Detection device and detection method for height amplitude and platform sinkage of elevating vehicle

Abstract

The invention discloses a device and a method for detecting the height amplitude and the platform sinkage of an elevating vehicle, and relates to the technical field of parameter detection. The detection device comprises an RTK positioning mechanism and an electronic terminal. The RTK positioning mechanism is used for acquiring original coordinate information of the ground and the working platform of the elevating vehicle, and sending the original coordinate information of the ground and the working platform of the to-be-detected mechanism to the electronic terminal; and the electronic terminal is used for selecting a measurement mode and receiving original coordinate information of a working platform of the ground and the elevating vehicle, performing analysis conversion and calculation on the original coordinate information according to the measurement mode, and displaying a result obtained by calculation. According to the invention, the effect of real-time detection of the operation height, operation amplitude and platform sinkage data of elevating vehicles can be realized, the detection precision can reach 1cm level, and the problems of great influence of wind speed, inaccurate measurement and the like by using conventional measurement modes such as a measuring tape and a laser range finder are avoided.

Description

Technical Field

[0001] This invention relates to a detection device and method for detecting the height range and platform subsidence of aerial work platforms, belonging to the field of parameter detection technology, and is applied to the calibration of height range operation curve parameters and the detection of platform subsidence parameters for aerial work platforms. Background Technology

[0002] The working height, working radius, and platform descent of aerial work platforms are important safety parameters for these vehicles. The calibration of height and radius parameters determines the safe range of the vehicle's operating curve. Aerial work platforms are high-altitude work vehicles with booms, mainly including aerial ladder fire trucks, ladder fire trucks, fire trucks with spray nozzles, and boom lifts.

[0003] There are two implementation schemes in the existing technology:

[0004] (1) Measurement method using a plumb bob, marking lines, and measuring tape:

[0005] Height measurement method: The height of the vehicle's work platform is measured by suspending a measuring tape at the center point of the front face of the work platform.

[0006] Amplitude Measurement Method: Based on the vehicle's amplitude calibration requirements, a line is drawn and marked on the ground from the center of the turntable's rotation point along the specified boom rotation angle, with the projection point on the ground being the endpoint of the projection point on the ground from the center of the front face of the work platform. This forms the amplitude measurement scale line. Simultaneously, a plumb bob is suspended vertically downwards from the center point of the front face of the work platform. When the vehicle is adjusted to the corresponding amplitude calibration condition, the amplitude value corresponding to the current condition is measured by observing the position of the plumb bob's projection point on the amplitude measurement scale line.

[0007] Platform subsidence measurement method: A measuring tape is suspended at the center point of the front face of the working platform. An initial value h1 of the working platform height is read at the start time, and an final value h2 of the working platform height is read at the end time. The subsidence of the working platform Δh = h1 - h2.

[0008] This method has the following drawbacks: Measurements are significantly affected by weather conditions. High wind speeds cause the suspended measuring tape or plumb bob to sway considerably, leading to large errors in the measured values ​​and affecting vehicle safety. In rainy weather, the ground cannot be marked with amplitude measurement lines, making amplitude detection impossible. The method also has limitations. When measuring high-rise vehicles, such as the DG101 fire truck with a platform working height of 101 meters, the standard 100-meter measuring tape is insufficient, requiring the purchase of a specific length. Furthermore, at high measurement heights, the suspended measuring tape may not be vertically aligned, making it difficult to accurately measure the platform height and affecting vehicle safety. Additionally, fire trucks involve numerous parameter conditions during amplitude calibration. One person calibrating the vehicle needs to repeatedly get on and off to operate it and read amplitude values, which is time-consuming, laborious, and extremely inconvenient. Typically, two people, one on and one off the vehicle, are required to complete the calibration.

[0009] (2) Laser rangefinder measurement method:

[0010] Height measurement method: The surveyor stands below the work platform and measures the height of the platform's bottom surface using a laser rangefinder, which is defined as h1. The distance from the laser rangefinder's emission point to the ground is defined as h2. The height of the work platform, h, is calculated as h1 + h2.

[0011] Amplitude measurement method: A flat plate perpendicular to the bottom surface of the work platform is fixedly suspended on the front face of the work platform using a tooling fixture. The measuring personnel stand at the center of the turntable rotation body and observe the suspended flat plate through a laser rangefinder to measure the amplitude value corresponding to the vehicle.

[0012] Platform subsidence measurement method: The surveyor stands below the working platform. At the start time, the height of the bottom surface of the working platform is measured as h1 using a laser rangefinder. At the end time, the height of the bottom surface of the working platform is measured as h2 using a laser rangefinder. The subsidence of the working platform is Δh = h1 - h2.

[0013] This method has the following drawbacks: common laser rangefinders have an accuracy of 20cm, which is poor. Furthermore, the measurement is greatly affected by factors such as the person's standing position, head tilt angle, and operating posture, resulting in poor repeatability of measurement data and large errors. Summary of the Invention

[0014] The purpose of this invention is to provide a detection device and method for the height range and platform subsidence of aerial work platforms. By using the height range measurement device and detection method, the real-time detection of the working height, working range and platform subsidence of aerial work platforms can be achieved, with a detection accuracy of up to 1 cm. This avoids the problems of conventional measurement methods such as tape measures and laser rangefinders being greatly affected by wind speed and having inaccurate measurements.

[0015] To achieve the above objectives, the present invention is implemented using the following technical solution.

[0016] On one hand, the present invention provides a method for detecting the height range and platform subsidence of elevated vehicles, comprising the following steps:

[0017] Select the measurement mode;

[0018] Obtain the original coordinate information of the ground according to the measurement mode;

[0019] Obtain the original coordinate information of the work platform of the organization to be tested;

[0020] The original coordinate information is parsed and transformed to obtain the transformed coordinates;

[0021] Input the offset value, calculate the converted or identified coordinates, and obtain the measurement results of height, amplitude, and platform subsidence.

[0022] The aforementioned technical solution enables real-time detection of the operating height, operating range, and platform subsidence data of aerial work platforms. Measurements are performed based on the coordinates of the ground and the working platform of the organization under inspection. Relative positioning replaces single-point positioning, reducing the impact of equipment and track errors and improving positioning accuracy to the centimeter level. This avoids the problems of conventional measurement methods such as measuring tapes and laser rangefinders being significantly affected by wind speed and resulting in inaccurate measurements. Simultaneously, it greatly improves inspection efficiency and ensures the safe and reliable operation of the vehicles. Furthermore, different measurement modes can be selected for different working conditions, offering wide adaptability.

[0023] Furthermore, the measurement mode includes one of a dual-coordinate measurement mode and a center point measurement mode.

[0024] In the above technical solutions, the dual-coordinate measurement mode is suitable for the direct measurement of the height amplitude between two points; the center point measurement mode is suitable for situations where the vehicle chassis and boom obstruct the signal acquisition point, affecting signal acquisition and limiting the method of the dual-coordinate measurement mode.

[0025] Furthermore, when the measurement mode is the dual-coordinate measurement mode, the original coordinate information of the ground is point A (lat1, lon1, alt1), and the original coordinate information of the working platform of the testing mechanism is point B (lat2, lon2, alt2). Here, lon1 is the original value of the first longitude, lat1 is the original value of the first latitude, alt1 is the original value of the first altitude, lon2 is the original value of the second longitude, lat2 is the original value of the second latitude, and alt2 is the original value of the second altitude.

[0026] When the measurement mode is the center point measurement mode, the original coordinate information of the ground is the original coordinates of point A1 (lat3, lon3, alt3) and point A2 (lat4, lon4, alt4). The original coordinate information of the working platform of the testing mechanism is point B (lat2, lon2, alt2). Among them, lon3 is the original value of the third longitude, lat3 is the original value of the third latitude, alt3 is the original value of the third altitude, lon4 is the original value of the fourth longitude, lat4 is the original value of the fourth latitude, and alt4 is the original value of the fourth altitude.

[0027] In the above technical solution, the relative positioning by measuring the coordinates of points A and B replaces the traditional single-point positioning, resulting in higher detection accuracy. When working conditions are limited, the coordinates of point A are calculated using the coordinates of points A1 and A2 for detection, making the operation simple and convenient.

[0028] Furthermore, the parsing and conversion of the original coordinate information is performed using the following conversion formula:

[0029] When the measurement mode is dual coordinate measurement mode

[0030] The coordinates of point A are DistanceCalculation(lat1, lon1, alt1) = [X1, Y1, Z1];

[0031] The coordinates of point B are DistanceCalculation(lat2, lon2, alt2) = [X2, Y2, Z2];

[0032] When the measurement mode is center point measurement mode

[0033] The coordinates of point A1 are: DistanceCalculation(lat3, lon3, alt3) = [X3, Y3, Z3];

[0034] The coordinates of point A2 are DistanceCalculation(lat4, lon4, alt4) = [X4, Y4, Z4];

[0035] The coordinates of point B are DistanceCalculation(lat2, lon2, alt2) = [X2, Y2, Z2].

[0036] Furthermore, the calculation of the converted coordinates is performed using the following formula:

[0037] When the measurement mode is dual coordinate measurement mode

[0038] Height h = Z2 - Z1 - △Z, where △Z is the vertical distance from point B to the bottom of the platform, i.e., the height offset value;

[0039] Amplitude amp = sqrt[(X1-X2)*(X1-X2)+(Y1-Y2)*(Y1-Y2)]+△X, where △X is the vertical distance from point B to the front face of the platform, i.e. the amplitude offset value;

[0040] The platform subsidence Δh = h1 - h2, where h1 is the working height measured at the start time t1 and h2 is the working height measured at the end time t2;

[0041] When the measurement mode is center point measurement mode

[0042] The coordinates of point A are [(X3+X4) / 2, (Y3+Y4) / 2, (Z3+Z4) / 2];

[0043] Height h = Z2 - (Z4 + Z3) / 2 - △Z;

[0044] Amplitude amp=sqrt{[(X3+X4) / 2-X2]*[(X3+X4) / 2-X2]+[(Y3+Y4) / 2-Y2]*[(Y3+Y4) / 2-Y2]}+ △X;

[0045] The platform subsidence amount Δh = h1 - h2.

[0046] In the above technical solution, the offset value in the calculation formula can reduce the measurement error between the measured point and the predicted point, making the detection results more accurate. Furthermore, based on the difference in the obtained coordinate information, the calculation program can be executed as needed under different working conditions.

[0047] Furthermore, the method for detecting the height range and platform subsidence of the aforementioned elevated vehicles...

[0048] When the detection mode is dual-coordinate measurement mode, obtaining the original coordinate information of the ground includes the following steps:

[0049] The first mobile station, using the projection point A on the ground from the center of the turntable of the aerial vehicle, detects the original coordinate information (at1, lon1, alt1) of point A and sends the original coordinate information of point A to the base station, which then obtains the original coordinate information of point A.

[0050] The second mobile station, placed at point B on the working platform of the aerial work platform, detects the original coordinate information (at2, lon2, alt2) of point B and sends the original coordinate information of point B to the base station, which then obtains the original coordinate information of point B.

[0051] When the detection mode is dual-coordinate measurement mode, obtaining the original coordinate information of the ground includes the following steps:

[0052] The first mobile station, located at a distance d directly to the left of point A1, which is the projection point A of the center of the turntable of the aerial vehicle on the ground, detects the original coordinate information (at3, lon3, alt3) of point A1 and sends the original coordinate information of point A1 to the base station, which then obtains the original coordinate information of point A1.

[0053] The second mobile station, located at a distance d to the right of point A2, which is the projection point A of the turntable rotation center of the aerial vehicle on the ground, detects the original coordinate information (at4, lon4, alt4) of point A2 and sends the original coordinate information of point A2 to the base station, which then obtains the original coordinate information of point A2.

[0054] The original coordinate information (at2, lon2, alt2) of point B is detected by the first or second mobile station placed on the working platform B of the aerial work platform and sent to the base station. The base station then obtains the original coordinate information of point B.

[0055] In the above technical solution, the first mobile station is placed on the ground to collect the latitude and longitude coordinates of its location on the ground; the second mobile station is placed on the working platform to collect the latitude and longitude coordinates of its location on the working platform; the base station is used to receive the data information collected by the first and second mobile stations and send the data information to the data processing and display terminal; the data processing and display terminal is used to receive the measurement data sent by the base station, and execute the steps of the above detection method through the electronic program on the terminal, and display the calculated results in real time, so that the operator can read the measurement results.

[0056] Therefore, based on the coordinates of point A, the projection point of the turntable rotation center of the aerial work platform on the ground, and point B, the data processing and display terminal can easily execute the calculation program of the detection method stored within it and display the calculation results.

[0057] Due to the limitations of experimental conditions, the rover station requires unobstructed overhead access when receiving satellite GPS signals. In most operating environments, the first rover station is typically placed at point A on the ground, which is the center of the turntable's rotation. When the rover station is obstructed by the vehicle chassis and boom, signal acquisition is affected, limiting the effectiveness of the dual-coordinate measurement method. To address this issue, a center point measurement method was developed. The first rover station is placed at point A1, a distance d to the left of the projection point A perpendicular to the vehicle's direction of travel. The second rover station is placed at point A2, a distance d to the right of the projection point A perpendicular to the vehicle's direction of travel. Points A1 and A2 are symmetrical about point A. The position coordinates of point A can be calculated using the coordinates of points A1 and A2. At this point, only one rover station needs to be placed on the working platform to obtain the position coordinates of point B. The required height amplitude value can then be calculated using the coordinates of points A and B.

[0058] In another aspect, the present invention provides an electronic terminal, including a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the detection method for the height range and platform subsidence of the above-described aerial vehicle are performed.

[0059] In the above technical solution, the electronic terminal can be handheld, which is convenient to use, and a user-friendly human-computer interaction interface can be designed to simplify the operation of information input and result reading.

[0060] In another aspect, the present invention provides a detection device for the height range and platform subsidence of a raised platform vehicle, including an RTK positioning mechanism and the aforementioned electronic terminal;

[0061] The RTK positioning mechanism is used to acquire the original coordinate information of the working platform of the ground and the aerial vehicle, and send the original coordinate information of the working platform of the ground and the mechanism to be tested to the electronic terminal.

[0062] The electronic terminal is used to select the measurement mode and receive the original coordinate information of the working platform of ground and aerial work platforms. It analyzes, converts and calculates the original coordinate information according to the measurement mode and displays the calculated results.

[0063] The above technical solution can realize real-time detection of the working height, working range and platform sinking data of aerial work platforms. The detection accuracy of the RTK positioning mechanism can reach 1cm level, avoiding the problems of being greatly affected by wind speed and inaccurate measurement by conventional measurement methods such as tape measures and laser rangefinders. At the same time, it greatly improves detection efficiency and ensures the safe and reliable operation of the vehicle.

[0064] Relative positioning, which uses the coordinates of the ground and the working platform of the testing facility to replace single-point positioning, reduces the impact of equipment errors and track errors, and improves positioning accuracy to the centimeter level. This testing method is highly accurate, technologically mature, has a low application threshold, and is easy to use and promote. It avoids the disadvantages of using a measuring tape, such as large errors and susceptibility to wind speed and environmental conditions, thus improving the operational safety of vehicles.

[0065] The RTK positioning mechanism used in this invention obtains the coordinate information of the positioning point, which is not affected by factors such as rain and weather, and has high measurement accuracy and reliable data.

[0066] The measuring device described in this invention requires only one person to operate the vehicle at the turntable and observe the data processing and display terminal to read the vehicle height amplitude value in real time. It is simple to operate, convenient to use, and greatly improves the detection efficiency.

[0067] The measuring device of the present invention has strong expandability and can be programmed into the calculation formula to develop detection functions such as sway and boom stability according to usage requirements.

[0068] Furthermore, the RTK positioning mechanism is an RTK positioning measuring instrument.

[0069] The RTK positioning equipment used in the above technical solution has an IP65 waterproof rating, is unaffected by rain or weather conditions, and offers high measurement accuracy and reliable data. The RTK positioning measurement instrument's GPS positioning supports 5G card wireless transmission, eliminating distance limitations.

[0070] Furthermore, the RTK positioning and measuring instrument includes several mobile stations and base stations;

[0071] The mobile station is used to acquire the original coordinate information of the ground and the working platform of the testing institution;

[0072] The base station is used to receive the original coordinate information measured by the transfer station and send the original coordinate information to the electronic terminal.

[0073] An RTK (Real-Time Kinematic) positioning and measuring instrument is a high-precision GPS-based instrument with a built-in power supply module. It can collect the longitude, latitude, and altitude of its location and transmit the collected data to a backend server via a 5G SIM card or Wi-Fi, without distance limitations. It mainly consists of a base station and a mobile station. The mobile station collects the latitude and longitude coordinates of the desired measurement location and sends them to the base station, which then transmits them to the corresponding display terminal for data processing and analysis. Furthermore, the RTK positioning and measuring instrument has an IP65 waterproof rating, unaffected by rain or weather conditions, and offers high measurement accuracy and reliable data. The GPS positioning of the RTK positioning and measuring instrument supports 5G SIM card wireless transmission.

[0074] In the above technical solution, the data processing and display terminal can be handheld for easy use, and a user-friendly human-computer interaction interface can be designed to simplify the operation of information input and result reading.

[0075] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0076] This method employs an RTK positioning mechanism combined with a data processing and display terminal to measure the safety parameters of aerial work platforms. It enables real-time monitoring of the platform's operating height, operating radius, and platform subsidence. Measurements are taken based on the coordinates of the ground and the platform under test, utilizing relative positioning instead of single-point positioning to reduce the impact of equipment and track errors. This detection method offers high accuracy, reaching 1cm level, and avoids the problems of wind speed influence and inaccurate measurements associated with conventional methods like measuring tapes and laser rangefinders. It also significantly improves detection efficiency, ensuring safe and reliable vehicle operation. Furthermore, different measurement modes can be selected for different working conditions, offering broad adaptability.

[0077] Traditional methods of measuring height amplitude are greatly affected by factors such as weather. When the wind speed is high, the suspended plumb bob and measuring tape sway significantly, making it impossible to detect the height amplitude. In rainy weather, it is impossible to draw amplitude measurement scale lines on the ground, making amplitude detection impossible. However, the positioning device used in this invention is not affected by factors such as rain and weather, and it has high measurement accuracy and reliable data.

[0078] Traditional height calibration with a measuring tape requires two people: one to operate the vehicle at the turntable and adjust it to the required working condition, and the other to adjust the position of the plumb bob and measuring tape below to read the height measurement value. However, the measuring device of this invention only requires one person to operate the vehicle at the turntable and observe the data processing and display terminal 4 to read the vehicle height measurement value in real time. The measuring device is simple to operate, convenient to use, and greatly improves the detection efficiency.

[0079] The measuring device is highly expandable and can be programmed with calculation formulas according to usage requirements to develop detection functions such as platform sway and boom stability. Attached Figure Description

[0080] Figure 1 The diagram shows the structural composition of the detection device for the height range and platform subsidence of elevated vehicles.

[0081] Figure 2 The diagram shows the height and range of elevated vehicles.

[0082] Among them, 1. First mobile station; 2. Second mobile station; 3. Base station; 4. Electronic terminal; 5. RTK positioning mechanism. Detailed Implementation

[0083] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0084] The term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0085] The height range and platform subsidence detection methods for elevated vehicles provided in the following embodiments can be applied to terminals and can be executed by RTK positioning information recognition devices. These devices can be implemented in software and / or hardware and can be integrated into the terminal, such as any smartphone, tablet, or computer device with communication capabilities.

[0086] Example 1

[0087] This embodiment describes a method for detecting the height range and platform subsidence of elevated vehicles, including the following steps:

[0088] Select the measurement mode;

[0089] Obtain the original coordinate information of the ground according to the measurement mode;

[0090] Obtain the original coordinate information of the working platform of the aerial work platform;

[0091] The original coordinate information is parsed and transformed to obtain the transformed coordinates;

[0092] Input the offset value, calculate the converted or identified coordinates, and obtain the measurement results of height, amplitude, and platform subsidence.

[0093] The measurement mode is a dual-coordinate measurement mode;

[0094] Among them, the original coordinate information of the ground is the ground point A (lat1, lon1, alt1), and the original coordinates of the working platform B of the aerial vehicle are (lat2, lon2, alt2).

[0095] The analytical conversion is performed using the following conversion formula:

[0096] The coordinates of point A are DistanceCalculation(lat1, lon1, alt1) = [X1, Y1, Z1];

[0097] The coordinates of point B are DistanceCalculation(lat2, lon2, alt2) = [X2, Y2, Z2];

[0098] The converted coordinates are calculated using the following formula:

[0099] Height h = Z2 - Z1 - △Z, where △Z is the vertical distance from point B to the bottom of the platform;

[0100] Amplitude amp = sqr[(X1-X2)*(X1-X2)+(Y1-Y2)*(Y1-Y2)]+△X;

[0101] The platform subsidence amount Δh = h1 - h2.

[0102] Example 2

[0103] This embodiment describes a method for detecting the height range and platform subsidence of elevated vehicles, including the following steps:

[0104] Select the measurement mode;

[0105] Obtain the original coordinate information of the ground according to the measurement mode;

[0106] Obtain the original coordinate information of the working platform of the aerial work platform;

[0107] The original coordinate information is parsed and transformed to obtain the transformed coordinates;

[0108] Input the offset value, calculate the converted or identified coordinates, and obtain the measurement results of height, amplitude, and platform subsidence.

[0109] The measurement mode is the center point measurement mode;

[0110] Among them, the original coordinate information of the ground is the original coordinates of point A1 (lat3, lon3, alt3), the original coordinates of point A2 (lat4, lon4, alt4), and the original coordinates of point B of the working platform of the aerial vehicle (lat2, lon2, alt2).

[0111] The analytical conversion is performed using the following conversion formula:

[0112] The coordinates of point A1 are: DistanceCalculation(lat3, lon3, alt3) = [X3, Y3, Z3];

[0113] The coordinates of point A2 are DistanceCalculation(lat4, lon4, alt4) = [X4, Y4, Z4];

[0114] The coordinates of point B are DistanceCalculation(lat2, lon2, alt2) = [X2, Y2, Z2];

[0115] The converted coordinates are calculated using the following formula:

[0116] The coordinates of point A are [(X3+X4) / 2, (Y3+Y4) / 2, (Z3+Z4) / 2];

[0117] Height h = Z2 - (Z4 + Z3) / 2 - ΔZ

[0118] Amplitude amp=sqrt{[(X3+X4) / 2-X2]*[(X3+X4) / 2-X2]+[(Y3+Y4) / 2-Y2]*[(Y3+Y4) / 2-Y2]}+ △X.

[0119] The platform subsidence amount Δh = h1 - h2.

[0120] Example 3

[0121] This embodiment introduces an electronic terminal, including a processor and a memory connected to the processor. The memory stores a computer program. When the computer program is executed by the processor, it performs the steps of the detection method for the height range and platform subsidence of a raised vehicle as described in Embodiment 1 and / or Embodiment 2.

[0122] Example 4

[0123] This embodiment describes a device for detecting the height range and platform subsidence of elevated vehicles, such as... Figure 1 As shown, it includes:

[0124] RTK positioning mechanism 5 is used to acquire the original coordinate information of the working platform of ground and aerial vehicles, and send the original coordinate information of the working platform of ground and aerial vehicles to electronic terminal 4.

[0125] The electronic terminal 4 described in Example 3 is used to receive the original coordinate information of the work platforms of ground and aerial vehicles, parse, convert and calculate the original coordinate information of the work platforms of ground and aerial vehicles, and display the calculated results.

[0126] Among them, the RTK positioning mechanism 5 adopts an RTK positioning measuring instrument.

[0127] Example 5

[0128] Based on the same inventive concept as Embodiment 4, this embodiment introduces a specific device for detecting the height range and platform subsidence of a platform-type vehicle, such as... Figure 1 As shown, it includes:

[0129] The first mobile station 1 is used to acquire the original coordinate information of the working platform of ground and / or aerial vehicles, and send the original coordinate information to the base station 3;

[0130] The second mobile station 2 is used to acquire the original coordinate information of the working platform of ground and / or aerial vehicles, and send the original coordinate information to the base station 3;

[0131] Base station 3 is used to receive the original coordinate information and send the original coordinate information to data processing and display terminal 4.

[0132] The data processing and display terminal 4 is used to receive the raw coordinate information sent by the base station 3, and the data processing and analysis software 5 installed on it performs conversion, analysis and calculation on the raw coordinate information. The data processing and display terminal 4 displays the calculated height, amplitude and platform subsidence measurement results.

[0133] A diagram illustrating the height and reach of aerial work platforms is shown below. Figure 2 As shown, Figure 2 The horizontal distance is the horizontal projection distance from the edge of the work bucket away from the boom (ladder) to the center of the boom (ladder) slewing platform, i.e., the amplitude.

[0134] Example 6

[0135] Based on the same inventive concept as Embodiment 5, this embodiment introduces a specific method for detecting the height range and platform subsidence of a platform-type vehicle, including the following steps:

[0136] A first mobile station 1 is placed at point A, the projection point on the ground of the turntable rotation center of the aerial vehicle, to obtain the original coordinate information (at1, lon1, alt1) of point A and send the original coordinate information of point A to base station 3. A second mobile station 2 is placed at point B on the working platform of the aerial vehicle to obtain the original coordinate information (at2, lon2, alt2) of point B and send the original coordinate information of point B to base station 3.

[0137] Base station 3 receives the original coordinates of points A and B, and sends the original coordinates of points A and B to electronic terminal 4;

[0138] Electronic terminal 4 selects the dual-coordinate measurement mode, receives the original coordinates of points A and B, executes the steps of the detection method described in Example 1, and obtains the measurement results of the height, amplitude, and platform subsidence of the elevated vehicle. Electronic terminal 4 then displays the measurement results.

[0139] Example 7

[0140] Based on the same inventive concept as Embodiment 5, this embodiment introduces a specific method for detecting the height range and platform subsidence of a platform-type vehicle, including the following steps:

[0141] A first mobile station 1 is placed at point A1, a distance d from the left of the turning point A1, which is the projection point A of the turntable rotation center of the aerial vehicle on the ground, perpendicular to the direction of travel of the aerial vehicle. The first mobile station 1 acquires the original coordinate information (at3, lon3, alt3) of point A1 and sends the original coordinate information of point A1 to base station 3. A second mobile station 2 is placed at point A2, a distance d from the right of the projection point A, perpendicular to the direction of travel of the aerial vehicle. The second mobile station 2 acquires the original coordinate information (at4, lon4, alt4) of point A2 and sends the original coordinate information of point A2 to base station 3. Points A1 and A2 are symmetrical about point A.

[0142] Base station 3 receives the original coordinates of points A1 and A2, and sends the original coordinates of points A1 and A2 to data processing and display terminal 4;

[0143] Place either the first mobile station 1 or the second mobile station 2 at point B on the working platform of the aerial work platform vehicle to obtain the original coordinate information (at2, lon2, alt2) of point B, and send the original coordinate information of point B to the base station 3.

[0144] Base station 3 receives the original coordinates of point B and sends the original coordinates of point B to electronic terminal 4;

[0145] Electronic terminal 4 selects the center point measurement mode, receives the original coordinates of points A1, A2 and B, executes the steps of the detection method described in Example 2, and obtains the measurement results of the height, amplitude and platform subsidence of the elevated vehicle. Electronic terminal 4 then displays the measurement results.

[0146] Example 8

[0147] This embodiment provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the steps of the detection method for the height range and platform subsidence of the elevated vehicle described in Embodiment 1 and / or Embodiment 2, and has the corresponding functional modules and beneficial effects of the execution method.

[0148] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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.

[0149] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0150] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0151] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0152] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for detecting the height range and platform subsidence of a raised platform vehicle, characterized in that, The method comprises the following steps: selecting a measurement mode; obtaining original coordinate information of the ground according to the measurement mode; obtaining original coordinate information of a working platform of the mechanism to be detected; analyzing and converting the original coordinate information to obtain converted coordinate information; inputting an offset value to calculate the converted or recognized coordinate information to obtain a measurement result of height, amplitude and platform subsidence.

2. The method of claim 1, wherein The measurement mode comprises one of a double-coordinate measurement mode and a center point measurement mode.

3. The method of claim 2, wherein the height amplitude and platform sag of the aerial vehicle is determined by: When the measurement mode is the double-coordinate measurement mode, the original coordinate information of the ground is that of point A (lat1, lon1, alt1) on the ground, and the original coordinate information of the working platform of the mechanism to be detected is that of point B (lat2, lon2, alt2), wherein lon1 is a first longitude original value, lat1 is a first latitude original value, alt1 is a first altitude original value, lon2 is a second longitude original value, lat2 is a second latitude original value, and alt2 is a second altitude original value. When the measurement mode is the center point measurement mode, the original coordinate information of the ground is that of point A1 (lat3, lon3, alt3) and point A2 (lat4, lon4, alt4) on the ground, and the original coordinate information of the working platform of the mechanism to be detected is that of point B (lat2, lon2, alt2), wherein lon3 is a third longitude original value, lat3 is a third latitude original value, alt3 is a third altitude original value, lon4 is a fourth longitude original value, lat4 is a fourth latitude original value, and alt4 is a fourth altitude original value.

4. The method of claim 3, wherein the height amplitude and platform sag of the aerial vehicle is determined by: The analysis and conversion of the original coordinate information are performed through the following conversion formulae: When the measurement mode is the double-coordinate measurement mode, the coordinate of point A is DistanceCalculation (lat1, lon1, alt1) = [X1, Y1, Z1]; the coordinate of point B is DistanceCalculation (lat2, lon2, alt2) = [X2, Y2, Z2]; When the measurement mode is the center point measurement mode, the coordinate of point A1 is DistanceCalculation (lat3, lon3, alt3) = [X3, Y3, Z3]; the coordinate of point A2 is DistanceCalculation (lat4, lon4, alt4) = [X4, Y4, Z4]; the coordinate of point B is DistanceCalculation (lat2, lon2, alt2) = [X2, Y2, Z2].

5. The method for detecting the height range and platform subsidence of elevated vehicles according to claim 4, characterized in that, The calculation of the converted coordinate information is performed through the following formulae: When the measurement mode is the double-coordinate measurement mode, height h = Z2 - Z1 -△Z, wherein △Z is the vertical distance of point B from the bottom of the platform, i.e. the height offset value; amplitude amp = sqrt[(X1-X2)*(X1-X2)+(Y1-Y2)*(Y1-Y2)]+△X, wherein △X is the vertical distance of point B from the front end of the platform, i.e. the amplitude offset value; The platform subsidence amount Δh = h1 - h2, wherein h1 is the working height measured at the start time t1, and h2 is the working height measured at the end time t2; When the measurement mode is the center point measurement mode, The coordinates of point A are [(X3+X4) / 2, (Y3+Y4) / 2, (Z3+Z4) / 2]; The height h = Z2 - (Z4+Z3) / 2 - ΔZ; The amplitude amp = sqrt{[(X3+X4) / 2 - X2]*[(X3+X4) / 2 - X2] + [(Y3+Y4) / 2 - Y2]*[(Y3+Y4) / 2 - Y2]} + ΔX; The platform subsidence amount Δh = h1 - h2.

6. The height amplitude and platform subsidence amount detection method of the aerial vehicle according to claim 2, characterized in that, When the detection mode is the double-coordinate measurement mode, the original coordinate information of the ground is obtained by the following steps: The first mobile station (1) placed at the projection point A of the center of the rotary body of the aerial vehicle on the ground detects the original coordinate information (at1, lon1, alt1) of point A and sends the original coordinate information of point A to the base station (3) to obtain the original coordinate information of point A through the base station (3); The second mobile station (2) placed at the working platform B of the aerial vehicle detects the original coordinate information (at2, lon2, alt2) of point B and sends the original coordinate information of point B to the base station (3) to obtain the original coordinate information of point B through the base station (3); When the detection mode is the double-coordinate measurement mode, the original coordinate information of the ground is obtained by the following steps: The first mobile station (1) placed at the projection point A of the center of the rotary body of the aerial vehicle on the ground detects the original coordinate information (at1, lon1, alt1) of point A and sends the original coordinate information of point A to the base station (3) to obtain the original coordinate information of point A through the base station (3); The second mobile station (2) placed at the projection point A of the center of the rotary body of the aerial vehicle on the ground detects the original coordinate information (at1, lon1, alt1) of point A and sends the original coordinate information of point A to the base station (3) to obtain the original coordinate information of point A through the base station (3); The first mobile station (1) placed at the working platform B of the aerial vehicle detects the original coordinate information (at2, lon2, alt2) of point B and sends the original coordinate information of point B to the base station (3) to obtain the original coordinate information of point B through the base station (3).

7. An electronic terminal, characterized in that The electronic terminal (4) comprises a processor and a memory connected to the processor, and the memory stores a computer program which, when executed by the processor, performs the steps of the detection method according to any one of claims 1-6.

8. A device for detecting the height amplitude and platform sag of an aerial vehicle, characterized in that, The electronic terminal (4) comprises an RTK positioning mechanism (5) and the electronic terminal (4) according to claim 7. The RTK positioning mechanism (5) is used for acquiring original coordinate information of the ground and the working platform of the elevated vehicle, and sending the original coordinate information of the ground and the working platform of the to-be-detected mechanism to the electronic terminal (4); The electronic terminal (4) is used for selecting a measurement mode and receiving the original coordinate information of the ground and the working platform of the elevated vehicle, performing analysis, conversion and calculation on the original coordinate information according to the measurement mode, and displaying the calculation result.

9. The height amplitude and platform sag detection device of a lift truck as set forth in claim 8, wherein, The RTK positioning mechanism (5) is an RTK positioning measuring instrument.

10. The height amplitude and platform sag detection device of a lift truck as set forth in claim 9, wherein, The RTK positioning measuring instrument comprises a plurality of mobile stations and a base station (3); The mobile station is used for acquiring original coordinate information of the ground and the working platform of the to-be-detected mechanism; The base station (3) is used for receiving the original coordinate information measured by the mobile station and sending the original coordinate information to the electronic terminal (4).

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