A dynamic anti-extrusion safety management and control device and method for a climbing vehicle

Abstract

The application discloses a kind of dynamic anti-extrusion safety control device and method of climbing car, it is related to climbing car safety protection technical field, to solve the problem that existing climbing car relies on manual observation and exists visual blind area, judgment error and operation lag.The device includes monitoring component, controller and speed sensor arranged on climbing car;Monitoring component includes installation base, fixed range finder and rotatable range finder, fixed range finder vertically measures the distance H with top structure, and rotatable range finder adjusts the included angle α with vertical plane and measures the distance P through angle adjusting mechanism;Controller collects the values of H, P and speed V, and controls angle α when climbing car accelerates or moves at constant speed.The application cooperates with fixed range finder and rotatable range finder, dynamically adjusts detection angle according to vehicle speed, realizes prospective detection and all-around real-time monitoring, can eliminate visual blind area, ensure braking safety distance, and effectively prevent extrusion accident.

Description

Technical Field

[0001] This invention relates to the field of aerial work platform safety protection technology, and in particular to a dynamic anti-pinch safety control device and method for aerial work platforms. Background Technology

[0002] As a core piece of equipment for high-altitude operations such as building construction, equipment installation, and exterior wall maintenance, the use of aerial work platforms is becoming increasingly widespread. However, in complex working environments, especially in narrow spaces such as indoor spaces, pipe corridors, and steel structure workshops, aerial work platforms are extremely prone to being crushed by surrounding walls, columns, pipes, equipment, or other structures during lifting or moving, causing serious personal injury and equipment damage accidents.

[0003] Currently, the safety protection of aerial work platforms mainly relies on the visual observation and experience judgment of operators, which may pose safety risks due to factors such as blind spots, human judgment errors, and operational delays.

[0004] Therefore, there is an urgent need for an intelligent safety management system that can proactively, in real time, and accurately monitor the distance between the aerial work platform and surrounding structures, and provide timely warnings before danger occurs, in order to fundamentally solve the problem of crush injuries during aerial work platform operations. Summary of the Invention

[0005] In view of the problems of blind spots, human judgment errors, and operational delays in the construction of aerial work platforms in the prior art, the present invention provides a dynamic anti-pinch safety control device and method for aerial work platforms to solve the above problems.

[0006] To solve the above technical problems, the present invention includes the following technical solutions:

[0007] A dynamic anti-pinch safety control device for an aerial work platform includes: a monitoring component, a controller, and a speed sensor installed on the aerial work platform;

[0008] The monitoring components include a mounting base, and a fixed rangefinder and a rotatable rangefinder mounted on the mounting base; the fixed rangefinder is vertically positioned and used to measure the distance H between the fixed rangefinder and the top structure; the rotatable rangefinder is connected to an angle adjustment mechanism and an angle sensor. The angle adjustment mechanism can adjust the angle α between the rotatable rangefinder and the vertical plane, and the angle sensor measures the value of α. The rotatable rangefinder is used to measure the distance P between the rotatable rangefinder and the obstacle.

[0009] The speed sensor is used to measure the real-time speed V of the aerial work platform.

[0010] The controller has a preset minimum distance H between the fixed rangefinder and the top structure. min The aerial work platform vehicle satisfies H>H min ;

[0011] The controller has a preset maximum acceleration 'a' when the aerial work platform decelerates. max The controller collects the values ​​of H, P, and V, and controls the adjustment mechanism to adjust the angle α between the rotatable rangefinder and the vertical plane, so that when the aerial work platform accelerates or moves at a constant speed, the angle α satisfies the following:

[0012] ;

[0013] In the formula, β is a preset coefficient and β>1; a max This is the maximum acceleration when the aerial work platform vehicle decelerates.

[0014] Furthermore, when the aerial work platform moves horizontally, if H-Pcosα≥△, it is determined that there is an obstacle in the direction of movement of the aerial work platform, where △ is a pre-set deviation threshold.

[0015] Furthermore, when the aerial work platform moves horizontally, if H-Pcosα≥△ and the value of P gradually decreases, it is determined that the laser line of the rotatable rangefinder continuously moves downward on the obstacle.

[0016] Furthermore, when the controller determines that there is an obstacle in the direction of movement of the aerial work platform, the angle α of the rangefinder can be rapidly increased until the laser line can pass through the obstacle. During the angle rotation, the measurement frequency is increased to determine the minimum clearance below the obstacle and then determine whether the personnel are safe. If the personnel are safe, the vehicle can continue to move at a speed V. If it is determined that the vehicle is not safe, the brakes are activated to stop the aerial work platform.

[0017] Furthermore, the minimum net height is min ( ), where α i To allow the rangefinder to rotate its angle as the laser line passes over an obstacle, P i For α i The distance measured by the corresponding rotatable rangefinder.

[0018] Furthermore, the specific determination that the laser line of the rotatable rangefinder crosses the obstacle is that the P value suddenly increases and H-Pcosα<△.

[0019] Accordingly, the present invention also provides a dynamic anti-pinch safety control method for aerial work platforms, characterized in that the aerial work platform is equipped with a dynamic anti-pinch safety control device, and the dynamic anti-pinch safety control method for aerial work platforms includes the following steps:

[0020] When the aerial work platform is in operation, the controller collects the value H measured by the fixed rangefinder and controls H > H. min ;

[0021] The controller collects data V from the speed sensor, α from the angle sensor, and P from the rotatable rangefinder at time α. When the aerial work platform accelerates or moves at a constant speed, the controller controls the angle adjustment mechanism to ensure that angle α satisfies the following:

[0022] In the formula, β is a preset coefficient and β>1; a max This is the maximum acceleration of the aerial work platform when it decelerates.

[0023] When the aerial work platform moves horizontally, the controller monitors whether there are obstacles in the direction of movement. When H-Pcosα≥△, it is determined that there are obstacles in the direction of movement of the aerial work platform, where △ is a preset deviation threshold.

[0024] When an obstacle is present, the controller activates the braking mechanism of the aerial work platform.

[0025] Furthermore, when an obstacle is present, the aerial work platform first determines whether the height of the obstacle meets the walking requirements. If it does, it simply moves; otherwise, the controller brakes the aerial work platform. Specifically:

[0026] When the controller determines that there is an obstacle in the direction of movement of the aerial work platform, the angle α of the rangefinder can be rapidly increased until the laser line can pass through the obstacle. During the angle rotation, the measurement frequency is increased to determine the minimum clearance below the obstacle and then determine whether the personnel are safe. If the personnel are safe, the platform can continue to move at a speed V. If it is determined that it is unsafe, the brakes are activated to stop the aerial work platform.

[0027] Furthermore, the minimum net height is min ( ), where α i To allow the rangefinder to rotate its angle as the laser line passes over an obstacle, P i For α i The distance measured by the corresponding rotatable rangefinder.

[0028] Furthermore, the specific determination that the laser line of the rotatable rangefinder crosses the obstacle is that the P value suddenly increases and H-Pcosα<△.

[0029] By employing the above technical solutions, this invention has the following advantages and positive effects compared with the prior art:

[0030] (1) By working together with a fixed rangefinder and a rotatable rangefinder, all-round real-time monitoring of the space around the aerial work platform is achieved. Compared with existing technologies that rely on manual observation, this solution can actively and accurately detect obstacles, eliminate blind spots, and solve the problem that it is difficult to accurately judge the distance between the top of the aerial work platform and the ceiling and the obstacles in front of it by manual observation;

[0031] (2) Control algorithm for dynamically adjusting the angle of the rotatable rangefinder according to vehicle speed It achieves forward-looking detection, with a larger angle as the speed increases, ensuring that the detection distance is greater than the braking distance, reserving a sufficient safety distance for braking, avoiding the problem of operational lag, and solving the problem of time delay between the detection of danger and braking in manual operation;

[0032] (3) By using the obstacle determination logic H-Pcosα≥△ based on geometric relationship, the intelligent algorithm can accurately determine the location of obstacles, eliminate the interference of construction error of the top structure, and avoid misjudgment caused by human judgment due to fatigue, distraction or lack of experience.

[0033] (4) Calculate the minimum net height min by fast scanning. The intelligent evaluation mechanism can distinguish between passable and impassable situations, avoiding false alarms and missed alarms, and improving operational efficiency;

[0034] (5) This system significantly improves the safety of aerial work platform operations, effectively prevents crushing accidents, protects the lives of operators and the integrity of equipment, and is particularly suitable for narrow and complex working environments such as indoor spaces, pipe corridors, and steel structure workshops. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the aerial work platform in one embodiment of the present invention;

[0036] Figure 2 This is a top view of the aerial work platform vehicle according to one embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the structure of a monitoring component provided in an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of the monitoring components when the horizontal movement speed of the aerial work platform is 0.

[0039] Figure 5 This is a schematic diagram of the monitoring components when the aerial work platform moves horizontally.

[0040] Figure 6 A schematic diagram showing the laser line of a rotatable rangefinder touching an obstacle when the aerial work platform moves horizontally.

[0041] Figure 7 A schematic diagram showing the laser line of a rotatable rangefinder touching the bottom of an obstacle when the aerial work platform moves horizontally;

[0042] Figure 8 This is a schematic diagram showing the laser line of a rotatable rangefinder crossing obstacles when the aerial work platform moves horizontally.

[0043] The numbers in the diagram are as follows:

[0044] 1-Aerial work platform; 2-Top structure; 3-Obstacles;

[0045] 10-Monitoring component; 11-Mounting base; 12-Fixed rangefinder; 13-Rotating rangefinder;

[0046] 20 - Speed ​​sensor;

[0047] 30 - Controller;

[0048] 40 - Control Panel. Detailed Implementation

[0049] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a dynamic anti-pinch safety control device and method for aerial work platforms provided by the present invention. The advantages and features of the present invention will become clearer from the following description. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0050] Example 1

[0051] Reference Figure 1 , Figure 2 and Figure 3 This embodiment provides a dynamic anti-pinch safety control device for an aerial work platform, including a monitoring component 10, a controller 30, and a speed sensor 20 installed on the aerial work platform 1. The device uses the monitoring component 10 to monitor the distance between the aerial work platform 1 and surrounding structures in real time, and the controller 30 makes intelligent judgments and controls based on the monitoring data, thereby achieving dynamic anti-pinch safety control of the aerial work platform 1.

[0052] Reference Figure 1 and Figure 2 The aerial work platform 1 is a standard aerial work platform in the prior art, including a chassis, a lifting mechanism, and a working platform. The monitoring component 10, speed sensor 20, and controller 30 are all mounted on the aerial work platform 1. For example, the speed sensor 20 is mounted on the wheels of the aerial work platform 1 to measure the real-time moving speed V of the aerial work platform 1; the controller 30 is mounted on the working platform of the aerial work platform 1 and is electrically connected to the monitoring component 10 and the speed sensor 20. Figure 2 The system includes four detection components, located around the entire aerial work platform, ensuring that the detection components can detect obstacles in any direction the platform is traveling.

[0053] Reference Figure 3 The monitoring component 10 includes a mounting base 11, a fixed rangefinder 12, and a rotatable rangefinder 13. The mounting base 11 is a rectangular plate structure and is fixedly mounted on the working platform of the aerial work platform 1. Both the fixed rangefinder 12 and the rotatable rangefinder 13 are mounted on the upper surface of the mounting base 11.

[0054] Combination Figures 1 to 4 As shown, the fixed rangefinder 12 is vertically positioned with its laser emission direction pointing vertically upwards. It is used to measure the vertical distance H between the fixed rangefinder 12 and the top structure 2. The fixed rangefinder 12 is a laser rangefinder, which has the advantages of high measurement accuracy, long measurement distance, and short response time. The fixed rangefinder 12 is fixedly connected to the mounting base 11 by bolts, and its laser emission axis is perpendicular to the upper surface of the mounting base 11.

[0055] Combination Figures 1 to 4 As shown, the rotatable rangefinder 13 is connected to the mounting base 11 via a rotating shaft and can rotate around a horizontal axis, thereby changing the angle α between its laser emission direction and the vertical direction. The rotatable rangefinder 13 is a laser rangefinder, and its technical parameters are the same as those of the fixed rangefinder 12. The rotatable rangefinder 13 is connected to an angle adjustment mechanism and an angle sensor. The angle adjustment mechanism is a servo motor, mounted on the mounting base 11, and its output shaft is connected to the rotating shaft of the rotatable rangefinder 13. The servo motor can precisely control the rotation angle of the rotatable rangefinder 13. The angle sensor is an encoder, mounted on the rotating shaft of the rotatable rangefinder 13, used to measure the angle α between the rotatable rangefinder 13 and the vertical plane in real time. The rotatable rangefinder is used to measure the distance P between itself and an obstacle. As a preferred embodiment, the mounting base can automatically level itself to ensure that the fixed rangefinder is set vertically. The automatic leveling of the mounting base can be achieved by existing technology, such as the mounting base including 3 or 4 leveling bolts. A determining mechanism drives the leveling bolts to rotate, adjusting the levelness of the upper surface of the mounting base. An angle sensor monitors the levelness of the upper surface of the mounting base, thereby ensuring that the upper surface of the mounting base is in a horizontal state.

[0056] The controller 30 is a PLC controller with a built-in microprocessor, memory, and input / output interfaces. The input terminals of the controller 30 are electrically connected to the fixed rangefinder 12, the rotatable rangefinder 13, the angle sensor, and the speed sensor 20, for acquiring real-time data of H, P, α, and V. The output terminals of the controller 30 are electrically connected to the servo motor and the lifting system of the aerial work platform 1, for controlling the angle α of the rotatable rangefinder 13 and the lifting of the aerial work platform 1.

[0057] The angle adjustment mechanism allows for adjustment of the angle α between the rotatable rangefinder and the vertical plane. The angle sensor measures the value of α. The controller presets the minimum distance H between the fixed rangefinder and the top structure. min The maximum acceleration a when the aerial work platform decelerates. max The controller collects the values ​​of H0, P, and V, and controls the adjustment mechanism to adjust the angle α between the rotatable rangefinder and the vertical plane, satisfying:

[0058] In the formula, β is a preset coefficient and β>1.

[0059] In one specific embodiment, the dynamic anti-pinch safety control device of the aerial work platform 1 also includes a control panel, which is equipped with interactive buttons for operators to control the start, stop, lifting and lowering of the aerial work platform 1, as well as the input of preset data in the controller.

[0060] In one specific embodiment, the dynamic anti-pinch safety control device for the aerial work platform 1 also includes an audible and visual alarm. When the controller detects danger, the audible and visual alarm sounds an alarm to alert the operator, further improving safety.

[0061] The working principle of the dynamic anti-pinch safety control device of the aerial work platform 1 will be described in detail below.

[0062] When the aerial work platform 1 is powered on, the controller continuously collects data H from the fixed rangefinder, ensuring that H > H, regardless of whether the platform is raising, lowering, moving, or stationary. min To ensure a safe working height for operators, if H ≤ Hmin, there is a risk of personnel being crushed. Therefore, the aerial work platform 1 needs to ensure the safety of operators by controlling its lifting system.

[0063] like Figure 4 As shown, when the aerial work platform 1 is not moving horizontally, the laser lines of both the fixed rangefinder 12 and the rotatable rangefinder 13 are set vertically. The data measured by the fixed rangefinder 12 is H, and the data measured by the rotatable rangefinder 13 is P, where P=H.

[0064] When the aerial work platform 1 moves horizontally, there may be a beam located below the top structure 2 in the direction of movement. In this case, the beam becomes an obstacle 3 for the aerial work platform 1 to move. Figure 5 As shown, as the speed of the aerial work platform 1 gradually increases to V, the angle between the rotatable rangefinder 13 and the vertical plane also gradually increases to α. The value P measured by the rotatable rangefinder 13 gradually increases to P1, while the data measured by the fixed rangefinder 12 is H, where Htanα = P1sinα = m. The rotation angle α of the rotatable rangefinder 13 is to detect the obstacle 3 in advance and provide a safe distance for the aerial work platform 1 to brake.

[0065] like Figure 6As shown, when the aerial work platform 1 moves at a speed of V, when the laser line of the rotatable rangefinder 13 illuminates the obstacle 3, the data P measured by the rotatable rangefinder 13 is recorded as P2. P2cosα will be less than H, that is, the difference between H and P2cosα is greater than 0, and P2 gradually decreases as the aerial work platform 1 moves horizontally. In specific logical judgment, if the difference between H and Pcosα is greater than 0, it can be determined that the laser line of the rotatable rangefinder 13 has touched the obstacle 3. In order to eliminate the influence of construction errors on the lower surface of the top structure 2 on the judgment result, a deviation threshold Δ can be preset. When H-Pcosα≥Δ, it is determined that the laser line of the rotatable rangefinder 13 has illuminated the obstacle 3. When H-Pcosα≥Δ, and the value of P gradually decreases, it is determined that the illumination point of the laser line of the rotatable rangefinder 13 on the obstacle 3 continues to move downward on the obstacle 3.

[0066] like Figure 7 As shown, the laser line of the rotatable rangefinder 13 illuminates the bottom surface of the obstacle 3. The data P measured by the rotatable rangefinder 13 is denoted as P3. At this time, H - P3cosα ≥ Δ, and P3 remains unchanged. In the specific logical judgment, if H - Pcosα ≥ Δ, and P remains unchanged (or changes less than a certain set value), it is determined that the laser line of the rotatable rangefinder 13 illuminates the bottom surface of the obstacle 3.

[0067] like Figure 8 As shown, the laser line of the rotatable rangefinder 13 crosses the obstacle 3. At this time, the data P measured by the rotatable rangefinder 13 is recorded as P4, and P4cosα=H. In the specific logical judgment, if the value of P suddenly increases and H-Pcosα<△, it is determined that the laser line of the rotatable rangefinder 13 has crossed the obstacle 3.

[0068] It should be noted that the value of m needs to be greater than the braking distance of the aerial work platform 1. Assuming that the aerial work platform 1 decelerates uniformly from velocity V to 0, the maximum allowable acceleration of the aerial work platform 1 is denoted as a. max Let t be the minimum braking time, and L be the minimum braking distance, satisfying the following:

[0069] ;

[0070] L= = ;

[0071] m=βL, where β is a coefficient, for example, 1.05≤β≤1.5.

[0072] It can be seen that, = Furthermore, we can obtain:

[0073] .

[0074] From the above formula, we know that β is a known number, and a max Since these are inherent parameters of the aerial work platform 1, the initial rotation angle α of the rotatable rangefinder 13 is directly proportional to the moving speed of the aerial work platform 1. The faster the aerial work platform 1 moves, the longer the braking distance required, and the larger the angle α calculated by the controller 30, thus increasing the forward detection distance m. This adaptive adjustment mechanism allows the system to adapt to different operating conditions, avoiding over-detection at low speeds that could affect work efficiency, and ensuring sufficient safety distance at high speeds.

[0075] When the laser line of the rotatable rangefinder 13 illuminates the obstacle 3, the aerial work platform 1 begins to brake. Preferably, the angle α remains constant during the braking process of the aerial work platform 1. When the aerial work platform 1 stops moving laterally, the rotatable rangefinder 13 returns to a vertical position. The above process is repeated for the next movement to identify the obstacle 3.

[0076] In a preferred embodiment, when an obstacle 3 is detected, the angle α of the rotatable rangefinder 13 is rapidly increased until the laser line can pass over the obstacle 3. During the angle rotation, the measurement frequency is increased to determine the minimum clearance below the obstacle 3, and then to determine whether the personnel are safe. If the personnel are deemed safe, the movement can continue at speed V. If the personnel are deemed unsafe, the brakes are activated to stop the aerial work platform 1. For example, Figure 7 In the middle, the net height is ,when >H min If it is safe, then it is considered safe. If the angle α of the rotatable rangefinder 13 increases rapidly, several sets of data (α) will be generated. 01 ,P 01 ), (α) 02 ,P 02 ), (α) 03 ,P 03 ..., take the minimum ( This serves as the basis for determining whether the clearance height is safe.

[0077] Example 2

[0078] This invention provides a dynamic anti-pinch safety control method for an aerial work platform 1, which uses the dynamic anti-pinch safety control device for the aerial work platform 1 in Embodiment 1 to control the aerial work platform 1. The method includes:

[0079] When the aerial work platform 1 is in operation, the controller 30 collects the value H measured by the fixed rangefinder 12 and controls H > H. min ;

[0080] The controller 30 acquires the data V measured by the speed sensor 20, the α value measured by the angle sensor, and the data P measured by the rotatable rangefinder 13 at time α. When the aerial work platform 1 accelerates or moves at a constant speed, the controller 30 controls the angle adjustment mechanism to make the angle α satisfy:

[0081] ;

[0082] In the formula, β is a preset coefficient and β>1; a max This is the maximum acceleration of the aerial work platform 1 when it decelerates, regardless of the sign;

[0083] When the aerial work platform 1 moves horizontally, the controller 30 monitors whether there is an obstacle 3 in the direction of movement. When H-Pcosα≥△, it is determined that there is an obstacle 3 in the direction of movement of the aerial work platform 1, where △ is a preset deviation threshold.

[0084] When an obstacle 3 is present, the controller 30 controls the aerial work platform 1 to brake.

[0085] A more preferred embodiment is that the aerial work platform 1 first determines whether the height of the obstacle 3 meets the walking requirements. If it does, walking is sufficient; otherwise, the controller 30 brakes the aerial work platform 1. Specifically, when the controller 30 determines that there is an obstacle 3 in the direction of movement of the aerial work platform 1, the angle α of the rangefinder 13 is rapidly increased until the laser line can pass over the obstacle 3. During the angle rotation, the measurement frequency is increased to determine the minimum clearance below the obstacle 3, and then it is determined whether the personnel are safe. If the personnel are safe, the vehicle can continue to move at a speed V. If it is determined that the vehicle is unsafe, the brakes are activated to stop the aerial work platform 1. The minimum clearance is min ( ), where α i For the angle of the rotatable rangefinder 13, P i For α i The distance measured by the rotatable rangefinder 13. Specifically, the laser line of the rotatable rangefinder 13 is determined to have crossed the obstacle 3 when the Pcosα value rapidly increases to H.

[0086] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A dynamic anti-pinch safety control device for aerial work platforms, characterized in that, include: Monitoring components, controllers, and speed sensors installed on the aerial work platform; The monitoring components include a mounting base, and a fixed rangefinder and a rotatable rangefinder mounted on the mounting base; the fixed rangefinder is vertically positioned and used to measure the distance H between the fixed rangefinder and the top structure; the rotatable rangefinder is connected to an angle adjustment mechanism and an angle sensor. The angle adjustment mechanism can adjust the angle α between the rotatable rangefinder and the vertical plane, and the angle sensor measures the value of α. The rotatable rangefinder is used to measure the distance P between the rotatable rangefinder and the obstacle. The speed sensor is used to measure the real-time speed V of the aerial work platform. The controller has a preset minimum distance H between the fixed rangefinder and the top structure. min The aerial work platform vehicle satisfies H>H min ; The controller has a preset maximum acceleration 'a' when the aerial work platform decelerates. max The controller collects the values ​​of H, P, and V, and controls the adjustment mechanism to adjust the angle α between the rotatable rangefinder and the vertical plane, so that when the aerial work platform accelerates or moves at a constant speed, the angle α satisfies the following: ； In the formula, β is a preset coefficient and β>1; a max This is the maximum acceleration of the aerial work platform when it decelerates. When the aerial work platform moves horizontally, if H-Pcosα≥△, it is determined that there is an obstacle in the direction of movement of the aerial work platform, where △ is a pre-set deviation threshold. When H-Pcosα≥△, and the value of P gradually decreases, it is determined that the laser line of the rotatable rangefinder continuously moves downward on the obstacle. When the controller determines that there is an obstacle in the direction of movement of the aerial work platform, the angle α of the rangefinder can be rapidly increased until the laser line can pass through the obstacle. During the angle rotation, the measurement frequency is increased to determine the minimum clearance below the obstacle and then determine whether the personnel are safe. If the personnel are safe, the vehicle can continue to move at a speed V. If the vehicle is deemed unsafe, the brakes are activated to stop the aerial work platform.

2. The dynamic anti-pinch safety control device for aerial work platforms as described in claim 1, characterized in that, Minimum clear height is min ( ), where α i To allow the rangefinder to rotate its angle as the laser line passes over an obstacle, P i For α i The distance measured by the corresponding rotatable rangefinder.

3. The dynamic anti-pinch safety control device for aerial work platforms as described in claim 1 or 2, characterized in that, The specific determination that the laser line of the rotatable rangefinder crosses the obstacle is that the P value suddenly increases and H-Pcosα<△.

4. A dynamic anti-pinch safety control method for aerial work platforms, characterized in that, The aerial work platform is equipped with the dynamic anti-pinch safety control device as described in claim 1, and the dynamic anti-pinch safety control method for the aerial work platform includes the following steps: When the aerial work platform is in operation, the controller collects the value H measured by the fixed rangefinder and controls H > H. min ; The controller collects data V from the speed sensor, α from the angle sensor, and P from the rotatable rangefinder at time α. When the aerial work platform accelerates or moves at a constant speed, the controller controls the angle adjustment mechanism to ensure that angle α satisfies the following: In the formula, β is a preset coefficient and β>1; a max This is the maximum acceleration of the aerial work platform when it decelerates. When the aerial work platform moves horizontally, the controller monitors whether there are obstacles in the direction of movement. When H-Pcosα≥△, it is determined that there are obstacles in the direction of movement of the aerial work platform, where △ is a preset deviation threshold. When an obstacle is present, the controller activates the braking mechanism of the aerial work platform.

5. The dynamic anti-pinch safety control method for aerial work platforms as described in claim 4, characterized in that, When an obstacle is present, the aerial work platform first determines whether the height of the obstacle meets the walking requirements. If it does, it simply moves; otherwise, the controller brakes the aerial work platform. Specifically: When the controller determines that there is an obstacle in the direction of movement of the aerial work platform, the angle α of the rangefinder can be rapidly increased until the laser line can pass through the obstacle. During the angle rotation, the measurement frequency is increased to determine the minimum clearance below the obstacle and then determine whether the personnel are safe. If the personnel are safe, the platform can continue to move at a speed V. If it is determined that it is unsafe, the brakes are activated to stop the aerial work platform.

6. The dynamic anti-pinch safety control method for aerial work platforms as described in claim 5, characterized in that, Minimum clear height is min ( ), where α i To allow the rangefinder to rotate its angle as the laser line passes over an obstacle, P i For α i The distance measured by the corresponding rotatable rangefinder.

7. The dynamic anti-pinch safety control method for aerial work platforms as described in claim 6, characterized in that, The specific determination that the laser line of the rotatable rangefinder crosses the obstacle is that the P value suddenly increases and H-Pcosα<△.

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