Overhead working truck overturning situation early warning method and system

Abstract

The invention discloses an overhead working truck overturning situation early warning method and system, and the method comprises the steps: solving the total torque of a plurality of parts of an overhead working truck, the load in the vertical direction, and the horizontal and vertical distance of the connecting line of the end points of two adjacent supporting legs, thereby obtaining the reaction force of each supporting leg; if the supporting reaction force of each supporting leg is greater than the negative pressure adsorption force provided by the sucking disc at the bottom of the corresponding supporting leg, the overhead working truck does not overturn; on the contrary, if the overturning situation occurs or the risk of overturning occurs, the overhead working truck stops moving; the overhead working truck overturning situation early warning method further comprises the steps that the included angles formed by the terminal points of the two adjacent supporting legs of the overhead working truck and the connecting line of the whole mass center during operation of the overhead working truck are calculated, and if the sum of the included angles is equal to 360 degrees, the overhead working truck does not overturn; on the contrary, if the overturning situation occurs or the risk of overturning occurs, the overhead working truck stops moving. The accuracy of judging whether the overhead working truck is overturned or not can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aerial work equipment, in particular to a high-altitude work vehicle overturning situation early warning method and system. BACKGROUND

[0002] High-altitude work vehicles are widely used in the fields of construction, power and the like, and compared with traditional scaffolds, can reduce the risk of manual climbing and adapt to special environments such as narrow spaces. Although the existing high-altitude work vehicles monitor data through integrated sensors, there is still a lack of intelligence.

[0003] At present, the high-altitude work vehicle safety monitoring system still has technical gaps in engineering technology, mainly in the functional limitations of the safety monitoring system, real-time monitoring defects, and remote interaction problems. The existing technology related to high-altitude work vehicles has problems such as not establishing a multi-parameter coupled stability evaluation model, the real-time data acquisition does not meet the safety control requirements, and there is a lack of visual early warning mechanism. These problems will lead to the inability of high-altitude work vehicles to achieve preventive safety control, low efficiency of remote collaborative work, and difficulty in ensuring the reliability of the overall overturning situation early warning system. SUMMARY

[0004] The purpose of the present application is to provide a high-altitude work vehicle overturning situation early warning method and system, which acquires important operating state information of each execution component of the high-altitude work vehicle in real time, judges whether the high-altitude work vehicle has an overturning situation or has a risk of overturning, and brakes urgently when the situation is abnormal, thereby improving the safety and reliability during operation. The present application is realized by the following technical solutions.

[0005] In a first aspect, the present application provides a high-altitude work vehicle overturning situation early warning method, comprising the following steps:

[0006] A high-altitude work vehicle structure stress model is constructed based on the stress coordinates of each component of the high-altitude work vehicle, the total moment of a plurality of components of the high-altitude work vehicle, the load in the vertical direction, the horizontal and vertical distance of the connecting line of the two adjacent leg ends, and the angle formed by the connecting line of the two adjacent leg ends of the high-altitude work vehicle and the overall center of mass during operation of the high-altitude work vehicle are solved based on the high-altitude work vehicle structure stress model;

[0007] Each leg support reaction force is obtained based on the total moment of the plurality of components of the high-altitude work vehicle, the load in the vertical direction, and the horizontal and vertical distance of the connecting line of the two adjacent leg ends;

[0008] If each leg support reaction force is greater than the negative pressure adsorption force that can be provided by the corresponding leg bottom suction cup, the high-altitude work vehicle does not have an overturning situation; otherwise, the high-altitude work vehicle has an overturning situation or has a risk of overturning, and the high-altitude work vehicle stops moving;

[0009] If the sum of the angles is equal to 360 degrees, the aerial work platform does not have a risk of overturning; otherwise, the aerial work platform has a risk of overturning or has an overturning situation, and the aerial work platform stops moving.

[0010] Optionally, the expression of the reaction force of each supporting leg being greater than the negative pressure adsorption force provided by the corresponding supporting leg bottom suction cup is as follows:

[0011] ,

[0012] In the formula, are reaction forces of four supporting legs of the aerial work platform, the four supporting legs of the aerial work platform are supporting leg AE, supporting leg BF, supporting leg CG and supporting leg DH respectively, is a load of the aerial work platform in the vertical direction, 1, n2 are eccentricity ratios of the side of the supporting leg AE and the side of the supporting leg BF and the side of the supporting leg CG and the side of the supporting leg DH at point O, point O being a contact point of a center of a turntable of the aerial work platform and the ground, is a total moment of the load of the aerial work platform and the plurality of components, is an angle of rotation of the turntable of the aerial work platform in the horizontal plane, are pressures provided by negative pressure suction cups at bottoms of the supporting legs of the aerial work platform respectively, is an area of the negative pressure suction cup at the bottom of each supporting leg of the aerial work platform, is a distance of a line connecting point F and point E in the horizontal direction, point E being an end point of the supporting leg AE and point F being an end point of the supporting leg BF, is a distance of a line connecting point H and point G in the horizontal direction, point H being an end point of the supporting leg DH and point G being an end point of the supporting leg CG, is a distance of a line connecting point E and point G in the vertical direction, is a distance of a line connecting point F and point H in the vertical direction.

[0013] Optionally, the load of the aerial work platform in the vertical direction is obtained by the following formula:

[0014] ,

[0015] In the formula, is a load of the aerial work platform, are masses of a work platform, a boom, a sleeve and a counterweight and a chassis of the aerial work platform respectively, is a gravitational acceleration.

[0016] Optionally, the total moment of the load of the aerial work platform and the plurality of components is obtained by the following formula:

[0017] ,

[0018] wherein, is the load, work platform, boom, sleeve and counterweight and chassis serial number of the aerial work platform, is the load, work platform, boom, sleeve and counterweight and manual operating force serial number of the aerial work platform, is the moment generated by the load, work platform, boom, sleeve and counterweight and chassis of the aerial work platform in the horizontal direction, is the moment generated by the load, work platform, boom, sleeve and counterweight and manual operating force of the aerial work platform in the vertical direction, and is calculated by the following formula respectively:

[0019] ,

[0020] ,

[0021] wherein, is the horizontal coordinate of the center of mass of the load, work platform, boom, sleeve and counterweight and chassis of the aerial work platform relative to the center of the rotary table of the aerial work platform, is the horizontal wind load of the load, work platform, boom, sleeve and counterweight of the aerial work platform and the manual operating force, is the vertical coordinate of the action point of the center of mass of the load, work platform, boom, sleeve of the aerial work platform and the manual operating force in the vertical plane. The action point of the manual operating force is located on the work platform and slightly lower than the center of mass of the load of the aerial work platform.

[0022] Optionally, the eccentricity ratio of the point O is , is calculated by the following formula respectively:

[0023] ,

[0024] ,

[0025] wherein, represents the vertical distance from the line connecting the point O and the point E to the point O, represents the vertical distance from the line connecting the point O and the point G to the point O, is the horizontal distance of the line connecting the point F and the point E, is the horizontal distance of the line connecting the point H and the point G, and is calculated by the following formula respectively:

[0026] ,

[0027] ,

[0028] ,

[0029] ,

[0030] wherein, is the length of the chassis of the aerial work platform, 1、 2、 3、 4 are the lengths of the legs AE, BF, CG, DH respectively, is the angle between the leg AE and the horizontal direction, is the angle between the leg BF and the horizontal direction, is the angle between the leg CG and the horizontal direction, is the angle between the leg DH and the horizontal direction.

[0031] The distance between the point E and the point G in the vertical direction is obtained by the following formula:

[0032] ,

[0033] The distance between the point F and the point H in the vertical direction is obtained by the following formula:

[0034] ,

[0035] wherein, L AC is the width of the chassis of the aerial work platform.

[0036] Optionally, the angles between the two adjacent leg end points of the aerial work platform and the overall center of mass of the aerial work platform in operation respectively include a first angle, a second angle, a third angle and a fourth angle; wherein the first angle is ∠EO’F, the second angle is ∠FO’H, the third angle is ∠HO’G, and the fourth angle is ∠GO’E, and the point O’ is the overall center of mass of the aerial work platform in operation;

[0037] The angles between the two adjacent leg end points of the aerial work platform and the overall center of mass O’ of the aerial work platform in operation are obtained by the following formula:

[0038] ,

[0039] wherein, is the angle between the two adjacent leg end points of the aerial work platform and the overall center of mass O’ of the aerial work platform in operation, is the angle number, and the value range is 1-4, representing the first angle to the fourth angle respectively; , and respectively represent the lengths of three sides of a triangle formed by the adjacent outrigger ends of the aerial work platform truck and the overall center of mass O' of the aerial work platform truck when the aerial work platform truck is running, and are respectively calculated by the following formulas:

[0040] ,

[0041] ,

[0042] ,

[0043] ,

[0044] In the formula, is the total equivalent mass of the load, the working platform, the boom, the sleeve, the counterweight and the chassis of the aerial work platform truck in the vertical plane, is the horizontal coordinate of the center of mass of the total equivalent mass relative to the center of the rotary table of the aerial work platform truck, is the vertical coordinate of the center of mass of the total equivalent mass relative to the center of the chassis of the aerial work platform truck, is the horizontal coordinate of the center of mass of the chassis after adjusting each outrigger so that the chassis of the aerial work platform truck is horizontal, is the vertical coordinate of the center of mass of the chassis after adjusting each outrigger so that the chassis of the aerial work platform truck is horizontal.

[0045] In a second aspect, the present application provides an aerial work platform truck overturning situation early warning system, comprising an information acquisition module, an anti-overturning judgment module and an emergency control module connected in sequence;

[0046] The information acquisition module is used to acquire information of multiple components of the aerial work platform truck in real time, and input the information of the multiple components to the anti-overturning judgment module and the remote monitoring module,

[0047] The anti-overturning judgment module judges the running state of the aerial work platform truck by using the information of the multiple components of the aerial work platform truck, and adopts the aerial work platform truck overturning situation early warning method provided in the first aspect. If an overturning situation occurs or there is a risk of overturning, an emergency braking instruction is sent to the emergency control module, and the emergency control module controls the aerial work platform truck to stop moving after receiving the emergency braking instruction.

[0048] Optionally, the aerial work platform truck overturning situation early warning system further comprises a remote monitoring module connected with the information acquisition module and the emergency control module;

[0049] The information acquisition module is configured to input information of a plurality of components of the aerial work platform collected in real time to the remote monitoring module, the remote monitoring module is configured to store the information of the plurality of components of the aerial work platform input from the information acquisition module and monitor the running condition of the aerial work platform based on the information of the plurality of components of the aerial work platform, and when an abnormal condition of the aerial work platform occurs, an instruction is sent to the emergency control module, so that the emergency control module performs emergency braking.

[0050] Optionally, the information acquisition module comprises a supporting leg state acquisition unit, a sleeve state acquisition unit, a jib pose acquisition unit and a turret angle acquisition unit which are independently arranged.

[0051] The supporting leg state acquisition unit is configured to acquire the extending length and rotating angle of the supporting leg of the aerial work platform, the sleeve state acquisition unit is configured to acquire the lifting height of the sleeve in the vertical direction, the jib pose acquisition unit is configured to acquire the data information of the jib cylinder, including the extending length and rotating angle of the jib cylinder, and the turret angle acquisition unit is configured to acquire the rotating angle of the turret during the running of the aerial work platform.

[0052] The anti-overturning judgment module comprises an information processing unit, an information display unit, an audible and light alarm unit and an information communication unit which are sequentially connected.

[0053] The information processing unit receives the information collected by the information acquisition module to obtain a processing result, and inputs the processing result to the information display unit for display, the processing result is that the aerial work platform is in normal running, in an overturning situation or at risk of overturning, the audible and light alarm unit determines whether to alarm according to the display result of the information display unit, and if the display result is that the aerial work platform is in an overturning situation or at risk of overturning, an alarm is given, and the information communication unit transmits the alarm information to the emergency control module.

[0054] The emergency control module comprises a supporting leg running unit, a sleeve running unit, a jib running unit and an emergency braking control unit connected with the supporting leg running unit, the sleeve running unit and the jib running unit, the emergency braking control unit receives the alarm information transmitted from the information communication unit to control the supporting leg running unit, the sleeve running unit and the jib running unit to perform emergency braking on the supporting leg, the sleeve and the jib of the aerial work platform, so as to control the aerial work platform to stop running.

[0055] The remote monitoring module comprises a man-machine interaction unit and an information storage unit which are independently arranged, an operator controls the running and stopping of the aerial work platform through the man-machine interaction unit, and the information storage unit is configured to store the information of the plurality of components of the aerial work platform input from the information acquisition module.

[0056] Compared with the prior art, the present application has the following beneficial effects:

[0057] The present application provides a high-altitude operation vehicle overturning situation early warning method, which compares the support reaction force of the outrigger of the high-altitude operation vehicle with the negative pressure adsorption force provided by the corresponding outrigger bottom suction cup, and calculates the included angle formed by the connection line of the two outrigger endpoints of the high-altitude operation vehicle and the overall centroid of the high-altitude operation vehicle during operation, to determine whether the high-altitude operation vehicle has an overturning situation or has a risk of overturning, integrates the torque calculation and the dynamic influence of wind load, and thus improves the working condition adaptability judgment accuracy of the high-altitude operation vehicle.

[0058] The present application provides a high-altitude operation vehicle overturning situation early warning system, which can obtain the operation information of each key component of the high-altitude operation vehicle in real time, centrally displays and calculates the collected information, compares with the safety condition to determine whether the high-altitude operation vehicle is safe, and thus performs sound and light alarm or emergency control, improves the operation reliability of the vehicle, and further improves the safety of the vehicle operation. BRIEF DESCRIPTION OF DRAWINGS

[0059] Figure 1 The present application provides a high-altitude operation vehicle overturning situation early warning method, which compares the support reaction force of the outrigger of the high-altitude operation vehicle with the negative pressure adsorption force provided by the corresponding outrigger bottom suction cup, and calculates the included angle formed by the connection line of the two outrigger endpoints of the high-altitude operation vehicle and the overall centroid of the high-altitude operation vehicle during operation, to determine whether the high-altitude operation vehicle has an overturning situation or has a risk of overturning, integrates the torque calculation and the dynamic influence of wind load, and thus improves the working condition adaptability judgment accuracy of the high-altitude operation vehicle.

[0060] Figure 2 The present application provides a high-altitude operation vehicle overturning situation early warning system, which can obtain the operation information of each key component of the high-altitude operation vehicle in real time, centrally displays and calculates the collected information, compares with the safety condition to determine whether the high-altitude operation vehicle is safe, and thus performs sound and light alarm or emergency control, improves the operation reliability of the vehicle, and further improves the safety of the vehicle operation.

[0061] Figure 3 The present application provides a high-altitude operation vehicle overturning situation early warning system, which can obtain the operation information of each key component of the high-altitude operation vehicle in real time, centrally displays and calculates the collected information, compares with the safety condition to determine whether the high-altitude operation vehicle is safe, and thus performs sound and light alarm or emergency control, improves the operation reliability of the vehicle, and further improves the safety of the vehicle operation.

[0062] Figure 4 The present application provides a high-altitude operation vehicle overturning situation early warning system, which can obtain the operation information of each key component of the high-altitude operation vehicle in real time, centrally displays and calculates the collected information, compares with the safety condition to determine whether the high-altitude operation vehicle is safe, and thus performs sound and light alarm or emergency control, improves the operation reliability of the vehicle, and further improves the safety of the vehicle operation.

[0063] Figure 5 The present application provides a high-altitude operation vehicle overturning situation early warning system, which can obtain the operation information of each key component of the high-altitude operation vehicle in real time, centrally displays and calculates the collected information, compares with the safety condition to determine whether the high-altitude operation vehicle is safe, and thus performs sound and light alarm or emergency control, improves the operation reliability of the vehicle, and further improves the safety of the vehicle operation. DETAILED DESCRIPTION

[0064] The following will be further described in combination with the drawings and specific embodiments. In the description of the present application, it should be understood that the terms "first", "second" and the like are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more of the features.

[0065] Example 1

[0066] This embodiment provides a method for early warning of the overturning situation of an aerial work platform vehicle, such as... Figure 1 As shown, it includes the following steps:

[0067] Based on the force coordinates of each component of the aerial work platform, a structural force model of the aerial work platform is constructed. Based on the structural force model of the aerial work platform, the total torque of multiple components of the aerial work platform, the load in the vertical direction, the horizontal and vertical distances of the line connecting the endpoints of two adjacent outriggers, and the angles formed by the line connecting the endpoints of two adjacent outriggers of the aerial work platform with the overall center of mass of the aerial work platform during operation are calculated.

[0068] The reaction force of each outrigger is obtained based on the total torque of multiple components of the aerial work platform, the load in the vertical direction, and the horizontal and vertical distance between the ends of two adjacent outriggers.

[0069] If the reaction force of each outrigger is greater than the negative pressure suction force that the suction cup at the bottom of the corresponding outrigger can provide, the aerial work platform will not tip over; otherwise, if the aerial work platform tip over or there is a risk of tipping over, the aerial work platform will stop moving.

[0070] Determine if the sum of all included angles equals 360 degrees. If it does, the aerial work platform will not overturn; otherwise, the aerial work platform is in the process of overturning or is at risk of overturning, and the aerial work platform should be stopped.

[0071] Example 2

[0072] Based on Example 1, this example describes the specific implementation process of a method for early warning of overturning situations of aerial work vehicles, which includes the following:

[0073] In one specific embodiment of the present invention, it is assumed that all components on the aerial work platform are rigid and will not deform under stress. For example... Figure 3 The diagram shown is a force analysis diagram of an aerial work platform vehicle. The turntable and chassis are simplified as a slewing bearing, which allows rotation around the Z-axis; the sleeve is simplified as a sliding pair, which only allows sliding along its axial direction; the connection between the boom and the sleeve is simplified as a hinged connection; and the outriggers are simplified as ground supports, providing upward support force. Figure 3 In this diagram, G0 represents the load capacity of the aerial work platform, G1 represents the weight of the work platform, G2 represents the weight of the boom, G3 represents the weight of the casing and counterweight, G4 represents the weight of the chassis, F0 represents the horizontal wind load on the load, F1 represents the wind load on the work platform, F2 represents the wind load on the boom, F3 represents the wind load on the casing, and F4 represents the manual operating force. The pitch angle of the flight arm. Let P be the angle by which the turntable rotates in the horizontal plane. E P G P F PH These are the reaction forces of the supporting legs AE, BF, CG, and DH, respectively.

[0074] In one specific embodiment of the present invention, the expression for the fact that the reaction force of each leg is greater than the negative pressure adsorption force provided by the suction cup at the bottom of the corresponding leg is as follows:

[0075] ,

[0076] In the formula, These represent the support reaction forces of the four outriggers of the aerial work platform vehicle, namely outrigger AE, outrigger BF, outrigger CG, and outrigger DH. The vertical load of the aerial work platform vehicle. 1 and n2 are the eccentricity ratios of outriggers AE and BF, and CG and DH at point O, respectively. Point O is the contact point between the center of the aerial work platform turntable and the ground. This refers to the total torque of the load-bearing capacity and multiple components of the aerial work platform. This refers to the angle at which the turntable of the aerial work platform rotates in the horizontal plane.

[0077] These are the pressures provided by the negative pressure suction cups at the bottom of each outrigger of the aerial work platform. This refers to the area of ​​the negative pressure suction cups at the bottom of each outrigger of the aerial work platform.

[0078] like Figure 4 As shown, Let be the horizontal distance between the lines connecting points F and E, where point E is the endpoint of leg AE and point F is the endpoint of leg BF. Let H be the horizontal distance between the lines connecting points H and G, where H is the endpoint of leg DH and G is the endpoint of leg CG. Let be the vertical distance between the lines connecting points E and G. Let F be the vertical distance between the line connecting point F and point H.

[0079] In one specific embodiment of the present invention, the aerial work platform vehicle has a vertical load... It is obtained by calculation using the following formula:

[0080] ,

[0081] In the formula, For the load capacity of the aerial work platform, These are the weights of the aerial work platform, boom, sleeve and counterweight, and chassis components. This is the acceleration due to gravity.

[0082] In one specific embodiment of the present invention, the load-bearing capacity of the aerial work platform and the total torque of multiple components are... It is obtained by calculation using the following formula:

[0083] ,

[0084] In the formula, The values ​​range from 0 to 4, representing the aerial work platform's load capacity, work platform, boom, casing, counterweight, and chassis serial number, respectively. The values ​​range from 0 to 4, representing the load capacity, working platform, boom, casing, counterweight, and manual operating force of the aerial work platform vehicle, respectively.

[0085] The torque generated in the horizontal direction by the load, working platform, boom, sleeve, counterweight, and chassis of the aerial work platform. The torque generated in the vertical direction by the load, platform, boom, sleeve, counterweight, and manual operating force of the aerial work platform is calculated using the following formulas:

[0086] ,

[0087] ,

[0088] In the formula, Let x be the x-coordinate of the center of gravity of the aerial work platform, including its load, working platform, boom, casing, counterweight, and chassis, relative to the center of the aerial work platform's turntable. The load capacity of the aerial work platform, the horizontal wind load of the work platform, the boom, the casing and counterweight, and the manual operating force. The vertical coordinates of the load, working platform, boom, casing, and the point of application of manual operating force of the aerial work platform are located in the vertical plane.

[0089] In one specific embodiment of the present invention, the eccentricity ratio of point O is... , The results are obtained by calculating using the following formulas:

[0090] ,

[0091] ,

[0092] In the formula, This represents the perpendicular distance from the line connecting point O and point E to point O. This represents the perpendicular distance from the line connecting point O and point G to point O. Let be the horizontal distance between the lines connecting points F and E. The horizontal distance between the lines connecting points H and G is calculated using the following formulas:

[0093] ,

[0094] ,

[0095] ,

[0096] ,

[0097] In the formula, The length of the aerial work platform vehicle chassis. 1. 2. 3. 4 represents the lengths of support legs AE, BF, CG, and DH, respectively. Let AE be the angle between the outrigger AE and the horizontal direction. Let BF be the angle between the outrigger and the horizontal direction. The angle between the support leg CG and the horizontal direction. The angle between the outrigger DH and the X-axis is given.

[0098] In one specific embodiment of the present invention, the vertical distance between the lines connecting point E and point G is... It is obtained by calculation using the following formula:

[0099] ,

[0100] The vertical distance between the lines connecting point F and point H It is obtained by calculation using the following formula:

[0101] ,

[0102] In the formula, L AC This refers to the width of the chassis of the aerial work platform vehicle.

[0103] Example 3

[0104] This embodiment provides a second method for early warning of overturning potential of aerial work platforms. It calculates the angles formed by the lines connecting the endpoints of two adjacent outriggers of the aerial work platform to the overall center of mass of the platform during operation, and determines whether the sum of these angles equals 360 degrees. If it does, the aerial work platform will not overturn; otherwise, it indicates an overturning potential or a risk of overturning, and the platform stops moving. Specifically, it includes the following steps:

[0105] The angles formed by the lines connecting the endpoints of the two adjacent outriggers of the aerial work platform to the overall center of mass O' of the aerial work platform during operation. ,like Figure 5 As shown, ∠EO'F, ∠FO'H, ∠HO'G, and ∠GO'E are respectively.

[0106] The included angle formed by the two adjacent leg end points of the aerial work platform and the overall center of mass O' of the aerial work platform during operation is calculated by the following formula:

[0107] ,

[0108] In the formula, is the included angle formed by the two adjacent leg end points of the aerial work platform and the overall center of mass O' of the aerial work platform during operation, is the included angle number, which is 1-4, and represents ∠EO'F, ∠FO' H, ∠HO' G and ∠GO'E respectively; , and represent the lengths of the three sides of the triangle formed by the two adjacent leg end points of the aerial work platform and the overall center of mass O' of the aerial work platform during operation, as shown in Figure 5 , and , are calculated by the following formula:

[0109] ,

[0110] ,

[0111] ,

[0112] ,

[0113] In the formula, is the total equivalent mass of the load, work platform, fly arm, sleeve and counterweight and chassis of the aerial work platform in the vertical plane, is the horizontal coordinate of the center of mass of the total equivalent mass relative to the center of the aerial work platform turntable, is the vertical coordinate of the center of mass of the total equivalent mass relative to the center of the aerial work platform chassis, is the horizontal coordinate of the center of mass of the chassis after adjusting each leg so that the chassis of the aerial work platform is horizontal, is the vertical coordinate of the center of mass of the chassis after adjusting each leg so that the chassis of the aerial work platform is horizontal.

[0114] Embodiment 4

[0115] The embodiment provides an aerial work platform overturning situation early warning system, as shown in Figure 2 , comprising an information acquisition module 100, an anti-overturning judgment module 200, an emergency control module 300 and a remote monitoring module 400 connected with the information acquisition module 100 and the emergency control module 300 in sequence; ​

[0116] The information collection module 100 is configured to collect information of multiple components of the aerial work platform in real time and input the information of the multiple components to the anti-overturning judgment module 200 and the remote monitoring module 400.

[0117] The anti-overturning judgment module 200 is configured to determine the running state of the aerial work platform based on the information of the multiple components of the aerial work platform, and send an emergency braking instruction to the emergency control module 300 if an overturning situation occurs or there is a risk of overturning.

[0118] The remote monitoring module 400 is configured to store the information of the multiple components of the aerial work platform input from the information collection module 100 and monitor the running state of the aerial work platform based on the information of the multiple components of the aerial work platform, and send an instruction to the emergency control module 300 when the aerial work platform has an abnormal situation, so that the emergency control module 300 performs emergency braking.

[0119] In one specific embodiment of the present application, the information collection module 100 includes a support leg state collection unit 101, a sleeve state collection unit 102, a jib pose collection unit 103, and a turret angle collection unit 104 arranged independently of each other.

[0120] The support leg state collection unit 101 is configured to collect the extension length and rotation angle of the support legs of the aerial work platform, the sleeve state collection unit 102 is configured to collect the lifting height of the sleeve in the vertical direction, the jib pose collection unit 103 is configured to collect the data information of the jib cylinder, including the extension length and rotation angle of the jib cylinder, and the turret angle collection unit 104 is configured to collect the rotation angle of the turret during the running of the aerial work platform.

[0121] In one specific embodiment of the present application, the anti-overturning judgment module 200 includes an information processing unit 201, an information display unit 202, an audible and light alarm unit 203, and an information communication unit 204 connected in sequence.

[0122] The information processing unit 201 receives the information collected by the information collection module 100 for processing, obtains a processing result, and inputs the processing result to the information display unit 202 for display, the processing result being normal running of the aerial work platform and occurrence of an overturning situation or risk of overturning, the audible and light alarm unit 203 determines whether to alarm according to the display result of the information display unit 202, and if the display result is an overturning situation or risk of overturning, an alarm is sounded, and the information communication unit 204 transmits the alarm information to the emergency control module 300.

[0123] The emergency control module 300 comprises a supporting leg operation unit 301, a sleeve operation unit 302, a jib operation unit 303, and an emergency brake control unit 304 connected with the supporting leg operation unit 301, the sleeve operation unit 302 and the jib operation unit 303; the emergency brake control unit 304 receives the alarm information transmitted from the information communication unit 204 to control the supporting leg operation unit 301, the sleeve operation unit 302 and the jib operation unit 303 to perform emergency brake on the supporting legs, the sleeve and the jib of the aerial working truck, thereby controlling the aerial working truck to stop running.

[0124] The remote monitoring module 400 comprises a man-machine interaction unit 401 and an information storage unit 402 independent of each other; the operator controls the running and stopping of the aerial working truck through the man-machine interaction unit 401, and the information storage unit 402 is used to store the information of multiple components of the aerial working truck input from the information acquisition module 100.

[0125] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative but not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, which all belong to the protection of the present application.

Claims

1. A high-altitude operation vehicle overturning situation early warning method, characterized in that, The method comprises the following steps: a structure stress model of the aerial work platform is constructed based on stress coordinates of each component of the aerial work platform, and total moments of a plurality of components of the aerial work platform, loads in a vertical direction, horizontal and vertical distances of connecting lines of terminal points of two adjacent supporting legs, and angles formed by connecting lines of the terminal points of the two adjacent supporting legs and a whole centroid of the aerial work platform during operation of the aerial work platform are solved based on the structure stress model of the aerial work platform; supporting reaction forces of each supporting leg are obtained based on the total moments of the plurality of components of the aerial work platform, the loads in the vertical direction, and the horizontal and vertical distances of the connecting lines of the terminal points of the two adjacent supporting legs; if the supporting reaction forces of each supporting leg are less than or equal to negative pressure adsorption forces that can be provided by corresponding bottom suction cups of the supporting legs, the aerial work platform is in a overturning situation or has a risk of overturning, and the aerial work platform stops moving; if a sum of the angles is not equal to 360 degrees, the aerial work platform is in the overturning situation or has the risk of overturning, and the aerial work platform stops moving.

2. The aerial work platform vehicle tip over situation early warning method of claim 1, wherein, The expression of the supporting reaction forces of each supporting leg less than or equal to the negative pressure adsorption forces that can be provided by the corresponding bottom suction cups of the supporting legs is as follows: ， wherein, respectively are the support reaction forces of the four outriggers of the aerial work platform, the four outriggers of the aerial work platform are respectively outrigger AE, outrigger BF, outrigger CG and outrigger DH, is the load of the aerial work platform in the vertical direction, 1, n2 respectively are the eccentricity ratios of the outrigger AE side and the outrigger BF side and the outrigger CG side and the outrigger DH side at point O, point O is the contact point of the center of the slewing ring of the aerial work platform and the ground, is the total moment of the load of the aerial work platform and the plurality of components, is the angle of rotation of the slewing ring of the aerial work platform in the horizontal plane, respectively are the pressures provided by the negative pressure suction cups at the bottoms of the outriggers of the aerial work platform, are the areas of the negative pressure suction cups at the bottoms of the outriggers of the aerial work platform, is the distance of the line connecting point E and point F in the horizontal direction, point E is the terminal point of the outrigger AE, and point F is the terminal point of the outrigger BF, is the distance of the line connecting point G and point H in the horizontal direction, point H is the terminal point of the outrigger DH, and point G is the terminal point of the outrigger CG, is the distance of the line connecting point E and point G in the vertical direction, is the distance of the line connecting point F and point H in the vertical direction.

3. The aerial device tip over situation early warning method of claim 2, wherein, The high-altitude work vehicle in the vertical direction load Is calculated by the following formula: ， wherein is the load of the aerial work platform, are the masses of the aerial work platform components, respectively the work platform, the jib, the sleeve and the counterweight and the chassis, is the acceleration of gravity.

4. The aerial device tip over situation early warning method of claim 3, wherein, The aerial work platform vehicle has a total moment of force of the load and the plurality of components The calculation is obtained by the following formula: ， In the formula, The value range is 0-4, which respectively represents the load, working platform, boom, sleeve and counterweight and chassis number of the aerial work platform, The value range is 0-4, which respectively represents the load, working platform, boom, sleeve and counterweight and manual operating force number of the aerial work platform, The moment generated by the load, working platform, boom, sleeve and counterweight and chassis of the aerial work platform in the horizontal direction, The moment generated by the load, platform, boom, sleeve and counterweight and manual operating force of the aerial work platform in the vertical direction, respectively calculated by the following formula: ， ， wherein is the horizontal coordinate of the center of mass of the load, work platform, boom, sleeve and counterweight of the aerial work platform relative to the center of the turntable of the aerial work platform, is the horizontal wind load of the load, work platform, boom, sleeve and counterweight of the aerial work platform and the manual operating force, is the vertical coordinate of the point of action of the center of mass of the load, work platform, boom, sleeve of the aerial work platform and the manual operating force in the vertical plane.

5. The aerial device tip over situation early warning method of claim 4, wherein, the eccentricity ratio of the point O , are calculated by the following equations, respectively ， ， wherein represents the perpendicular distance from point O to the line connecting point E to point O, represents the perpendicular distance from point O to the line connecting point G to point O, is the distance in the horizontal direction from point F to point E, is the distance in the horizontal direction from point H to point G, respectively calculated by the following equations: ， ， ， ， wherein is the chassis length of the aerial work platform, 1, 2, 3, 4 are the lengths of the outriggers AE, BF, CG, DH, respectively, is the angle of the outrigger AE with the horizontal, is the angle of the outrigger BF with the horizontal, is the angle of the outrigger CG with the horizontal, is the angle of the outrigger DH with the X-axis.

6. The aerial device tip over situation early warning method of claim 5, wherein, The distance in the vertical direction of the line connecting the point E and the point G The calculation is obtained by the following formula: ， The distance in the vertical direction of the line connecting the point F and the point H The calculation is obtained by the following formula: ， In the formula, L AC is the width of the aerial work platform chassis.

7. The aerial device tip over situation early warning method of claim 6, wherein, the angles formed by connecting lines of the terminal points of the two adjacent supporting legs and the whole centroid O' of the aerial work platform during operation of the aerial work platform include a first angle, a second angle, a third angle, and a fourth angle; the first angle is ∠EO'F, the second angle is ∠FO'H, the third angle is ∠HO'G, and the fourth angle is ∠GO'E; the angles formed by connecting lines of the terminal points of the two adjacent supporting legs and the whole centroid O' of the aerial work platform during operation of the aerial work platform are obtained by the following formula: ， In the formula, is the included angle formed by the two adjacent leg ends of the aerial work platform and the overall center of mass O' of the aerial work platform when the aerial work platform is running, is the included angle number, with a value range of 1-4, representing the first included angle to the fourth included angle; , and respectively represent the lengths of the three sides of the triangle formed by the two adjacent leg ends of the aerial work platform and the overall center of mass O' of the aerial work platform when the aerial work platform is running, and are obtained by the following formulas: ， ， ， ， wherein is the total equivalent mass of the load, work platform, fly jib, counterweight and chassis of the aerial work platform in the vertical plane, is the horizontal coordinate of the center of mass of the total equivalent mass relative to the center of the turntable of the aerial work platform, is the vertical coordinate of the center of mass of the total equivalent mass relative to the center of the chassis of the aerial work platform, is the horizontal coordinate of the center of mass of the chassis after adjusting each outrigger so that the chassis of the aerial work platform is level, is the vertical coordinate of the center of mass of the chassis after adjusting each outrigger so that the chassis of the aerial work platform is level.

8. An aerial work platform vehicle tip over situation early warning system, characterized in that, the system comprises an information acquisition module, an anti-overturning judgment module, and an emergency control module connected in sequence; the information acquisition module is configured to acquire information of a plurality of components of the aerial work platform in real time, and input the information of the plurality of components to the anti-overturning judgment module; the anti-overturning judgment module receives the information of the plurality of components of the aerial work platform acquired by the information acquisition module, adopts the aerial work platform overturning situation early warning method of any one of claims 1-7, judges a running state of the aerial work platform, and if the aerial work platform is in an overturning situation or has a risk of overturning, sends an emergency braking instruction to the emergency control module; after receiving the emergency braking instruction, the emergency control module controls the aerial work platform to stop moving.

9. The aerial device tip over situation early warning system of claim 8, wherein, The aerial work platform overturning situation early warning system further comprises a remote monitoring module connected with the information acquisition module and the emergency control module; the information acquisition module is configured to input information of a plurality of components of the aerial work platform acquired in real time to the remote monitoring module, and the remote monitoring module is configured to store the information of the plurality of components of the aerial work platform input from the information acquisition module, and monitor a running state of the aerial work platform based on the information of the plurality of components of the aerial work platform; when the aerial work platform has an abnormal situation, an instruction is sent to the emergency control module, so that the emergency control module performs emergency braking.

10. The aerial device tip over situation early warning system of claim 8, wherein, The information collection module comprises a leg state collection unit, a sleeve state collection unit, a jib pose collection unit and a turret angle collection unit arranged independently from each other. The leg state collection unit is used to collect the extension length and rotation angle of the outrigger of the aerial work platform; the sleeve state collection unit is used to collect the lifting height of the sleeve in the vertical direction; the jib pose collection unit is used to collect the data information of the jib cylinder, including the extension length and rotation angle of the jib cylinder; and the turret angle collection unit is used to collect the rotation angle of the turret during the operation of the aerial work platform. The anti-overturning judgment module comprises an information processing unit, an information display unit, an audible and light alarm unit and an information communication unit connected in sequence. The information processing unit receives the information collected by the information collection module for processing to obtain a processing result, and inputs the processing result to the information display unit for display. The processing result is that the aerial work platform is in normal operation, in an overturning situation or at risk of overturning. The audible and light alarm unit determines whether to alarm according to the display result of the information display unit. If the display result is that the aerial work platform is in an overturning situation or at risk of overturning, an alarm is given. The information communication unit transmits the alarm information to the emergency control module. The emergency control module comprises a leg operation unit, a sleeve operation unit, a jib operation unit and an emergency brake control unit connected with the leg operation unit, the sleeve operation unit and the jib operation unit. The emergency brake control unit receives the alarm information transmitted from the information communication unit to control the leg operation unit, the sleeve operation unit and the jib operation unit to perform emergency braking on the outrigger, the sleeve and the jib of the aerial work platform, so as to control the aerial work platform to stop operation. The remote monitoring module comprises a man-machine interaction unit and an information storage unit independently from each other. An operator controls the operation and stop of the aerial work platform through the man-machine interaction unit. The information storage unit is used to store the information of multiple components of the aerial work platform input from the information collection module.

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