step 2, the controller calculates the force according to the inclination data, including calculating F1 and F2 through the following formulas: F1 = F * cos(α - β), F2 = F * sin(α - β), In the formula, F1 is the extrusion force of the mobile aerial work platform on the dual-redundant pin shaft sensor in the vertical direction, F2 is the extrusion force of the mobile aerial work platform on the dual-redundant pin shaft sensor in the horizontal direction. When the α angle is in the range of 0 - 45°, the vertical force compensation coefficient of F1 varies within the range of 1 to 0.5, and the horizontal force compensation coefficient of F2 varies within the range of 0 to 0.5; When the controller determines that F1 is greater than 1 / 2F, F1 > F2, and the mobile aerial work platform operates normally; when the controller determines that F1 is greater than 1 / 2F, F approaches F1. In practical applications, the closer F is to F1, the better the working effect of the mobile aerial work platform. The ideal state is F2 = 0 and F1 = F, indicating that the mobile aerial work platform is not tilted at this time.

[0030] When the controller determines that the force F1 is less than 1 / 2 of the force F, F2 > F1, and the dual-redundant CAN signal pin sensor reports a sensor horizontal extrusion fault anomaly.

[0031] Figure 2 It is a schematic diagram of the forces on the dual-redundant pin sensor when the mobile aerial work platform of this embodiment does not tilt, that is, the mobile aerial work platform is horizontal with the ground G at this time. Figure 3 It is a schematic diagram of the force loading on the dual-redundant pin sensor when the mobile aerial work platform of this embodiment tilts, that is, the mobile aerial work platform tilts with the ground G at this time.

[0032] Figure 2 Figure 3 Among them, F is the actual force on the dual-redundant pin sensor. In practical applications, combined with Figure 2 and Figure 3 it can be seen that F is an oblique force. α is the angle between F1 and F, representing the inclination angle of F in the direction perpendicular to the plane where the mobile aerial work platform is located; β is the angle between F2 and the ground G, representing the inclination angle of F in the horizontal direction of the plane where the mobile aerial work platform is located. The ideal state in practical applications is F1 = F and F2 = 0. Because the horizontal pressure will interfere with the measurement results of the dual-redundant pin sensor, the smaller F2 is, the better. In addition, after calculating the forces F1, F2, α, and β, the force direction of the mobile aerial work platform can be obtained, which is convenient for understanding the actual state of the mobile aerial work platform.

[0033] In steps 5 and 6, this embodiment designs an intelligent fault tolerance mechanism, that is, when only one path of the dual-redundant pin sensor fails, the mobile aerial work platform will only issue a warning, the load capacity will be automatically adjusted to 80% of the rated load, and the three-point weighing mode will be automatically switched, and it can still continue to work.

[0034] At the same time, the mobile aerial work platform can determine which dual-redundant pin sensor has failed according to the self-check result, lock the offload direction, and thus determine the fault point, which is convenient for the staff to repair in time and improves the repair efficiency.

[0035] In step 7, the controller calculates the actual load weight of the mobile aerial work platform based on the force, including: the dual-redundancy pin sensor converts the force value F1 into a signal type change value of 4-20 mA, and transmits the signal type value to the controller, and the controller calculates the actual load weight of the mobile aerial work platform according to the signal-range relationship calculation formula.

[0036] The dual-redundancy pin sensor designed by the present invention can sense the multi-dimensional force distribution of heavy objects and eliminate the off-load error. When the heavy object is not at the center of gravity position of the mobile aerial work platform, it can also measure the real-time load weight of the heavy object in combination with the inclination data, and the overall weighing accuracy deviation can be controlled within 5%. Embodiment

[0037] This embodiment introduces a four-point weighing system for a mobile aerial work platform. The four-point weighing system for a mobile aerial work platform is characterized by including: a controller, a plurality of dual-redundancy pin sensors, and an inclination sensor; The plurality of dual-redundancy pin sensors are installed at a plurality of support points of the mobile aerial work platform to obtain dual-redundancy digital signal weighing signals; Where is the inclination sensor installed to obtain the inclination angles of the mobile aerial work platform in the horizontal and vertical directions, The controller adopts the four-point weighing control method for the mobile aerial work platform as described in Embodiment 1 or 2 to perform weighing calculations. Embodiment

[0038] This embodiment introduces a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the four-point weighing control method for the mobile aerial work platform as described in Embodiment 1 or 2 are implemented.

[0039] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0040] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in one block or multiple blocks.

[0041] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in one block or multiple blocks.

[0042] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in one block or multiple blocks.

[0043] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the present invention and the claims. All of these fall within the protection scope of the present invention.

Claims

1. A four-point weighing control method for a mobile aerial work platform, characterized in that Including: Obtaining weighing signals from dual-redundancy pin shaft sensors; wherein, dual-redundancy pin shaft sensors are arranged at each support point of the platform; Obtaining the tilting angles of the actual force F of the dual-redundancy pin shaft sensors in the horizontal and vertical directions from an inclination sensor; In response to determining that the current real-time load is within the rated load range based on the weighing signal, calculating the real-time load of the mobile aerial work platform according to the tilting angle.

2. The four-point weighing control method for a mobile aerial work platform according to claim 1, characterized in that, The process of determining whether the current real-time load is within the rated load range through the weighing signal includes For each dual-redundancy pin shaft sensor, calculating the sum value of the two-way weighing signals; Detecting the dual-redundancy pin shaft sensors according to the sum value of the dual-redundancy pin shaft sensors and each weighing signal; If all dual-redundancy pin shaft sensors pass the detection, it is determined that the current real-time load is within the rated load range.

3. The four-point weighing control method for the mobile aerial work platform according to claim 2, wherein, Detecting the dual-redundancy pin shaft sensors according to the sum value of the dual-redundancy pin shaft sensors and each weighing signal includes: Traversing all dual-redundancy pin shaft sensors, if the sum value of the dual-redundancy pin shaft sensor does not exceed the threshold and each weighing signal is within the preset range, it is determined that the dual-redundancy pin shaft sensor passes the detection.

4. The four-point weighing control method of the mobile aerial work platform according to claim 3, characterized in that, If the number of dual-redundancy pin shaft sensors that fail to pass the detection is greater than or equal to the threshold, a first warning is sent to the interaction side; If the number of dual-redundancy pin shaft sensors that fail to pass the detection is less than the threshold, a second warning and the fault code of the dual-redundancy pin shaft sensor that fails to pass the detection are sent to the interaction side, and the rated load of the mobile aerial work platform is adjusted to 80% of the rated load when no fault occurs; Wherein, the first warning is that the display shows an alarm prompt and restricts the actions of the mobile aerial work platform; the second warning is a triggered warning and the display shows an alarm prompt.

5. The four-point weighing control method for the mobile aerial work platform according to claim 1, characterized in that, Calculating the real-time load of the mobile aerial work platform according to the tilting angle includes: calculating the force F1 in the vertical direction of the mobile aerial work platform according to the tilting angle, and then converting the force F1 into a current value to obtain the real-time load of the mobile aerial work platform.

6. The control method of the four-point weighing system for a mobile aerial work platform according to claim 5, characterized in that, Converting the force F1 into a current value to obtain the real-time load of the mobile aerial work platform includes: the dual-redundancy CAN signal pin shaft sensor converts the force value F1 into a current value and transmits the current value to the controller, and the controller calculates the actual load of the mobile aerial work platform according to the range relationship calculation formula corresponding to the current value.

7. The control method of the four-point weighing system for a mobile aerial work platform according to claim 5, characterized in that, The inclination data includes the inclination angle α of the actual force F of the dual-redundancy CAN signal pin shaft sensor in the direction perpendicular to the plane where the dual-redundancy CAN signal pin shaft sensor is located and the angle β between the mobile aerial work platform and the ground. Among them, the allowable tilting angle range of the tilting angle β of the mobile aerial work platform in the horizontal direction is ±15°.

8. The control method of the four-point weighing system of the mobile aerial work platform according to claim 6, characterized in that, Calculating the force F1 in the vertical direction of the mobile aerial work platform according to the tilting angle through the following formula: F1 = F * cos(α - β), In the formula, when the angle α is in the range of 0 - 45°, the vertical force compensation coefficient of F1 varies within the range of 1 to 0.

5.

9. A four-point weighing system for a mobile aerial work platform, characterized in that, Including: A controller, multiple dual-redundancy CAN signal pin shaft sensors, and an inclination sensor; The multiple dual-redundant CAN signal pin shaft sensors are installed at multiple support points of the mobile aerial work platform to obtain dual-redundant digital signal weighing signals; The tilt sensor is installed at the chassis of the mobile aerial work platform to obtain the tilt angles of the mobile aerial work platform in the horizontal and vertical directions; The controller performs weighing calculations by using the four-point weighing control method for the mobile aerial work platform according to any one of claims 1 to 8.

10. A computer-readable storage medium having computer programs / instructions stored thereon, characterized in that, When the computer program / instructions are executed by a processor, the steps of the four-point weighing control method for the mobile aerial work platform according to any one of claims 1 to 8 are implemented.

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