Stable adjustment system of aerial work platform based on multi-sensor fusion

Abstract

The application relates to the technical field of high-altitude operation safety management, and discloses a high-altitude operation platform stable adjustment system based on multi-sensor fusion. A data acquisition module acquires multi-source sensing data streams, carries out space-time alignment and dimension unification processing, and generates a standardized sensing data set. An index calculation module calculates a current stable margin index according to the characteristics of the standardized sensing data set and preset stable boundary conditions. A hierarchical adjustment module triggers a hierarchical stable adjustment process in response to the stable margin index being lower than a safe operation threshold, determines a support leg telescopic compensation amount, an arm frame posture correction amount and a platform leveling instruction, and an instruction issuing module distributes the support leg telescopic compensation amount, the arm frame posture correction amount and the platform leveling instruction to hydraulic actuators, so that the high-altitude operation platform is driven to return to a stable operation posture, the stability and safety of the high-altitude operation platform in a complex environment are improved, the risk of falling from a high place is effectively reduced, and the safety of personnel and the reliable operation of equipment are ensured.

Description

Technical Field

[0001] This invention relates to the field of high-altitude operation safety management technology, and more specifically, to a high-altitude operation platform stability adjustment system based on multi-sensor fusion. Background Technology

[0002] Aerial work platforms are indispensable core equipment in fields such as construction, new energy, petrochemicals, and power. With the rapid development of urbanization and the new energy industry in my country, their application scenarios have expanded from traditional building construction to complex environments such as desert photovoltaic and plateau wind power, with continuously increasing operating heights and cycles. However, existing aerial work platforms have significant bottlenecks in terms of stability and safety, making it difficult to meet the stringent requirements of complex environments.

[0003] Existing equipment mostly employs traditional truss or box-type structures, resulting in an insufficient balance between lightweight and high strength. The outrigger layout is also unreasonable, making it prone to sinking on soft ground. Materials are primarily ordinary steel, offering poor corrosion and fatigue resistance. Hydraulic systems suffer from leaks, slow response, and slippage on slopes, leading to poor leveling accuracy and adaptability to complex working conditions. Furthermore, the equipment experiences severe performance degradation in extreme environments such as high and low temperatures and strong winds, and the reliability of the power and hydraulic systems is insufficient. In addition, existing safety monitoring systems are mostly single-dimensional, failing to provide comprehensive perception and early warning of equipment status, personnel, and the environment, thus hindering the achievement of all-round safety protection. Summary of the Invention

[0004] To address the aforementioned technical issues, the purpose of this application is to provide a high-altitude work platform stability adjustment system based on multi-sensor fusion, which significantly improves the stability and safety of the high-altitude work platform in complex environments, effectively reduces the risk of falls from heights, meets the needs of extreme working conditions in multiple fields such as new energy and construction, and ensures personnel safety and reliable equipment operation.

[0005] To achieve the above objectives, the present invention provides a high-altitude work platform stability adjustment system based on multi-sensor fusion, comprising: The data acquisition module is used to acquire multi-source sensor data streams, perform spatiotemporal alignment and dimensional unification processing on the multi-source sensor data streams, and generate a standardized sensor dataset. The index calculation module is used to calculate the current stability margin index based on the various features of the standardized sensor dataset and the preset stability boundary conditions. The graded adjustment module is used to trigger a graded stability adjustment process in response to the stability margin index being lower than the safe operation threshold, and to determine the outrigger extension compensation amount, boom attitude correction amount and platform leveling command respectively. The instruction issuing module is used to sort the outrigger extension compensation amount, boom posture correction amount and platform leveling instructions according to priority and distribute them to the corresponding hydraulic actuators to drive the aerial work platform to return to a stable working posture.

[0006] Furthermore, the data acquisition module is used for: Using the internal clock of the platform's main controller as the reference source, a synchronous trigger signal is periodically broadcast to each sensor node through the controller's local area network bus. The response delay of each node is recorded and the time deviation is compensated, so that the data from heterogeneous sensors have a unified time reference. The ground height data collected by the laser rangefinder is converted from length dimension to slope dimension. The local ground tilt angle is calculated by the ratio of the height difference between adjacent measuring points to the horizontal span, and the attitude angle output by the six-axis inertial measurement unit is unified into the angle dimension. Multiply the pressure data collected by the pressure sensor in the outrigger hydraulic circuit by the effective working area of ​​the corresponding cylinder piston, and convert the pressure dimension into the ground support force dimension. The local pressure data collected by the pressure sensor array below the platform working surface is multiplied by the equivalent bearing area of ​​each sensor and accumulated to convert the pressure dimension into the total working load force dimension. The wind speed data collected by the ultrasonic anemometer is converted into wind pressure dimensions based on the relationship that wind pressure is proportional to the square of wind speed. The strain data collected by the fiber Bragg grating sensor is correlated with the elastic modulus and moment of inertia of the cross section at the stress concentration point of the structure, and the dimensionless strain dimension is converted into the structural bending deformation dimension. Standardize the sampling frequency and data resolution of each channel, and output the standardized sensor dataset.

[0007] Furthermore, the index calculation module is used for: Static support features, dynamic disturbance features, and structural deformation features are extracted from the standardized sensor dataset and fused to construct a device stability vector. The current stability margin index is calculated based on the device's stable state vector and the preset stability boundary conditions.

[0008] Furthermore, the index calculation module is used for: The elevation difference of each corner point of the platform is calculated from the ground height data. Combined with the geometric span of the outriggers, the inclination of the support plane is generated. The proportion of the support force of each outrigger is calculated from the ground pressure data of the outriggers, and the uniformity of the support force distribution is generated. The inclination of the support plane and the uniformity of the support force distribution are integrated into the static support characteristics. The platform pitch and roll angles are extracted from attitude angle data, and the pitch and roll rate of change are extracted from angular velocity data. Combined with wind pressure data from an ultrasonic anemometer, the wind load excitation intensity is evaluated, and dynamic disturbance characteristics are generated. The bending strain at the boom root, the shear strain of the outrigger connecting lug plate, and the bending strain at the mid-span of the platform main beam are extracted from the strain data and compared with the design allowable strain of the corresponding parts to generate a structural strength reserve coefficient as a structural deformation characteristic. The static support features, dynamic disturbance features, and structural deformation features are respectively subjected to dimensionless normalization, and then weighted vector superposition is performed according to preset weight coefficients to generate the stable state vector of the equipment.

[0009] Furthermore, the index calculation module is used for: Calculate the static support margin based on the inclination of the support plane and the uniformity of the support force distribution; Dynamic overturning margin is calculated based on the platform's pitch angle, roll angle, and rate of change, combined with wind pressure data. The static support margin, dynamic overturning margin, and equipment stability vector are compared with their corresponding design allowable values. The margin ratio of each component is calculated, and the margin ratios are weighted and summed according to a preset proportional coefficient to generate the stability margin index.

[0010] Furthermore, the graded adjustment module is used for: In response to the stability margin index falling below the safe operating threshold, a graded stability adjustment process is triggered, determining the outrigger extension compensation, boom attitude correction, and platform leveling commands, including: The safety operation thresholds are divided into a primary warning threshold and a secondary intervention threshold. The primary warning threshold is greater than the secondary intervention threshold, and both thresholds are dynamically set based on the platform's current operating height and rated load.

[0011] Furthermore, the graded adjustment module is used for: In response to the stability margin index falling below the first-level warning threshold and exceeding the second-level intervention threshold, a warning-level adjustment is triggered, generating only a platform leveling command to drive the leveling cylinder to compensate for the tilt of the support plane and maintain the current boom posture and outrigger length unchanged. In response to the stability margin index falling below the secondary intervention threshold, intervention-level adjustment is triggered, simultaneously determining the outrigger extension compensation, boom attitude correction, and platform leveling command. The outrigger extension compensation is used to balance the ground pressure of each outrigger, the boom attitude correction is used to reduce the combined overturning moment of wind load and operating load, and the platform leveling command is used to restore the levelness of the platform working surface. During the intervention-level adjustment process, multi-source sensor data streams are re-acquired at a preset sampling period, and the stability margin index is updated in real time to form a closed-loop feedback until the stability margin index rises back to above the safe operating threshold.

[0012] Furthermore, the graded adjustment module is used for: Calculate the deviation between the grounding pressure of each outrigger and the average grounding pressure, and determine whether the corresponding outrigger should be extended or shortened based on the sign of the deviation. The torque balance coefficient is calculated based on the horizontal distance from each outrigger to the geometric center of the platform; The total compensation is distributed to each outrigger according to the torque balance coefficient ratio, so that the outrigger with excessive grounding pressure retracts and the outrigger with insufficient grounding pressure extends. The allocated compensation amount is converted into the piston rod displacement setting value of the corresponding outrigger hydraulic cylinder to generate the outrigger extension compensation amount.

[0013] Furthermore, the graded adjustment module is used for: The direction of wind load is determined based on wind direction data collected by ultrasonic anemometer, the wind pressure value is calculated based on wind speed data, and the overturning moment of wind load on the platform overturning boundary is calculated by combining the current windward area of ​​the boom and the working height. Calculate the total load weight based on the work load data, and calculate the load torque based on the horizontal distance from the load center of gravity to the platform rotation center. The wind-loaded overturning moment and the load moment are superimposed according to the vector composition rule to determine the direction and magnitude of the combined overturning moment; The boom is driven to perform amplitude and rotation movements in the direction of reducing the combined overturning moment arm, thereby generating the boom attitude correction amount.

[0014] Furthermore, the graded adjustment module is used for: The current pitch and roll angles of the platform are extracted from attitude angle data, and the ground elevation difference at each outrigger landing point is calculated from ground height data. By integrating pitch angle, roll angle and ground elevation difference, the longitudinal tilt component and lateral tilt component of the platform are determined. The longitudinal tilt component and the lateral tilt component are respectively converted into the extension and retraction displacement commands of the corresponding leveling cylinder. The platform leveling command is generated based on the piston rod displacement command of each leveling cylinder, driving the corresponding cylinder to move synchronously, so that the platform working surface is restored to a horizontal state and each outrigger is grounded at the same time.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention discloses a stability adjustment system for aerial work platforms based on multi-sensor fusion. A data acquisition module acquires multi-source sensor data streams, performs spatiotemporal alignment and dimensional unification processing, and generates a standardized sensor dataset. An index calculation module calculates the current stability margin index based on the characteristics of the standardized sensor dataset and preset stability boundary conditions. A graded adjustment module, responding to a stability margin index falling below a safe operating threshold, triggers a graded stability adjustment process to determine outrigger extension compensation, boom posture correction, and platform leveling commands. A command distribution module distributes the outrigger extension compensation, boom posture correction, and platform leveling commands to hydraulic actuators, driving the aerial work platform back to a stable operating posture. This improves the stability and safety of the aerial work platform in complex environments, effectively reduces the risk of falls from heights, and ensures personnel safety and reliable equipment operation. Attached Figure Description

[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic diagram of the structure of the high-altitude work platform stability adjustment system based on multi-sensor fusion in an embodiment of the present invention is shown. Detailed Implementation

[0017] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0018] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0019] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0021] The following is a description of preferred embodiments of the present invention in conjunction with the accompanying drawings.

[0022] like Figure 1 As shown, embodiments of the present invention disclose a high-altitude work platform stability adjustment system based on multi-sensor fusion, comprising: The data acquisition module is used to acquire multi-source sensor data streams, perform spatiotemporal alignment and dimensional unification processing on the multi-source sensor data streams, and generate a standardized sensor dataset. The index calculation module is used to calculate the current stability margin index based on the various features of the standardized sensor dataset and the preset stability boundary conditions. The graded adjustment module is used to trigger a graded stability adjustment process in response to the stability margin index being lower than the safe operation threshold, and to determine the outrigger extension compensation amount, boom attitude correction amount and platform leveling command respectively. The instruction issuing module is used to sort the outrigger extension compensation amount, boom posture correction amount and platform leveling instructions according to priority and distribute them to the corresponding hydraulic actuators to drive the aerial work platform to return to a stable working posture.

[0023] In this embodiment, the multi-source sensing data includes: The data collected includes attitude angle and angular velocity data from a six-axis inertial measurement unit installed at the center of the platform; ground height data from laser rangefinders evenly distributed around the platform; ground pressure data from pressure sensors installed in the hydraulic circuits of each outrigger; work load data from a pressure sensor array located below the platform's working surface; wind speed and direction data from an ultrasonic anemometer installed at the top of the platform; and strain data from fiber optic grating sensors attached to stress concentration points on the structure.

[0024] In some embodiments of this application, the data acquisition module is used for: Using the internal clock of the platform's main controller as the reference source, a synchronous trigger signal is periodically broadcast to each sensor node through the controller's local area network bus. The response delay of each node is recorded and the time deviation is compensated, so that the data from heterogeneous sensors have a unified time reference. The ground height data collected by the laser rangefinder is converted from length dimension to slope dimension. The local ground tilt angle is calculated by the ratio of the height difference between adjacent measuring points to the horizontal span, and the attitude angle output by the six-axis inertial measurement unit is unified into the angle dimension. Multiply the pressure data collected by the pressure sensor in the outrigger hydraulic circuit by the effective working area of ​​the corresponding cylinder piston, and convert the pressure dimension into the ground support force dimension. The local pressure data collected by the pressure sensor array below the platform working surface is multiplied by the equivalent bearing area of ​​each sensor and accumulated to convert the pressure dimension into the total working load force dimension. The wind speed data collected by the ultrasonic anemometer is converted into wind pressure dimensions based on the relationship that wind pressure is proportional to the square of wind speed. The strain data collected by the fiber Bragg grating sensor is correlated with the elastic modulus and moment of inertia of the cross section at the stress concentration point of the structure, and the dimensionless strain dimension is converted into the structural bending deformation dimension. Standardize the sampling frequency and data resolution of each channel, and output the standardized sensor dataset.

[0025] In this embodiment, 1. Spatiotemporal alignment: Using the internal clock of the platform's main controller as the reference source, a synchronization trigger signal is periodically broadcast to each sensor node through the controller area network bus (CAN bus), the response delay of each node is recorded, and the time deviation compensation of the corresponding sensor data is performed according to the delay time, so that all heterogeneous sensor data have a unified time reference and eliminate sampling time deviation. 2. Dimensional Unification: Ground height data (length dimension) collected by laser rangefinders is converted to slope dimension. The local ground tilt angle is calculated by the ratio of the height difference between adjacent measuring points to the horizontal span, and unified with the attitude angle (angle dimension) output by the six-axis inertial measurement unit to the angle dimension. Pressure data (pressure dimension) collected by pressure sensors in the outrigger hydraulic circuit is multiplied by the effective working area of ​​the corresponding cylinder piston to convert to ground support force dimension. Local pressure data (pressure dimension) collected by the pressure sensor array below the platform working surface is multiplied by the equivalent bearing area of ​​each sensor and summed to convert to total working load force dimension. Wind speed data (velocity dimension) collected by ultrasonic anemometers is converted to wind pressure dimension based on the relationship that wind pressure is proportional to the square of wind speed. Strain data (dimensionless) collected by fiber optic grating sensors is correlated with the elastic modulus and moment of inertia of the structural stress concentration points to convert to structural bending deformation dimension. 3. Data standardization: Unify the sampling frequency (adjusted to 10Hz) and data resolution of each channel, remove outliers from all processed data (using the 3σ criterion), and finally output a standardized sensor dataset to ensure data consistency and usability.

[0026] The corresponding beneficial effects are: improved data quality, providing standardized and high-quality input data for subsequent feature extraction and stability evaluation, and significantly improving the accuracy and reliability of subsequent processing.

[0027] In some embodiments of this application, the index calculation module is used for: Static support features, dynamic disturbance features, and structural deformation features are extracted from the standardized sensor dataset and fused to construct a device stability vector. The current stability margin index is calculated based on the device's stable state vector and the preset stability boundary conditions.

[0028] In some embodiments of this application, the index calculation module is used for: The elevation difference of each corner point of the platform is calculated from the ground height data. Combined with the geometric span of the outriggers, the inclination of the support plane is generated. The proportion of the support force of each outrigger is calculated from the ground pressure data of the outriggers, and the uniformity of the support force distribution is generated. The inclination of the support plane and the uniformity of the support force distribution are integrated into the static support characteristics. The platform pitch and roll angles are extracted from attitude angle data, and the pitch and roll rate of change are extracted from angular velocity data. Combined with wind pressure data from an ultrasonic anemometer, the wind load excitation intensity is evaluated, and dynamic disturbance characteristics are generated. The bending strain at the boom root, the shear strain of the outrigger connecting lug plate, and the bending strain at the mid-span of the platform main beam are extracted from the strain data and compared with the design allowable strain of the corresponding parts to generate a structural strength reserve coefficient as a structural deformation characteristic. The static support features, dynamic disturbance features, and structural deformation features are respectively subjected to dimensionless normalization, and then weighted vector superposition is performed according to preset weight coefficients to generate the stable state vector of the equipment.

[0029] In this embodiment, 1. Static support feature extraction: Determine the fixed installation points of each laser ranging sensor, clarify the horizontal span between adjacent measuring points and each corner point (preset fixed value), and calculate the height difference (absolute value) between any two corner points by using the ground height value collected by the laser ranging sensor corresponding to each corner point, which is the elevation difference of each corner point; The support plane inclination is calculated as follows: support plane inclination = maximum corner point elevation difference / geometric span (horizontal distance) between corresponding corner points; The support force ratio of each leg is calculated as follows: single leg support force ratio = ground pressure of that leg / total ground pressure of all legs, and the sum of the support force ratios of all legs is 1; The support force distribution uniformity is calculated as follows: support force distribution uniformity = 1 - (sum of absolute values ​​of the deviation between the support force ratio of each leg and the average ratio) / 2, average ratio = 1 / number of legs; Static support feature = (1 - support plane inclination / maximum allowable inclination) × 0.5 + support force distribution uniformity × 0.5, to obtain the static support feature, which characterizes the stability of the platform's static support; 2. Dynamic disturbance feature extraction: Directly read the real-time values ​​output by the sensors; directly read the real-time angular velocity values ​​output by the sensors; wind load excitation intensity = actual wind pressure value / maximum allowable wind pressure value (the maximum allowable wind pressure value is preset according to the platform's operating height), with a value range of [0,1], quantifying the disturbance effect of wind load on the platform; dynamic disturbance feature = (1 - (pitch angle / maximum allowable pitch angle + roll angle / maximum allowable roll angle) / 2) × 0.4 + (1 - (pitch angle change rate / maximum allowable angular velocity + roll angle change rate / maximum allowable angular velocity) / 2) × 0.3 + (1 - wind load excitation intensity) × 0.3 (maximum allowable pitch angle, roll angle, and angular velocity are all preset values), generating dynamic disturbance features to characterize the degree of dynamic interference experienced by the platform; 3. Structural Deformation Feature Extraction: The structural strength reserve coefficient is: single-part structural strength reserve coefficient = design allowable strain / actual strain. The minimum value of the structural strength reserve coefficient of each part is taken as the overall structural strength reserve coefficient, which is used as the structural deformation feature to characterize the stress deformation state and safety reserve of the platform structure. 4. Construction of stable state vector: The static support features, dynamic disturbance features and structural deformation features are respectively normalized to dimensionless (mapped to the [0,1] interval); the weighted vectors are superimposed according to the preset weight coefficients (static support features 0.4, dynamic disturbance features 0.3, structural deformation features 0.3), and the equipment stable state vector = static support features × 0.4 + dynamic disturbance features × 0.3 + structural deformation features × 0.3, generating the equipment stable state vector, which comprehensively represents the overall stable state of the aerial work platform.

[0030] The corresponding beneficial effects are: it can accurately and comprehensively reflect the true stability status of the platform, providing scientific and reliable feature support for subsequent stability margin calculation and hierarchical adjustment, and improving the accuracy of stability assessment.

[0031] In some embodiments of this application, the index calculation module is used for: Calculate the static support margin based on the inclination of the support plane and the uniformity of the support force distribution; Dynamic overturning margin is calculated based on the platform's pitch angle, roll angle, and rate of change, combined with wind pressure data. The static support margin, dynamic overturning margin, and equipment stability vector are compared with their corresponding design allowable values. The margin ratio of each component is calculated, and the margin ratios are weighted and summed according to a preset proportional coefficient to generate the stability margin index.

[0032] In this embodiment, 1. Static support margin = (1 - support plane inclination / maximum allowable inclination) × 0.5 + support force distribution uniformity × 0.5, where the maximum allowable inclination is a preset value (e.g., 1°); (2) Dynamic overturning margin = (1 - (pitch angle / maximum allowable pitch angle + roll angle / maximum allowable roll angle) / 2) × 0.4 + (1 - (pitch angle change rate / maximum allowable angular velocity + roll angle change rate / maximum allowable angular velocity) / 2) × 0.3 + (1 - wind load excitation intensity) × 0.3, where wind load excitation intensity = actual wind pressure value / maximum allowable wind pressure value; (3) Structural strength margin calculation: the calculated overall structural strength reserve coefficient is directly used as the structural strength margin. If the overall structural strength reserve coefficient is greater than 1, the structural strength margin is taken as 1 (because when the reserve coefficient is greater than 1). 1. The structural strength has fully met the safety requirements and no additional improvement is needed. If the overall structural strength reserve coefficient is less than or equal to 1, the structural strength margin is equal to the overall structural strength reserve coefficient, with a value range of [0,1]. The higher the structural strength reserve coefficient, the greater the structural strength margin. 2. The margin ratio of each component = the actual margin of the corresponding component / the allowable margin of the corresponding component. Each margin ratio is normalized dimensionlessly by dividing by the corresponding allowable design value after calculation. 3. The margin ratios are weighted and summed according to the preset proportional coefficients (static support margin ratio 0.4, dynamic overturning margin ratio 0.3, structural strength margin ratio 0.3). The stability margin index = static support margin ratio × 0.4 + dynamic overturning margin ratio × 0.3 + structural strength margin ratio × 0.3 to generate a dimensionless stability margin index with a value range of [0,1].

[0033] The corresponding beneficial effects are: it can intuitively and accurately reflect the overall stability level of the platform, providing a clear basis for subsequent graded adjustments and avoiding misjudgments of the stable state.

[0034] In some embodiments of this application, the graded adjustment module is used for: In response to the stability margin index falling below the safe operating threshold, a graded stability adjustment process is triggered, determining the outrigger extension compensation, boom attitude correction, and platform leveling commands, including: The safety operation thresholds are divided into a primary warning threshold and a secondary intervention threshold. The primary warning threshold is greater than the secondary intervention threshold, and both thresholds are dynamically set based on the platform's current operating height and rated load.

[0035] In some embodiments of this application, the graded adjustment module is used for: In response to the stability margin index falling below the first-level warning threshold and exceeding the second-level intervention threshold, a warning-level adjustment is triggered, generating only a platform leveling command to drive the leveling cylinder to compensate for the tilt of the support plane and maintain the current boom posture and outrigger length unchanged. In response to the stability margin index falling below the secondary intervention threshold, intervention-level adjustment is triggered, simultaneously determining the outrigger extension compensation, boom attitude correction, and platform leveling command. The outrigger extension compensation is used to balance the ground pressure of each outrigger, the boom attitude correction is used to reduce the combined overturning moment of wind load and operating load, and the platform leveling command is used to restore the levelness of the platform working surface. During the intervention-level adjustment process, multi-source sensor data streams are re-acquired at a preset sampling period, and the stability margin index is updated in real time to form a closed-loop feedback until the stability margin index rises back to above the safe operating threshold.

[0036] In this embodiment, 1. the first-level warning threshold is greater than the second-level intervention threshold (preferably the first-level warning threshold is 0.8 and the second-level intervention threshold is 0.6), and both thresholds are dynamically set according to the platform's current operating height and rated load; 2. Tiered Trigger Adjustment: Only platform leveling commands are generated to drive the leveling cylinders to compensate for the tilt of the support plane, maintain the current boom posture and outrigger length, and avoid excessive adjustment that affects work efficiency; intervention-level adjustment is triggered to simultaneously determine the outrigger extension compensation, boom posture correction, and platform leveling commands, and completely eliminate the risk of instability.

[0037] The corresponding beneficial effects are: it avoids the reduction in work efficiency caused by over-adjustment, and ensures the complete elimination of the risk of instability; through the closed-loop feedback mechanism, the adjustment effect is tracked in real time, the adjustment command is corrected in a timely manner, the accuracy and response speed of stable adjustment are improved, and the platform is ensured to quickly return to a stable state.

[0038] In some embodiments of this application, the graded adjustment module is used for: Calculate the deviation between the grounding pressure of each outrigger and the average grounding pressure, and determine whether the corresponding outrigger should be extended or shortened based on the sign of the deviation. The torque balance coefficient is calculated based on the horizontal distance from each outrigger to the geometric center of the platform; The total compensation is distributed to each outrigger according to the torque balance coefficient ratio, so that the outrigger with excessive grounding pressure retracts and the outrigger with insufficient grounding pressure extends. The allocated compensation amount is converted into the piston rod displacement setting value of the corresponding outrigger hydraulic cylinder to generate the outrigger extension compensation amount.

[0039] In this embodiment, 1. Pressure deviation calculation: First, calculate the average ground pressure of all outriggers, and then calculate the deviation between the ground pressure of each outrigger and the average ground pressure. The pressure deviation of a single outrigger = the ground pressure of that outrigger - the average ground pressure; determine the adjustment direction of the corresponding outrigger based on the sign of the deviation. 2. Torque balance coefficient calculation: Single outrigger torque balance coefficient = horizontal distance from the outrigger to the geometric center of the platform / average horizontal distance of all outriggers to the center. The farther the outrigger is from the center, the larger the calculated torque balance coefficient (the value range is usually 0.8-1.2), ensuring that the adjustment action can effectively balance the platform torque; 3. Compensation Allocation: Total compensation = Support plane inclination × Maximum outrigger adjustment coefficient × Outrigger geometric span; Calculate the total pressure deviation, total pressure deviation = Sum of the absolute values ​​of the pressure deviations of each outrigger; The total compensation needs to be corrected based on the total pressure deviation, and the corrected total compensation = Total compensation × (Total pressure deviation / Maximum allowable total pressure deviation); Then, according to the torque balance coefficient ratio, the corrected total compensation is allocated to each outrigger. The specific calculation formula is: Single outrigger compensation = Corrected total compensation × (Torque balance coefficient of that outrigger / Sum of torque balance coefficients of all outriggers); When allocating, follow the principle of "If the deviation is positive, the compensation is negative (retracted); if the deviation is negative, the compensation is positive (extended)", so that the outrigger with higher ground pressure retracts and the outrigger with lower ground pressure extends, thereby achieving a balance of ground pressure on the outriggers.

[0040] The corresponding beneficial effects are: avoiding the risk of equipment damage or secondary instability during the adjustment process, improving the safety and reliability of the adjustment process, and ensuring that the outriggers are always in an effective support state.

[0041] In some embodiments of this application, the graded adjustment module is used for: The direction of wind load is determined based on wind direction data collected by ultrasonic anemometer, the wind pressure value is calculated based on wind speed data, and the overturning moment of wind load on the platform overturning boundary is calculated by combining the current windward area of ​​the boom and the working height. Calculate the total load weight based on the work load data, and calculate the load torque based on the horizontal distance from the load center of gravity to the platform rotation center. The wind-loaded overturning moment and the load moment are superimposed according to the vector composition rule to determine the direction and magnitude of the combined overturning moment; The boom is driven to perform amplitude and rotation movements in the direction of reducing the combined overturning moment arm, thereby generating the boom attitude correction amount.

[0042] In this embodiment, 1. Wind pressure value = 0.5 × air density × wind speed²; then, combined with the current windward area of ​​the boom and the working height, the overturning moment of the wind load on the platform overturning boundary is calculated. Wind load overturning moment = wind pressure value × windward area of ​​the boom × working height × wind load action coefficient (the wind load action coefficient is set according to the angle between the wind direction and the boom. The coefficient is 1 when the angle is 0°, and 0 when the angle is 90°. When the angle is between 0° and 90°, it is calculated by linear interpolation of the cosine function). The disturbance effect of wind load is quantified. 2. Total load weight = Local pressure collected by each pressure sensor × Sum of equivalent bearing areas of the corresponding sensors (equivalent bearing area is a preset value, set according to the spacing of the sensor array); Then, through the pressure distribution of the pressure sensor array, the coordinates of the load center of gravity are calculated. The specific calculation formula is: Center of gravity X coordinate = (X coordinate of each sensor × corresponding pressure × sum of equivalent bearing areas) / Total load weight, Center of gravity Y coordinate = (Y coordinate of each sensor × corresponding pressure × sum of equivalent bearing areas) / Total load weight; Combined with the horizontal distance from the load center of gravity to the platform rotation center, the load torque is calculated. Load torque = Total load weight × Horizontal distance from the load center of gravity to the platform rotation center (horizontal distance is calculated based on the coordinates of the center of gravity and the rotation center, i.e., horizontal distance = √[(Center of gravity X coordinate - Rotation center X coordinate)² + (Center of gravity Y coordinate - Rotation center Y coordinate)²]), quantifying the overturning effect of the working load; 3. The magnitude of the combined overturning moment = √(wind load overturning moment² + load moment² + 2 × wind load overturning moment × load moment × cosθ) (θ is the angle between the wind load overturning moment and the load moment, calculated based on the direction of the wind load and the position of the load's center of gravity); the direction of the combined overturning moment = the direction of the wind load overturning moment + arctan(load moment × sinθ / (wind load overturning moment + load moment × cosθ)), thus determining the main instability direction of the platform; 4. The formula for calculating the amplitude angle correction is: Amplitude angle correction = Amplitude of the combined overturning moment × Amplitude adjustment coefficient / (Boom length × Total load weight) (The amplitude adjustment coefficient is a preset value, ranging from 0.01 to 0.05); The formula for calculating the slewing angle correction is: Slewing angle correction = Angle between the direction of the combined overturning moment and the current direction of the boom × Slewing adjustment coefficient (The slewing adjustment coefficient is a preset value, ranging from 0.8 to 1.0), which reduces the overturning effect of the combined overturning moment on the support boundary; 5. During the boom attitude adjustment process, monitor the strain data of the fiber Bragg grating sensor in real time and calculate the strain proximity. The specific calculation formula is: strain proximity = actual strain / allowable design strain. If the strain proximity is ≥0.9 (preset threshold), restrict the boom to move further in that direction to avoid structural damage due to excessive force.

[0043] The corresponding beneficial effects are: effectively improving the platform's dynamic anti-overturning capability and resisting the disturbance of wind load and load; through structural strain monitoring and constraint, avoiding structural damage during boom attitude adjustment, thus balancing adjustment effect and structural safety.

[0044] In some embodiments of this application, the graded adjustment module is used for: The current pitch and roll angles of the platform are extracted from attitude angle data, and the ground elevation difference at each outrigger landing point is calculated from ground height data. By integrating pitch angle, roll angle and ground elevation difference, the longitudinal tilt component and lateral tilt component of the platform are determined. The longitudinal tilt component and the lateral tilt component are respectively converted into the extension and retraction displacement commands of the corresponding leveling cylinder. The platform leveling command is generated based on the piston rod displacement command of each leveling cylinder, driving the corresponding cylinder to move synchronously, so that the platform working surface is restored to a horizontal state and each outrigger is grounded at the same time.

[0045] In this embodiment, the elevation difference of a single outrigger landing point = the height value collected by the laser rangefinder corresponding to that outrigger - the average value of the height values ​​of all outrigger corresponding to the sensors; the longitudinal tilt component = pitch angle × 0.7 + (elevation difference between front and rear outriggers / horizontal span between front and rear outriggers) × 0.3 (weighting coefficients 0.7 and 0.3 are preset values, with attitude angle data as the main factor and ground elevation difference as the secondary factor); the lateral tilt component = roll angle × 0.7 + (elevation difference between left and right outriggers / horizontal span between left and right outriggers) × 0.3; during fusion, cross-validation is performed. If the difference between the calculated value of the longitudinal tilt component and the pitch angle exceeds 0.1°, the pitch angle is used to correct the fusion result. Similarly, if the difference between the lateral tilt component and the roll angle exceeds 0.1°, the roll angle is used to improve the accuracy of the tilt component calculation; 2. Longitudinal leveling displacement = longitudinal tilt component (radians) × horizontal span of front and rear outriggers / 2 (first convert the angle to radians, the conversion formula is: radians = angle × π / 180); Lateral leveling displacement = lateral tilt component (radians) × horizontal span of left and right outriggers / 2; where the longitudinal tilt component is compensated by the front and rear outrigger leveling cylinders (if tilting forward, the rear outrigger extends and the front outrigger retracts, and if tilting backward, the opposite is true), and the lateral tilt component is compensated by the left and right outrigger leveling cylinders (if tilting left, the right outrigger extends and the left outrigger retracts, and if tilting right, the opposite is true), ensuring the targeted nature of the leveling action; 3. Based on the piston rod displacement command of each leveling cylinder, generate a platform leveling command to drive the corresponding cylinder to move synchronously. During the operation, ensure that the extension and retraction speed of each cylinder is consistent (the speed is set to a preset value, such as 5mm / s) so that the platform working surface returns to a horizontal state (tilt angle ≤ 0.5°) and each outrigger remains grounded at the same time. Simultaneously monitor the grounding pressure of each outrigger. If the grounding pressure of a certain outrigger is < 500N (preset minimum support force), then pause the leveling action of that outrigger, prioritize ensuring the grounding of the outrigger, and avoid the outrigger being suspended in the air during the leveling process.

[0046] The corresponding beneficial effects are: ensuring leveling accuracy, providing a stable working platform for high-altitude operations, and reducing operational risks for workers.

[0047] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0048] Although the invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, as long as there is no structural conflict, the features in the embodiments disclosed in this invention can be combined with each other in any way. The fact that not all of these combinations are described in this specification is merely for the sake of brevity and resource conservation.

[0049] It will be understood by those skilled in the art that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-altitude work platform stability adjustment system based on multi-sensor fusion, characterized in that, include: The data acquisition module is used to acquire multi-source sensor data streams, perform spatiotemporal alignment and dimensional unification processing on the multi-source sensor data streams, and generate a standardized sensor dataset. The index calculation module is used to calculate the current stability margin index based on the various features of the standardized sensor dataset and the preset stability boundary conditions. The graded adjustment module is used to trigger a graded stability adjustment process in response to the stability margin index being lower than the safe operation threshold, and to determine the outrigger extension compensation amount, boom attitude correction amount and platform leveling command respectively. The instruction issuing module is used to sort the outrigger extension compensation amount, boom posture correction amount and platform leveling instructions according to priority and distribute them to the corresponding hydraulic actuators to drive the aerial work platform to return to a stable working posture.

2. The high-altitude work platform stability adjustment system based on multi-sensor fusion according to claim 1, characterized in that, The data acquisition module is used for: Using the internal clock of the platform's main controller as the reference source, a synchronous trigger signal is periodically broadcast to each sensor node through the controller's local area network bus. The response delay of each node is recorded and the time deviation is compensated, so that the data from heterogeneous sensors have a unified time reference. The ground height data collected by the laser rangefinder is converted from length dimension to slope dimension. The local ground tilt angle is calculated by the ratio of the height difference between adjacent measuring points to the horizontal span, and the attitude angle output by the six-axis inertial measurement unit is unified into the angle dimension. Multiply the pressure data collected by the pressure sensor in the outrigger hydraulic circuit by the effective working area of ​​the corresponding cylinder piston, and convert the pressure dimension into the ground support force dimension. The local pressure data collected by the pressure sensor array below the platform working surface is multiplied by the equivalent bearing area of ​​each sensor and accumulated to convert the pressure dimension into the total working load force dimension. The wind speed data collected by the ultrasonic anemometer is converted into wind pressure dimensions based on the relationship that wind pressure is proportional to the square of wind speed. The strain data collected by the fiber Bragg grating sensor is correlated with the elastic modulus and moment of inertia of the cross section at the stress concentration point of the structure, and the dimensionless strain dimension is converted into the structural bending deformation dimension. Standardize the sampling frequency and data resolution of each channel, and output the standardized sensor dataset.

3. The high-altitude work platform stability adjustment system based on multi-sensor fusion according to claim 1, characterized in that, The index calculation module is used for: Static support features, dynamic disturbance features, and structural deformation features are extracted from the standardized sensor dataset and fused to construct a device stability vector. The current stability margin index is calculated based on the device's stable state vector and the preset stability boundary conditions.

4. The high-altitude work platform stability adjustment system based on multi-sensor fusion according to claim 3, characterized in that, The index calculation module is used for: The elevation difference of each corner point of the platform is calculated from the ground height data. Combined with the geometric span of the outriggers, the inclination of the support plane is generated. The proportion of the support force of each outrigger is calculated from the ground pressure data of the outriggers, and the uniformity of the support force distribution is generated. The inclination of the support plane and the uniformity of the support force distribution are integrated into the static support characteristics. The platform pitch and roll angles are extracted from attitude angle data, and the pitch and roll rate of change are extracted from angular velocity data. Combined with wind pressure data from an ultrasonic anemometer, the wind load excitation intensity is evaluated, and dynamic disturbance characteristics are generated. The bending strain at the boom root, the shear strain of the outrigger connecting lug plate, and the bending strain at the mid-span of the platform main beam are extracted from the strain data and compared with the design allowable strain of the corresponding parts to generate a structural strength reserve coefficient as a structural deformation characteristic. The static support features, dynamic disturbance features, and structural deformation features are respectively subjected to dimensionless normalization, and then weighted vector superposition is performed according to preset weight coefficients to generate the stable state vector of the equipment.

5. The high-altitude work platform stability adjustment system based on multi-sensor fusion according to claim 3, characterized in that, The index calculation module is used for: Calculate the static support margin based on the inclination of the support plane and the uniformity of the support force distribution; Dynamic overturning margin is calculated based on the platform's pitch angle, roll angle, and rate of change, combined with wind pressure data. The static support margin, dynamic overturning margin, and equipment stability vector are compared with their corresponding design allowable values. The margin ratio of each component is calculated, and the margin ratios are weighted and summed according to a preset proportional coefficient to generate the stability margin index.

6. The high-altitude work platform stability adjustment system based on multi-sensor fusion according to claim 1, characterized in that, The graded adjustment module is used for: In response to the stability margin index falling below the safe operating threshold, a graded stability adjustment process is triggered, determining the outrigger extension compensation, boom attitude correction, and platform leveling commands, including: The safety operation thresholds are divided into a primary warning threshold and a secondary intervention threshold. The primary warning threshold is greater than the secondary intervention threshold, and both thresholds are dynamically set based on the platform's current operating height and rated load.

7. The high-altitude work platform stability adjustment system based on multi-sensor fusion according to claim 6, characterized in that, The graded adjustment module is used for: In response to the stability margin index falling below the first-level warning threshold and exceeding the second-level intervention threshold, a warning-level adjustment is triggered, generating only a platform leveling command to drive the leveling cylinder to compensate for the tilt of the support plane and maintain the current boom posture and outrigger length unchanged. In response to the stability margin index falling below the secondary intervention threshold, intervention-level adjustment is triggered, simultaneously determining the outrigger extension compensation, boom attitude correction, and platform leveling command. The outrigger extension compensation is used to balance the ground pressure of each outrigger, the boom attitude correction is used to reduce the combined overturning moment of wind load and operating load, and the platform leveling command is used to restore the levelness of the platform working surface. During the intervention-level adjustment process, multi-source sensor data streams are re-acquired at a preset sampling period, and the stability margin index is updated in real time to form a closed-loop feedback until the stability margin index rises back to above the safe operating threshold.

8. The high-altitude work platform stability adjustment system based on multi-sensor fusion according to claim 6, characterized in that, The graded adjustment module is used for: Calculate the deviation between the grounding pressure of each outrigger and the average grounding pressure, and determine whether the corresponding outrigger should be extended or shortened based on the sign of the deviation. The torque balance coefficient is calculated based on the horizontal distance from each outrigger to the geometric center of the platform; The total compensation is distributed to each outrigger according to the torque balance coefficient ratio, so that the outrigger with excessive grounding pressure retracts and the outrigger with insufficient grounding pressure extends. The allocated compensation amount is converted into the piston rod displacement setting value of the corresponding outrigger hydraulic cylinder to generate the outrigger extension compensation amount.

9. The high-altitude work platform stability adjustment system based on multi-sensor fusion according to claim 6, characterized in that, The graded adjustment module is used for: The direction of wind load is determined based on wind direction data collected by ultrasonic anemometer, the wind pressure value is calculated based on wind speed data, and the overturning moment of wind load on the platform overturning boundary is calculated by combining the current windward area of ​​the boom and the working height. Calculate the total load weight based on the work load data, and calculate the load torque based on the horizontal distance from the load center of gravity to the platform rotation center. The wind-loaded overturning moment and the load moment are superimposed according to the vector composition rule to determine the direction and magnitude of the combined overturning moment; The boom is driven to perform amplitude and rotation movements in the direction of reducing the combined overturning moment arm, thereby generating the boom attitude correction amount.

10. The high-altitude work platform stability adjustment system based on multi-sensor fusion according to claim 1, characterized in that, The graded adjustment module is used for: The current pitch and roll angles of the platform are extracted from attitude angle data, and the ground elevation difference at each outrigger landing point is calculated from ground height data. By integrating pitch angle, roll angle and ground elevation difference, the longitudinal tilt component and lateral tilt component of the platform are determined. The longitudinal tilt component and the lateral tilt component are respectively converted into the extension and retraction displacement commands of the corresponding leveling cylinder. The platform leveling command is generated based on the piston rod displacement command of each leveling cylinder, driving the corresponding cylinder to move synchronously, so that the platform working surface is restored to a horizontal state and each outrigger is grounded at the same time.

Images