Accident prevention device for aerial work platforms

Abstract

The present invention relates to a safety accident prevention device for an aerial work vehicle, and aims to prevent safety accidents such as collisions, electric shocks, or platform instability that may occur during work by detecting various work environment risk factors that may occur during the aerial work vehicle operation process in real time, analyzing them, and determining whether there is a risk in the work environment. A safety accident prevention device for an aerial work vehicle according to the present invention, for detecting hazardous elements in the working environment that may occur on the work platform of an aerial work vehicle and notifying a worker thereof, comprises: a composite detection module unit installed on the frame of the work platform and detecting physical or electrical hazardous elements related to the working environment; a control unit that collects and analyzes signals detected by the composite detection module unit to determine whether there is a risk; an alarm unit that provides a warning signal to a worker according to the judgment result of the control unit; and a communication unit that transmits information collected from the composite detection module unit or the judgment result of the control unit to an external terminal.

Description

Technology Field

[0001] The present invention relates to a safety accident prevention device for an aerial work vehicle that prevents safety accidents by detecting various work environment risks that may occur around the work platform of the aerial work vehicle and notifying the worker of such risks. More specifically, the invention relates to a safety accident prevention device for an aerial work vehicle that can prevent safety accidents such as collisions, electric shocks, and work platform instability that may occur during work by detecting risk factors such as changes in airflow around the work platform, proximity to surrounding structures, and electric fields generated from electrical equipment or wires, and by analyzing these factors to determine whether there is a risk in the work environment, thereby preventing safety accidents in advance such as collisions, electric shocks, and work platform instability that may occur during work, and can actively respond to changes in the work environment by dynamically determining a safe area around the work platform by comprehensively considering the operating status of work equipment, work environment conditions, and changes in the position of the work platform, and by safely controlling the operator's input or the operation of work equipment. Background Technology

[0003] Aerial work vehicles are widely used in various industrial sites, such as building exterior wall construction, electrical equipment inspection, bridge maintenance, and facility installation and maintenance work. They are equipment that allows workers to perform work at heights by using a boom structure to move a work platform to a high position.

[0004] However, since work using aerial work platforms is performed at high positions, various safety risks may arise depending on changes in the work environment.

[0005] For example, the stability of the work platform may be compromised in the event of strong winds or irregular airflow, and collision accidents may occur if the work platform comes close to the building's exterior walls or structures.

[0006] In addition, if a workbench is used in an area where power lines or electrical equipment are installed, the worker may come close to the wires, posing a risk of electric shock.

[0007] Traditionally, such risks were often assessed primarily based on the operator's visual inspection or work experience, and in some equipment, a method of detecting specific risk conditions using simple alarm devices was employed.

[0008] However, this method had limitations in that it was difficult to simultaneously consider various risk factors in the work environment and to actively respond to the movement status of work equipment or changes in the surrounding environment.

[0009] In particular, as the position of the work platform of an aerial work platform continuously changes depending on the extension, lifting, and slewing movements of the boom, technology is required to determine the surrounding environment of the work platform in real time and ensure the safety of the worker accordingly. Prior art literature

[0011] Korean Registered Patent Publication No. 10-1957678 The problem to be solved

[0012] The present invention has been devised to solve the problems of the aforementioned prior art, and aims to provide a safety accident prevention device for aerial work vehicles that can prevent safety accidents such as collisions, electric shocks, or platform instability that may occur during work by detecting various work environment risk factors that may occur during the aerial work vehicle operation process in real time, analyzing them, and determining whether there is a risk in the work environment.

[0013] In addition, it also aims to provide a safety accident prevention device for aerial work platforms that enables workers to quickly recognize dangerous situations by comprehensively analyzing various environmental information, such as changes in airflow around the work platform, proximity to surrounding structures, and changes in electric fields generated from electrical equipment.

[0014] In addition, the purpose is also to provide a safety accident prevention device for an aerial work platform that can determine in advance the possibility of the platform colliding with a structure or obstacle by comprehensively considering the operating status of the work equipment, changes in the position of the work platform, and surrounding environment information to determine the safety area around the work platform and predict the movement trajectory of the work equipment.

[0015] In addition, it also aims to provide a safety accident prevention device for aerial work platforms that analyzes the operator's input and work environment information together to prevent the work platform from moving into a dangerous area and guides the operation of the work equipment in a safe direction. means of solving the problem

[0017] A safety accident prevention device for an aerial work vehicle according to one embodiment of the present invention, for detecting risk factors in the working environment that may occur on the work platform of an aerial work vehicle and notifying a worker thereof, comprises: a composite detection module unit installed on the frame of the work platform and detecting physical or electrical risk factors related to the working environment; a control unit that collects and analyzes signals detected by the composite detection module unit and determines whether there is a risk; an alarm unit that provides a warning signal to a worker according to the judgment result of the control unit; and a communication unit that transmits information collected from the composite detection module unit or the judgment result of the control unit to an external terminal.

[0018] In addition, the composite detection module includes at least one of a wind speed sensor and a wind direction sensor for detecting the airflow conditions of the working environment, and the control unit is configured to generate an alarm signal when the value detected from one or more of the wind speed sensor and the wind direction sensor exceeds a preset reference value.

[0019] In addition, the composite sensing module further includes a distance sensing sensor for detecting the separation distance between the workbench and surrounding structures, and the control unit is configured to generate a step-by-step alarm signal according to the distance detected by the distance sensing sensor.

[0020] In addition, the composite detection module further includes a live wire detection sensor for detecting the presence of electrical equipment or wires within the working radius, and the control unit is configured to generate an alarm signal to notify the worker of the risk of electric shock based on the signal detected through the live wire detection sensor.

[0021] In addition, the alarm unit is configured to include at least one of an audible alarm, a visual alarm, or a vibration alarm so that the operator can recognize a dangerous situation.

[0022] In addition, it further includes at least one camera unit installed on the frame of the above-mentioned workbench for capturing the work environment, and the camera unit is configured to capture multiple directions around the workbench to enable visual verification of the work environment.

[0023] In addition, the video captured by the camera unit is transmitted to an external terminal via the communication unit, allowing the operator of the work equipment to remotely check the surrounding conditions of the workbench.

[0024] In addition, the communication unit is linked with a mobile terminal using a wireless communication method, and the mobile terminal includes a mobile application that displays detection information of the composite detection module, a danger alarm, and images from the camera unit.

[0025] In addition, the mobile application is configured to display wind speed, distance, or wire detection information detected by the composite detection module in a numeric or graphic form.

[0026] In addition, the control unit is configured to generate different alarm signals in stages when the separation distance between the workbench and the structure decreases below a predetermined multiple-stage standard distance.

[0027] In addition, it further includes a boom angle sensor for detecting the inclination angle of the boom for the above-ground work vehicle; a length detection unit for detecting the extension length of the boom; a load detection unit for detecting the load applied to the work platform; and an attitude detection unit for detecting the inclination of the work platform frame, wherein the control unit calculates the allowable approach distance for each direction around the work platform by combining wind speed and wind direction information input from the composite detection module and detection values ​​input from the boom angle sensor, the length detection unit, the load detection unit, and the attitude detection unit, and the control unit is configured to set different alarm criteria according to the approach direction of the structure based on the calculated allowable approach distance for each direction.

[0028] In addition, the control unit is configured to generate a dynamic safety zone around the workbench by selecting or correcting at least one of a plurality of risk reference maps stored in memory, and the communication unit is configured to convert the dynamic safety zone into data for display on an external terminal and transmit it.

[0029] Additionally, the live wire detection sensor comprises: a plurality of electric field sensing electrodes spaced apart from each other on the railing frame of the workbench; a reference electrode plate spaced apart from the plurality of electric field sensing electrodes to form a reference potential; an amplification circuit for amplifying weak electric signals output from each electric field sensing electrode; and a filter circuit for extracting components of the commercial AC power band from the output signal of the amplification circuit, and the control unit is configured to determine the approach direction of the wire based on the magnitude difference or phase difference of the signals detected by the plurality of electric field sensing electrodes.

[0030] In addition, the control unit calculates the rate of change of electric field strength that changes over time at each of the plurality of electric field sensing electrodes, and if the rate of increase in electric field strength detected at the electrode in a specific direction is greater than or equal to a reference rate of increase, the control unit determines that the risk of approaching in that direction has increased and is configured to output a directional alarm through the alarm unit or display the dangerous direction on the screen of an external terminal.

[0031] In addition, the system further includes a position detection sensor that detects the extension length and slewing angle of the boom for the above-ground work vehicle, respectively; an input signal collection unit that collects an input signal of an operating lever for moving the work platform; and a trajectory prediction unit that calculates the expected movement trajectory of the work platform after a predetermined time based on distance information of surrounding structures detected by the distance detection sensor and signals from the position detection sensor and the input signal collection unit, and the control unit is configured to activate the alarm unit when it is determined that the expected movement trajectory intersects with surrounding structures.

[0032] And, when the control unit determines that the expected movement trajectory intersects with a surrounding structure, it outputs a blocking signal to a hydraulic control valve or a drive relay of an electric drive system that controls the extension, raising, or slewing motion of the boom corresponding to an operation input that causes the expected movement trajectory to be formed in the direction of the structure, and for an operation input formed in a direction that separates the work platform from the structure, it allows the operation of the hydraulic control valve or the drive relay so that the boom is driven.

[0033] Additionally, the control unit includes: a coordinate calculation unit that calculates spatial coordinates of a work platform using a detection value input from the position detection sensor; a virtual protective wall generation unit that generates a restricted area set around the work platform based on the work platform coordinates calculated by the coordinate calculation unit; and an interlock control unit that outputs a hydraulic control signal to restrict at least one of the extension, raising, or slewing motions of the boom when the movement of the work platform exceeds the restricted area set by the virtual protective wall generation unit.

[0034] And, the system includes: an operation input collection unit that collects an operation signal input from an operation lever for moving the work table; a movement direction calculation unit that calculates the movement direction of the work table based on the operation signal input from the operation input collection unit; a safety area determination unit that determines whether there is a risk of approaching the structure in the movement direction by comparing distance information to the structure input from the distance sensing sensor with the allowable approach distance for each direction calculated by the control unit; and an operation input conversion unit that converts the operation signal into a deceleration signal or a direction change signal and outputs it to a hydraulic control valve or a drive relay when a risk of approaching the structure in the movement direction is determined. Effects of the invention

[0036] The aerial work vehicle according to the present invention has the effect of preventing safety accidents that may occur during work in advance by detecting various risk factors related to the work environment through a composite detection module installed on the frame of the work platform and by a control unit analyzing the signal detected from the composite detection module to determine whether there is a risk in the work environment.

[0037] In addition, by detecting the airflow conditions around the workbench through the wind speed and wind direction sensors included in the composite detection module and by the control unit analyzing the detected wind speed and wind direction information to determine the hazardous conditions of the work environment, it is possible to detect in advance the tipping or instability of the workbench caused by strong winds or unstable airflow.

[0038] In addition, the distance sensing sensor included in the composite sensing module detects the separation distance between the work platform and surrounding structures in real time, and the control unit analyzes the distance information and generates alarm signals in stages, thereby effectively preventing accidents in which the work platform collides with the structures.

[0039] In addition, the live wire detection sensor included in the composite detection module detects changes in the electric field formed around the workbench, and the control unit analyzes the difference in magnitude or phase of signals detected by multiple electric field detection electrodes to determine the direction of approach of the wire, thereby enabling the worker to quickly recognize the direction in which there is a risk of electric shock.

[0040] In addition, the control unit comprehensively analyzes information input from the boom angle sensor, length detection unit, load detection unit, and attitude detection unit to calculate the allowable approach distance for each direction around the work platform and generate a dynamic safety zone, thereby enabling active response to changes in the work environment.

[0041] In addition, by using a position detection sensor, an input signal collection unit, and a trajectory prediction unit to calculate the expected movement trajectory of the work platform, and by the control unit generating an alarm or controlling the operation of a hydraulic control valve or a drive relay when the movement trajectory intersects with surrounding structures, the risk of collision can be prevented in advance.

[0042] In addition, since the operation of work equipment can be controlled based on a restricted area set around the workbench through a coordinate calculation unit, a virtual protective wall generation unit, and an interlock control unit, it is possible to prevent the workbench from moving into a dangerous area and provide a safer working environment.

[0043] In addition, by analyzing the operator's operation input through the operation input collection unit, movement direction calculation unit, safety area determination unit, and operation input conversion unit, and converting the corresponding operation signal into a deceleration signal or direction change signal and transmitting it to a hydraulic control valve or drive relay when movement toward a dangerous direction is determined, the operation of the work equipment can be safely controlled. Brief explanation of the drawing

[0045] FIG. 1 is a side view illustrating an example in which a safety accident prevention device for an aerial work vehicle according to one embodiment of the present invention is applied to an aerial work vehicle. FIG. 2 is a block diagram illustrating the connection relationships of components applied to a safety accident prevention device for an aerial work vehicle according to one embodiment of the present invention. Specific details for implementing the invention

[0046] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described in detail below together with the accompanying drawings.

[0047] However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same components.

[0048] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings so that those skilled in the art can easily implement the present invention. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Throughout the specification, similar parts are denoted by the same reference numerals.

[0049] FIG. 1 is a side view illustrating an example in which a safety accident prevention device for an aerial work vehicle according to one embodiment of the present invention is applied to an aerial work vehicle, and FIG. 2 is a block diagram illustrating the connection relationships of the components applied to the safety accident prevention device for an aerial work vehicle according to one embodiment of the present invention.

[0050] A safety accident prevention device for an aerial work vehicle according to one embodiment of the present invention is a device for preventing safety accidents such as electric shock, collision, or overturning that may occur during work by detecting risk factors in the work environment that may occur on the work platform (11) of the aerial work vehicle (10) and notifying the worker of such risk factors.

[0051] To this end, a safety accident prevention device for an aerial work vehicle according to one embodiment of the present invention may include at least one of a composite detection module (100), a control unit (200), an alarm unit (300), a communication unit (400), a camera unit (500), a mobile application (610), a boom angle sensor (1700), a length detection unit (700), a load detection unit (800), an attitude detection unit (900), a position detection sensor (1000), an input signal collection unit (1100), a trajectory prediction unit (1200), a coordinate calculation unit (210), a virtual protective wall generation unit (220), an interlock control unit (230), an operation input collection unit (1300), a movement direction calculation unit (1400), and a safety area determination unit (1500).

[0052] The composite detection module (100) is a sensor module installed on the frame of the work platform (11) of the aerial work vehicle to detect physical or electrical hazards related to the working environment around the work platform (11). The composite detection module (100) can be installed on the railing frame or the floor frame of the work platform (11) using a fixed bracket or a sensor housing, and is configured to detect the external environment around the work platform (11) in real time.

[0053] The composite detection module (100) is configured to detect physical or electrical hazards related to the work environment.

[0054] The composite detection module (100) includes a wind speed sensor (110) and a wind direction sensor (120) for detecting the airflow conditions of the working environment.

[0055] The wind speed sensor (110) is a sensor for measuring the speed of wind occurring around the workbench (11), and can be implemented as one or more of, for example, a rotary wind speed sensor (110), an ultrasonic wind speed sensor (110), or a hot wire wind speed sensor (110).

[0056] The wind direction sensor (120) is a sensor for detecting the direction of wind formed around the workbench (11), and can be configured to detect the direction of wind inflow according to a reference coordinate system.

[0057] The wind speed sensor (110) and wind direction sensor (120) can be installed on the upper part of the workbench (11) frame or on the outer side of the railing frame so as to directly detect external air flow.

[0058] This arrangement is intended to quickly detect gusts or changes in directional wind occurring around the workbench (11).

[0059] The control unit (200) is configured to receive sensor data detected from the composite detection module (100), analyze it, and determine whether there is a risk in the working environment.

[0060] The control unit (200) can be implemented as a control circuit including a microcontroller (MCU), a signal processing circuit, and a memory, and analyzes wind speed and wind direction data transmitted from the composite sensing module (100) in real time.

[0061] The control unit (200) is configured to determine that the working environment has reached a dangerous state and to generate an alarm signal when the value detected from one or more of the wind speed sensor (110) and the wind direction sensor (120) exceeds a preset reference value.

[0062] For example, if a strong wind of a certain level or higher occurs while the work platform (11) of the aerial work vehicle (10) is raised, the stability of the work platform (11) may be reduced, so the control unit (200) can immediately determine a dangerous state if the wind speed value detected by the wind speed sensor (110) exceeds a reference wind speed value.

[0063] In addition, by considering the detection results of the wind direction sensor (120) together, even if a strong gust of wind occurs in a specific direction, it can be determined to be a dangerous condition.

[0064] For example, when work is performed near the exterior wall of a building, local airflow changes formed by the corners of the building or structures may affect the stability of the work platform (11). Therefore, the control unit (200) can determine a strong wind occurring in a specific direction based on the detection value of the wind direction sensor (120) and generate an alarm signal.

[0065] The composite sensing module (100) may further include a distance sensing sensor (130) for detecting the distance between the workbench (11) and surrounding structures.

[0066] The distance sensing sensor (130) is a sensor for measuring the distance between the workbench (11) and an adjacent structure in real time, and can be implemented as one or more of, for example, an ultrasonic sensor, a laser distance sensor, an infrared distance sensor, or a lidar sensor.

[0067] A distance sensing sensor (130) may be installed on the outer side of the railing frame of the workbench (11) or on the lower frame of the workbench (11) to detect the distance to structures, walls, wires, or other obstacles around the workbench (11).

[0068] This arrangement is intended to detect in advance the possibility of collision with surrounding structures as the work platform (11) moves or the boom (12) extends.

[0069] Distance information detected by the distance detection sensor (130) is transmitted to the control unit (200), and the control unit (200) is configured to generate a step alarm signal according to the detected distance value.

[0070] For example, when the distance between the workbench (11) and the surrounding structure becomes smaller than a certain standard distance, the control unit (200) can generate a first alarm signal, and when the distance value further decreases and approaches below the danger distance, it can generate a second alarm signal.

[0071] When a step-by-step alarm method is applied in this way, the worker can intuitively recognize the extent to which the work platform (11) approaches the structure and can adjust the position of the work platform (11) or change its direction of movement before a collision risk occurs.

[0072] In addition, the control unit (200) may be configured to determine the degree of collision risk in the work environment based on the distance between the work table (11) and surrounding structures.

[0073] To this end, the control unit (200) can receive distance information between the workbench (11) and the structure in real time through the distance sensing sensor (130), and allow the distance value to be compared with a pre-set reference distance.

[0074] The control unit (200) may be configured to generate different alarm signals in stages when the distance between the work table (11) and the structure decreases to a reference distance set in multiple stages.

[0075] These multiple-stage standard distances can be set by considering the movement speed of the work platform (11), the working environment, or the structural characteristics of the aerial work vehicle (10), and can be set in multiple stages, such as a first warning distance, a second warning distance, and a collision risk distance.

[0076] For example, if the distance between the workbench (11) and the structure decreases to a first reference distance or less, the control unit (200) may generate a first alarm signal to notify the worker of the approach status to the structure. In this case, the alarm signal is provided as a relatively low level warning sound or flashing signal so that the worker can recognize the position of the workbench (11) and adjust the direction of movement.

[0077] Additionally, if the workbench (11) continues to move and the distance between the two is reduced to a distance less than or equal to a second reference distance, the control unit (200) may generate a higher level alarm signal. In this case, the alarm signal may notify the worker of a stronger danger condition through a warning light with a faster flashing cycle, a warning sound of a high volume, or a vibration alarm.

[0078] Furthermore, if the distance between the work platform (11) and the structure decreases to a collision risk distance or less, the control unit (200) can generate a maximum level alarm signal to induce the worker to immediately stop moving the work platform (11) or change the position of the work platform (11).

[0079] With this phased warning system, workers can intuitively recognize the degree of approach to the structure and take appropriate countermeasures before a collision risk occurs.

[0080] Additionally, the control unit (200) may adjust the timing of the alarm signal generation by taking into account the movement direction or speed of the workbench (11). For example, if the workbench (11) moves toward the structure, it may be configured to generate the alarm signal faster even under the same distance conditions.

[0081] With this configuration, the control unit (200) can generate stepwise alarm signals based on distance information between the work platform (11) and surrounding structures, allowing the worker to recognize the risk of collision in advance, thereby effectively preventing collision accidents with structures that may occur during the operation of the aerial work vehicle (10).

[0082] In addition, the control unit (200) can more accurately determine the hazardous condition of the work environment by comprehensively analyzing multiple sensor information input from the wind speed sensor (110), wind direction sensor (120), and distance sensing sensor (130).

[0083] For example, if the work platform (11) approaches the structure while strong winds are present, the risk may increase further, so the control unit (200) can increase the alarm level by taking these combined conditions into account.

[0084] With this configuration, the safety accident prevention device for the aerial work vehicle of the present invention can detect various environmental hazards that may occur around the work platform (11) in real time and immediately notify the worker, thereby providing the effect of preventing collision accidents or rollover accidents that may occur during work in advance.

[0085] Additionally, a plurality of distance sensing sensors (130) may be spaced apart in at least one of the front, rear, left, and right directions of the workbench (11) so as to detect distances in multiple directions around the workbench (11).

[0086] Accordingly, regardless of which direction the work platform moves, the distance from the structure located in that direction can be detected, and blind spots around the work platform can be reduced to more accurately assess the risk of approaching the structure.

[0087] The composite detection module (100) is a sensor module for detecting various risk factors that may occur in the working environment around the work table (11), and may further include a live wire detection sensor (140) for detecting the presence of electrical equipment or wires within the working radius.

[0088] The live wire detection sensor (140) is a sensor device for detecting electric field or electromagnetic signals generated from electrical equipment or wires present around the work platform (11) to determine in advance the possibility that a worker may be exposed to the risk of electric shock. The live wire detection sensor (140) may be installed on the railing frame of the work platform (11) or on the upper frame of the work platform (11) to detect changes in the electric field formed in the space surrounding the work platform (11).

[0089] This arrangement is intended to detect changes in the electric field that occur when the workbench (11) approaches a wire or electrical equipment more quickly.

[0090] A signal detected by a live wire detection sensor (140) can be transmitted to a control unit (200), and the control unit (200) can be configured to analyze the signal to determine whether there is a live electrical facility or wire within the working radius.

[0091] For example, when the work platform (11) is in close proximity to a high-voltage power line or electrical equipment, the electric field formed around the power line can be detected by a live line detection sensor (140), and the control unit (200) can determine that there is a risk of electric shock within the working radius if the detected signal exceeds a preset reference value.

[0092] In this way, if the control unit (200) determines that there is a risk of electric shock, it can be configured to generate an alarm signal so that the worker can recognize the dangerous situation.

[0093] With this configuration, the risk of electric shock that may occur due to proximity to wires or electrical equipment during work on the aerial work vehicle (10) can be recognized in advance, and the safety of the worker can be ensured.

[0094] The live wire detection sensor (140) includes an electric field detection electrode (141), a reference electrode plate (142), an amplification circuit (143), and a filter circuit (144).

[0095] The electric field sensing electrodes (141) are applied in multiple numbers and are arranged at regular intervals along the railing frame of the workbench (11) to detect electric fields formed at different locations around the workbench (11).

[0096] The arrangement of these electric field sensing electrodes (141) is intended to detect the spatial distribution of the electric field formed in the space surrounding the workbench (11), and allows a relatively large electric field signal to be detected at the electrode located in that direction when the workbench (11) approaches a wire or electrical equipment in a specific direction.

[0097] The reference electrode plate (142) is installed at a certain distance from the electric field sensing electrode (141) to form a reference potential, thereby enabling stable comparison of the electric signal detected by the electric field sensing electrode (141).

[0098] By configuring the reference electrode plate (142), the influence of potential fluctuations that may occur due to external structures or environmental factors can be reduced, and signals caused by the electric field formed in the actual wire can be detected more accurately.

[0099] Additionally, the reference electrode plate (142) may be configured to be electrically coupled with the electric field sensing electrode (141) to provide a reference potential signal, and the control unit (200) may be configured to calculate the electric field strength using the potential difference between the signal detected by the electric field sensing electrode (141) and the reference potential signal formed by the reference electrode plate (142).

[0100] The control unit (200) can be configured to remove common mode components resulting from changes in the external environment using a potential difference signal and to extract only the electric field components formed by the actual wire or electrical equipment.

[0101] Additionally, the reference electrode plate (142) may be configured to be electrically connected to the metal frame or groundable structure of the workbench (11) to maintain a stable reference potential.

[0102] The control unit (200) may be configured to monitor whether there is a fluctuation in the aforementioned reference potential and, if the reference potential is unstable, to lower the reliability of the electric field detection result or correct the alarm judgment criteria.

[0103] In addition, the control unit (200) may be configured to determine the relative degree of proximity between the work table (11) and the electrical equipment using the amount of change in potential difference between the electric field sensing electrode (141) and the reference electrode plate (142), and based on the result of the determination, output a warning signal through the alarm unit (300) or output a control signal that restricts the movement of the work table (11).

[0104] The amplifier circuit (143) is configured to process weak electric signals output from each electric field sensing electrode (141).

[0105] Since the electric signal detected by the electric field sensing electrode (141) is at a very weak level, the amplification circuit (143) is configured to amplify the signal to an analyzable level. In this process, the amplification circuit (143) individually amplifies the input signal for each electrode so that the difference in signal magnitude between electrodes can be compared during the subsequent signal processing.

[0106] Additionally, the amplification circuit (143) may be configured to include a filtering function to remove external electromagnetic noise or environmental noise included in the signal input from each electric field sensing electrode (141), and may be configured to selectively amplify only the signal of a predetermined frequency band.

[0107] The amplifier circuit (143) can be implemented as a variable gain amplifier that variably adjusts the gain according to the magnitude of the input electric signal, thereby enabling stable signal processing in various electric field environments while preventing signal saturation or distortion.

[0108] Additionally, the amplification circuit (143) may be configured to convert the signal amplified at each electrode into a digital signal and provide it to the control unit (200), and the control unit (200) may be configured to analyze the signal magnitude difference between electrodes, the potential difference, or the amount of change over time using the digital signal.

[0109] In addition, the amplifier circuit (143) can be configured to output a signal corrected by a relative value with respect to the reference potential formed on the reference electrode plate (142) so that signals between multiple electrodes can be compared according to the same standard.

[0110] The filter circuit (144) is configured to extract the commercial AC power band component from the output signal of the amplifier circuit (143).

[0111] The filter circuit (144) is configured to selectively pass signals in the AC power frequency band generated from power equipment and remove other noise components.

[0112] Accordingly, the influence of various electromagnetic noise generated in the surrounding environment can be reduced, and electric field signals generated from actual wires can be extracted more accurately.

[0113] Additionally, the filter circuit (144) can be implemented as a band-pass filter set based on a center frequency corresponding to the frequency band of the commercial AC power supply, and can be configured to maintain signal phase information in the corresponding frequency band.

[0114] The signal extracted through the filter circuit (144) is transmitted to the control unit (200) containing phase and amplitude information for each electric field sensing electrode (141), and the control unit (200) can be configured to analyze not only the signal magnitude difference between multiple electrodes but also the phase difference.

[0115] The control unit (200) can be configured to estimate the direction in which an electric field is introduced by using the signal phase difference between the electric field sensing electrodes (141) spaced apart from each other, and can determine that a wire is approaching in that direction when a leading phase is detected at the electrode located in a specific direction.

[0116] Additionally, the control unit (200) can be configured to improve the accuracy of determining the position direction of the wire by considering the amplitude difference and phase difference of the signal together, and can control the movement direction of the work table (11) based on the determination result or output a warning through the alarm unit (300).

[0117] At this time, the aforementioned live wire detection sensor (140) can be configured to detect the presence of the wire in a non-contact manner by detecting an electric field in the air without directly contacting the wire.

[0118] The control unit (200) may be configured to analyze signals detected by a plurality of electric field sensing electrodes (141) to determine the approach direction of the wire within the working radius.

[0119] Specifically, the control unit (200) can determine the direction in which the electric field is strongly formed by comparing the difference in magnitude of the signal detected at each electric field sensing electrode (141) or by analyzing the difference in phase of the signal.

[0120] For example, if an electric field is formed from a wire located on one side of the workbench (11), a relatively high electric signal may be detected at the electric field sensing electrode (141) placed in that direction.

[0121] The control unit (200) can determine the direction in which the wire is approaching by comparing the difference in signal magnitude between these electrodes. In addition, the direction of electric field formation can be determined more precisely by analyzing the phase difference of the signal detected by the electric field sensing electrode (141).

[0122] Additionally, the control unit (200) may be configured to determine the direction in which the electric field is formed relatively strongly around the workbench (11) by comparing the magnitudes of electric field signals input from each of the plurality of electric field sensing electrodes (141).

[0123] The control unit (200) may be configured to determine that a wire or electrical equipment is close to the direction in which the electrode is placed when the electric field signal detected at a specific electrode increases by more than a reference ratio compared to another electrode.

[0124] Additionally, the control unit (200) may be configured to determine the trend of change in the relative distance between the work table (11) and the electrical equipment by analyzing the amount of change over time of the electric field signal input from the electric field sensing electrode (141), and may determine the approach state when the electric field signal continuously increases and the separation state when it decreases.

[0125] In addition, the control unit (200) may be configured to make a determination using an average value over a predetermined period or a filtered signal to remove noise components included in the signal input from the electric field sensing electrode (141), thereby preventing false detection due to instantaneous signal changes.

[0126] At this time, the predetermined time may be set variably or in multiple stages depending on the movement speed of the work platform (11), the extension speed of the boom (12), or working environment conditions, and the control unit (200) may be configured to dynamically adjust the predicted time range by reflecting the movement speed according to the current operation input.

[0127] Additionally, the control unit (200) can control the movement of the work table (11) in the corresponding direction using the position direction information of the electrical equipment determined through the electric field sensing electrode (141) or output a warning through the alarm unit (300).

[0128] In this way, by determining the approach direction of the wire using the spatial distribution of signals detected by multiple electric field sensing electrodes (141), the worker can more intuitively recognize the direction in which there is a risk of electric shock around the work platform (11). Furthermore, since the approach direction can be determined in addition to simply detecting the location of the wire, responses such as adjusting the movement direction of the work platform (11) or changing the work position can be made more quickly.

[0129] Therefore, with this configuration, the live wire detection sensor (140) can determine not only the presence of the wire but also the direction of approach based on the distribution of the electric field formed around the work platform (11), thereby more effectively preventing the risk of electric shock that may occur during work on the aerial work vehicle (10).

[0130] The control unit (200) is configured to determine whether there is an electrical facility or wire in a live state within the working radius by analyzing the magnitude or signal change characteristics of the signal input from the live line detection sensor (140).

[0131] For example, when a workbench (11) approaches a power facility where high-voltage power lines are installed, an electric field is formed around the power lines, and the electric field detection electrode (141) of the live line detection sensor (140) detects this change in the electric field and generates an electric signal.

[0132] The control unit (200) can determine that a live wire exists within the working radius if this signal is detected to be greater than or equal to a preset reference signal value.

[0133] The control unit (200) is configured to generate an alarm signal to notify the worker of the risk of electric shock based on a signal detected by the live wire detection sensor (140). For example, if the control unit (200) analyzes the detection signal of the live wire detection sensor (140) and determines that a live wire exists around the work platform (11), it can immediately notify the worker of the risk of electric shock by generating a warning sound or illuminating a warning light through the alarm unit (300).

[0134] In addition, the control unit (200) can control the alarm intensity in stages according to the magnitude or degree of change of the detection signal of the live wire detection sensor (140).

[0135] For example, it can be configured to output a first warning when the electric field signal is weakly detected due to a long distance from the live wire, and to generate a stronger alarm when the work platform (11) is closer to the wire and the magnitude of the electric field signal increases.

[0136] With this configuration, the safety accident prevention device for the aerial work vehicle of the present invention can detect an electric field formed from electrical equipment or wires existing around the work platform (11) in real time to recognize the risk of electric shock to the worker in advance and generate an alarm, thereby effectively preventing electric shock accidents that may occur during the operation of the aerial work vehicle (10).

[0137] The live wire detection sensor (140) is not limited to being installed as a single unit, and multiple units may be placed in at least one of the front, rear, left, and right directions of the workbench to detect electric fields formed in multiple directions around the workbench.

[0138] Additionally, each live wire detection sensor (140) may be configured to have a plurality of electric field detection electrodes (141) arranged along the workbench (11) in the corresponding direction, so that a change in the electric field in that direction can be detected even if a wire or electrical equipment is located in any direction around the workbench (11).

[0139] Meanwhile, for convenience of explanation, the drawing may show an example in which a distance sensing sensor (130) and a live wire sensing sensor (140) are installed on one side of the workbench, but is not limited thereto and may be installed in multiple directions around the workbench depending on the working environment.

[0140] The control unit (200) is a component that receives various sensor signals detected from the composite detection module (100), collects and analyzes them, and determines whether there is a risk in the work environment. The control unit (200) is electrically connected or communically connected to the composite detection module (100) installed on the frame of the workbench (11), and is configured to receive signals regarding physical or electrical risk factors detected by the composite detection module (100) in real time.

[0141] The control unit (200) can collect detection signals individually output from the wind speed sensor (110), wind direction sensor (120), distance detection sensor (130), and live line detection sensor (140), etc., included in the composite detection module (100), and can be configured to process the collected signals by classifying them according to the type of risk factor. At this time, the control unit (200) acquires analog or digital signals input from each sensor, converts, normalizes, or processes them into data in a comparable form as needed, and then uses them for risk judgment calculations.

[0142] The control unit (200) simply receives a signal input from the composite detection module (100) and can determine whether the working environment is in a normal state or a dangerous state by analyzing at least one of the magnitude, amount of change, time of occurrence, and duration of each signal.

[0143] For example, if a signal related to wind speed or wind direction is detected above a reference value, it can be determined that the work platform (11) is exposed to a strong wind or unstable airflow environment, and if the distance information input from the distance detection sensor (130) decreases below a reference distance, it can be determined that the work platform (11) is in a dangerous state of being close to a structure or obstacle. In addition, if an electric field detection signal above a predetermined level is input from the live wire detection sensor (140), it can be determined that there is an electrical facility or live wire within the working radius.

[0144] The control unit (200) can not only analyze multiple detection signals independently, but can also be configured to determine the risk comprehensively by linking multiple detection signals input from the composite detection module (100).

[0145] For example, if an increase in wind speed is detected at the same time as the distance from the structure decreases, or if a live line detection signal is detected at the same time as the work platform (11) moves in a specific direction, it can be determined that the risk state is at a higher level than when only a single risk factor exists.

[0146] Accordingly, the control unit (200) can independently recognize individual risks that may occur in the work environment, while also reflecting situations where multiple risk factors interact in combination to perform a more precise risk assessment.

[0147] Additionally, the control unit (200) may utilize a pre-stored reference value, judgment condition, or risk judgment logic during the process of analyzing the detection signal. These reference values ​​or judgment conditions may be set according to the work characteristics of the aerial work vehicle (10), the installation location of the work platform (11), the work environment, or safety standards, and the control unit (200) determines the risk state by comparing the signal collected from the composite detection module (100) with these standards. At this time, the control unit (200) may determine only whether a single reference value is exceeded, or it may determine the risk level by classifying it into stages according to the combined result of the detection signals.

[0148] When the control unit (200) determines a dangerous state, the determination result is transmitted to the alarm unit (300) to provide a warning signal to the worker, and at the same time, it can be transmitted to an external terminal through the communication unit (400). Accordingly, the control unit (200) functions as a central control means that determines whether there is a danger based on sensor signals between the composite detection module unit (100), the alarm unit (300), and the communication unit (400), and transmits the determination result to subsequent components.

[0149] With this configuration, the control unit (200) can collectively collect and analyze various risk detection signals input from the composite detection module (100) to quickly and accurately determine whether there is a risk in the work environment, and accordingly, the worker can recognize the dangerous situation around the work platform (11) at an early stage and take appropriate action. Therefore, the effect of notifying in advance of risks such as collisions, electric shocks, or changes in airflow that may occur during work on the aerial work vehicle (10) and preventing safety accidents can be achieved.

[0150] Additionally, the control unit (200) more precisely determines the approach status of the wire based on electric field signals detected by a plurality of electric field sensing electrodes (141).

[0151] To this end, the control unit (200) can calculate the rate of change of electric field strength by analyzing the change over time of the electric field strength detected at each electric field sensing electrode (141).

[0152] Since the electric field sensing electrodes (141) are positioned at spaced-apart locations along the railing frame of the workbench (11), if a wire or electrical equipment is located in a specific direction, a relatively fast change in the electric field may occur at the electrode positioned in that direction.

[0153] The control unit (200) compares the electric signals detected at each electrode over time to calculate the degree of increase or decrease in electric field strength, and thereby calculates the rate of change in electric field strength.

[0154] The control unit (200) may be configured to determine whether there is a risk of approaching the wire by comparing the rate of change of the calculated electric field strength with a preset reference growth rate. For example, if the rate of increase of the electric field strength detected at an electrode placed in a specific direction appears to be greater than the reference growth rate, it may be determined that the electric field is rapidly increasing in that direction.

[0155] In such cases, the control unit (200) can determine that the wire is approaching in that direction or that the work platform (11) is moving in the direction of the wire.

[0156] In addition, the direction in which the wire exists can be determined more accurately by comparing the rate of change of electric field strength detected at multiple electrodes. For example, if the highest rate of increase in electric field is detected at an electrode placed in a specific direction, the control unit (200) can determine that direction as the wire approach direction.

[0157] The control unit (200) may be configured to calculate the rate of change of electric field strength using the amount of change over time of the electric field strength signal input from each of the plurality of electric field sensing electrodes (141).

[0158] Specifically, the control unit (200) may be configured to calculate the amount of change relative to the previous point in time using electric field strength values ​​sampled at regular time intervals, and to calculate the rate of increase or decrease of electric field strength for each electrode by dividing the amount of change by the time intervals.

[0159] The control unit (200) can be configured to compare the calculated electric field strength increase rate with a preset reference increase rate, and if the increase rate at a specific electrode is greater than or equal to the reference value, determine that the electric equipment is approaching the workbench (11) in that direction.

[0160] In addition, the reference increase rate can be variably set or corrected according to the absolute magnitude of the electric field strength, the movement speed of the work table (11), surrounding environmental conditions, or noise level, thereby preventing false detection while allowing the actual approach situation to be determined quickly.

[0161] In addition, the control unit (200) may be configured to output a directional alarm through the alarm unit (300) based on the direction in which the electrode is placed when the rate of increase in electric field strength at a specific direction electrode is determined to be greater than or equal to a reference value, or to display a danger area relative to the work table (11) on the screen of an external terminal.

[0162] At this time, the external terminal may visually display the direction of danger in the form of a plan view or a direction indicator centered on the work table (11), and may be configured so that the intensity of the alarm or the display form is output differentially according to the magnitude of the electric field strength increase rate.

[0163] The control unit (200) may be configured to output a directional alarm to inform the worker of the direction of danger based on the result of this judgment.

[0164] A directional warning is an alarm provided to enable an operator to intuitively recognize the direction in which a wire is located, and can be implemented in ways such as illuminating a warning light in a specific direction, a direction indicator arrow, or outputting a warning signal corresponding to that direction.

[0165] Additionally, the control unit (200) can transmit information regarding the direction of approach to the wire to an external terminal via the communication unit (400), and the direction of approach to the wire or the direction of danger can be displayed in a graphic form on the screen of the external terminal. For example, the direction in which the wire exists can be displayed as an arrow or warning indicator along with the location of the workbench (11) on the external terminal screen, thereby allowing the worker to more easily recognize the direction of danger.

[0166] With this configuration, the control unit (200) can determine not only whether a wire is present but also the direction in which the wire is located or the approach direction by analyzing the characteristics of the time change of the electric field strength, and the worker can recognize the risk factors in that direction in advance and take countermeasures such as adjusting the direction of movement of the work platform (11) or changing the work position. Therefore, the risk of electric shock that may occur due to proximity with a wire during work on the aerial work vehicle (10) can be prevented more effectively.

[0167] The alarm unit (300) is configured to provide a warning signal to the worker based on the judgment result of the control unit (200) to make the worker aware of the dangerous state of the work environment. The alarm unit (300) is configured to provide an immediate warning to the worker based on the judgment result when the control unit (200) analyzes various detection signals input from the composite detection module (100) and determines that the state is dangerous. Accordingly, the alarm unit (300) enables the worker to recognize various risk factors in real time, such as airflow hazards, structural access hazards, and electric shock hazards occurring around the work platform (11).

[0168] The alarm unit (300) can be installed on the workbench (11) or positioned to be linked with the workbench (11), and is positioned so that the worker can immediately check it during work.

[0169] For example, the alarm unit (300) may be installed on the railing frame of the work table (11), around the control panel, on a structure within the worker's field of vision, or in a location where the worker can directly contact or easily perceive it.

[0170] With this arrangement, the operator can immediately recognize the warning signal provided from the alarm unit (300) without any additional verification action.

[0171] The alarm unit (300) may be configured to include at least one of an audible alarm, a visual alarm, or a vibration alarm.

[0172] An audible alarm is intended to audibly convey a dangerous condition to a worker and may be implemented as one or more of, for example, a buzzer, a speaker, a warning sound generator, or a voice guidance device.

[0173] These audible alarms enable workers to immediately recognize dangerous conditions even when their gaze is focused on external structures or work objects during work.

[0174] A visual warning is intended to visually notify a worker of a dangerous condition and may be implemented as one or more of, for example, a warning light, a flashing light, a light indicator, an indicator lamp, or a display unit.

[0175] A visual alarm can be installed at the operating position of the workbench (11) or on the railing frame, etc., to indicate a dangerous condition in a manner such as lighting, flashing, changing color, or displaying text. For example, the color of the warning light can be maintained as green in a normal state and configured to change to yellow or red or flash when a dangerous condition occurs.

[0176] The vibration alarm is intended to tactilely convey a dangerous condition to the worker and can be implemented as one or more of, for example, a vibration motor, a haptic driving device, or a vibration generating device linked to the operating lever (13). The vibration alarm has the advantage of directly conveying a dangerous condition even when the transmission power of an audible alarm is reduced in a noisy work environment or when it is difficult for the worker to immediately check a visual alarm. In particular, if a vibration alarm is applied to the operating lever (13) or a structure adjacent to the worker, the worker can immediately feel the occurrence of danger.

[0177] The alarm unit (300) can selectively or in combination generate a visual, auditory, or tactile warning according to an alarm signal transmitted from the control unit (200).

[0178] For example, if the control unit (200) determines that the detected value of the wind speed sensor (110) exceeds the reference wind speed, it can flash the warning light of the alarm unit (300) or generate a buzzer sound so that the operator can immediately recognize the dangerous airflow condition.

[0179] With this configuration, the worker can immediately identify the risk of strong winds or gusts occurring on the work platform (11) and take countermeasures such as stopping work, stopping the operation of the boom (12), or lowering the work platform (11).

[0180] Additionally, if the control unit (200) determines that the distance between the work platform (11) and the surrounding structure has decreased to a reference distance or less based on the detection result of the distance detection sensor (130), the alarm unit (300) can generate a warning signal to indicate the risk of approaching the structure.

[0181] In this case, the alarm unit (300) may be configured to output different alarm intensities in stages depending on the degree of approach. For example, within a certain distance, a primary audible alarm or flashing warning may be output, and at a closer danger distance, a warning sound of higher volume, a fast flashing cycle, or a strong vibration alarm may be output. Accordingly, the worker can intuitively perceive the degree of danger of approaching the structure and adjust the position of the work platform (11).

[0182] Additionally, if the control unit (200) determines through the live wire detection sensor (140) that there is a risk of electric shock, the alarm unit (300) may generate a warning signal indicating the risk of electric shock. In this case, the alarm unit (300) may be configured to output at least one of an audible alarm, a visual alarm, and a vibration alarm so that the worker can immediately recognize the direction of danger or the occurrence of danger. For example, if a live wire is present around the workbench (11), a buzzer sound may be generated and a warning light may be illuminated at the same time so that the worker can immediately recognize the risk of approaching the wire.

[0183] The alarm unit (300) is not limited to using only one alarm method, but can use a combination of multiple alarm methods. For example, in general hazardous situations such as strong winds or approaching a structure, it can be configured to output both a visual alarm and an audible alarm, and in situations requiring immediacy such as the risk of electric shock, it can be configured to output an audible alarm, a visual alarm, and a vibration alarm simultaneously. Through such a composite alarm structure, the worker can more clearly recognize hazardous situations regardless of the working environment, noise level, visibility conditions, or individual perception state.

[0184] Additionally, the alarm unit (300) may be configured to output different types of warning signals depending on the type or degree of danger determined by the control unit (200). For example, it may be configured to output a buzzer sound at a constant frequency and a yellow flashing light for exceeding wind speed, a continuous buzzer sound and a red flashing light for the risk of collision with a structure, and a high-frequency buzzer sound and a strong vibration alarm simultaneously for the risk of electric shock. Accordingly, the operator can recognize not only the existence of a danger state but also the type or severity of the danger.

[0185] With this configuration, the alarm unit (300) converts the judgment result of the control unit (200) into a warning signal that the worker can immediately recognize, thereby enabling a rapid response to various risk factors occurring in the work environment. Accordingly, it provides the effect of preventing accidents caused by electric shock, collision, overturning, or strong winds that may occur during the operation of the aerial work vehicle (10) in advance and improving the safety of the worker.

[0186] The communication unit (400) is configured to transmit information collected from the composite detection module unit (100) or the judgment result of the control unit (200) to an external terminal.

[0187] The communication unit (400) may be electrically connected to the control unit (200) or connected to enable data communication, and may be configured to transmit sensor information detected by the composite detection module (100) and risk judgment results analyzed by the control unit (200) to an external device.

[0188] This communication unit (400) may be included inside a control device installed on a workbench (11) or configured as a separate communication module, and may be designed to enable stable data transmission in a work environment.

[0189] The communication unit (400) may be configured to transmit and receive data with an external terminal using a wired communication or wireless communication method. For example, the communication unit (400) may communicate with an external terminal using at least one of wireless communication methods such as Wi-Fi, Bluetooth, LTE, 5G, ZigBee, or LoRa. Through this communication method, work environment information or risk assessment information collected from the work platform (11) of the aerial work vehicle (10) may be transmitted in real time to a terminal located at a remote location.

[0190] The information transmitted through the communication unit (400) may include sensor data detected by the composite detection module (100) and risk judgment results analyzed by the control unit (200).

[0191] For example, airflow information detected through the wind speed sensor (110) and wind direction sensor (120), distance information between the work platform (11) and the structure detected through the distance detection sensor (130), and wire presence information detected through the live wire detection sensor (140) can be transmitted to an external terminal through the communication unit (400).

[0192] In addition, information regarding the risk status, whether an alarm has occurred, or the level of risk determined by the control unit (200) analyzing the sensor information may also be transmitted.

[0193] An external terminal is configured to receive information transmitted through the communication unit (400) and check the working environment status. Such an external terminal can be implemented as one or more of, for example, a smartphone, tablet, laptop, industrial terminal, or remote control system. In particular, the operator or safety manager of the aerial work vehicle (10) equipment can check the working environment status around the work platform (11) in real time through the external terminal.

[0194] A mobile application (610) for displaying information transmitted through the communication unit (400) may be installed on the external terminal. The mobile application (610) is configured to intuitively provide various sensor information detected by the composite detection module (100) to the user. For example, the mobile application (610) can receive and display on the screen wind speed values ​​detected by the wind speed sensor (110), distance values ​​to the structure detected by the distance detection sensor (130), wire approach information detected by the live wire detection sensor (140), etc.

[0195] The mobile application (610) can display this sensor information in numerical form and can also provide it to the user by visualizing it in graphic form.

[0196] For example, wind speed information can be displayed as a graphic in the form of a gauge along with a numerical value, and distance information can be expressed as a bar graph or distance indicator icon indicating the distance between the workbench (11) and the structure. Additionally, live wire detection information can be provided as a warning icon or color indicator indicating whether the wire is approaching or the risk of electric shock.

[0197] Additionally, the mobile application (610) may be configured to change the screen display form according to the working environment status. For example, if the sensor value is within the normal range, information is provided in a color or display form indicating a normal state, and if the control unit (200) determines a dangerous state, the dangerous state can be intuitively conveyed to the user through a warning message, color change, or flashing display.

[0198] In this way, the communication unit (400) and the mobile application (610) are linked, so that work environment information detected at the work platform (11) is transmitted to a remote terminal, and the user can check various work environment information in real time, such as wind speed, the status of approach to structures, or the status of wire detection, through the mobile application (610). Accordingly, the worker can more easily identify risk factors in the environment surrounding the work platform (11) and, if necessary, can quickly perform safety measures such as stopping work, adjusting the work position, or lowering the work platform (11).

[0199] Therefore, with this configuration including a communication unit (400) and a mobile application (610), the work environment of the aerial work vehicle (10) can be monitored remotely and dangerous situations can be quickly transmitted, thereby more effectively preventing various safety accidents that may occur during the work process of the aerial work vehicle (10).

[0200] The camera unit (500) is installed on the frame of the workbench (11) and is configured to photograph the work environment.

[0201] The camera unit (500) captures the working environment around the workbench (11) as an image, allowing the worker to visually check the situation around the workbench (11).

[0202] The camera unit (500) can be installed on the railing frame, upper frame, or outer frame of the workbench (11) via a fixed bracket or a camera unit (500) housing, and can be positioned to photograph at least one of the front, rear, left, and right directions around the workbench (11).

[0203] At least one camera unit (500) may be provided, and when multiple camera units (500) are installed, each camera unit (500) may be positioned to face in a different direction. For example, one camera unit (500) may be positioned to photograph the front of the workbench (11), and another camera unit (500) may be positioned to photograph the rear or side of the workbench (11).

[0204] Accordingly, image information regarding multiple directions around the work table (11) can be secured, and the worker can more easily check for the presence of structures, wires, work objects, or obstacles located in blind spots around the work table (11).

[0205] The camera unit (500) is configured to photograph multiple directions around the workbench (11) so that the work environment can be visually checked.

[0206] That is, the camera unit (500) can be configured to provide image information regarding the arrangement of structures around the space where the work platform (11) is located, the proximity of wires, obstacles existing on the movement path of the work platform (11), or external environments in locations that are difficult for the worker to directly see with their eyes. Through this image information, the worker can intuitively check the situation around the work platform (11) and more easily recognize risk factors that may occur during the movement of the work platform (11) or the operation of the boom (12).

[0207] In particular, when the work platform (11) is working near the outer wall of a building or moving in a confined space, the worker can check the approach status of structures in the rear or side that are difficult to see directly with their own eyes through video, thereby reducing the risk of collision of the work platform (11).

[0208] In addition, the video captured by the camera unit (500) allows the overall condition of the work environment to be checked in real time, so it can be used to make a more comprehensive judgment of the work environment together with the sensor information detected through the composite detection module unit (100).

[0209] Meanwhile, the video captured by the camera unit (500) can be transmitted to an external terminal through the communication unit (400). The communication unit (400) can be configured to transmit video data acquired from the camera unit (500) to an external terminal via wired or wireless communication, and accordingly, the operator or manager of the work equipment can remotely check the surrounding conditions of the work table (11) even from a location separated from the work table (11).

[0210] The external terminal may consist of at least one of a smartphone, tablet, laptop, in-vehicle display device, or remote control terminal. The operator of the work equipment may display the image of the camera unit (500) in real-time or near-real-time through this external terminal, thereby allowing the operator to remotely check the status of access to structures around the work platform (11), the location of wires within the work radius, or the presence of obstacles around the work platform (11).

[0211] For example, if it is difficult for the operator of the work equipment to visually inspect the work platform (11) directly from the ground or the driver's seat, the operator can identify the blind spot situation around the work platform (11) by checking the camera unit (500) image transmitted through the communication unit (400) on an external terminal screen. Accordingly, the operator of the work equipment can make more accurate judgments during the movement of the work platform (11) or the operation of the boom (12), and can immediately adjust or stop the movement of the work platform (11) if a collision or electric shock risk is expected.

[0212] In addition, when multiple camera units (500) are installed, images captured by each camera unit (500) may be provided to an external terminal in the form of a split screen or a selection screen. Accordingly, the operator of the work equipment can check the situation in multiple directions around the work table (11) simultaneously or selectively, and can focus on monitoring images in the necessary directions depending on the work location and work environment.

[0213] With this configuration, the camera unit (500) captures the working environment around the work platform (11) in multiple directions so that the worker can visually check the working environment, and the communication unit (400) transmits the captured video to an external terminal so that the operator of the work equipment can remotely check the situation around the work platform (11). Accordingly, the worker can recognize obstacles, structures, and wire access conditions around the work platform (11) more quickly and accurately, and thereby more effectively prevent collision accidents or electric shock accidents that may occur during the work process of the aerial work vehicle (10).

[0214] Since the aerial work vehicle (10) is equipment that performs work by raising or moving the work platform (11) through the boom (12) structure, the stability and working radius of the work platform (11) can change significantly depending on the inclination state of the boom (12), the extension length, the load applied to the work platform (11), and the posture state of the work platform (11). Therefore, in one embodiment of the present invention, the risk level of the work environment can be determined by considering not only environmental information around the work platform (11) but also the structural state of the aerial work vehicle (10) itself.

[0215] To this end, the safety accident prevention device for the aerial work vehicle (10) may further include a boom angle sensor (1700) that detects the tilt angle of the boom (12) for the aerial work vehicle (10).

[0216] The boom angle sensor (1700) is a sensor for measuring the angle of inclination that the boom (12) forms with respect to the ground or a reference structure, and can be implemented using, for example, an angle sensor, a tilt sensor, or a gyro-based sensor. When the tilt state of the boom (12) is detected through the boom angle sensor (1700), the information can be used to determine the current position and working radius of the work platform (11).

[0217] A boom angle sensor (1700) may be installed at the base of the boom (12), near the pivot axis, or on the boom base and configured to detect an inclination angle that changes according to the upward or downward movement of the boom (12).

[0218] The tilt angle information detected from the boom angle sensor (1700) can be combined with other sensor information by the control unit (200), and the control unit (200) can be configured to calculate the stability or risk level of the work platform (11) based on the tilt angle information, the extension length of the boom (12), and the load applied to the work platform (11).

[0219] The length detection unit (700) is installed on the boom (12), and the aerial work vehicle safety accident prevention device is configured to detect the extension length of the boom (12).

[0220] The length detection unit (700) is configured to measure the degree to which the boom (12) is extended, and can detect the extension length of the boom (12) using, for example, a stroke sensor, a position sensor, or a length detection sensor. Since the extension length of the boom (12) is an important factor in determining the position and working radius of the work platform (11), the control unit (200) can determine the position status of the work platform (11) using information input from the length detection unit (700).

[0221] The control unit (200) may be configured to numerically evaluate the current working state of the work platform (11) using wind speed and wind direction information input from the composite detection module (100) and detection values ​​input from the boom angle sensor (1700), length detection unit (700), load detection unit (800) and posture detection unit (900).

[0222] Specifically, the control unit (200) may be configured to calculate the overturning stability or structural safety of the work platform (11) based on the extension length of the boom (12), the inclination angle, and the load applied to the work platform (11), and to correct the degree of influence of external forces based on wind speed and wind direction information.

[0223] At this time, the control unit (200) may be configured to calculate different allowable approach distances for each of the multiple directions set around the work table (11), and the allowable approach distance for each direction may be defined as a minimum separation distance set so that there is no risk of collision with the structure or tipping over when moving in that direction.

[0224] In addition, the control unit (200) may be configured to set different allowable approach distances by distinguishing between cases where the movement direction of the work table (11) is toward the structure and cases where it is separated from it, even under the same distance condition from the structure.

[0225] Additionally, the length detection unit (700) may be configured to continuously detect the extension length of the boom (12) and provide it to the control unit (200), and the control unit (200) may be configured to calculate the amount of change or rate of change of the extension length over time.

[0226] The control unit (200) can estimate the movement speed or movement direction component of the work table (11) based on the amount of change in extension length, and can be configured to use this to calculate the expected movement range or movement trajectory of the work table (11).

[0227] Additionally, the control unit (200) may be configured to calculate the degree of increase in the horizontal separation distance or working radius of the work table (11) using the elongation length information input from the length detection unit (700), and to limit the accessible area of ​​the structure or correct the allowable access distance by direction based on the calculation result.

[0228] In particular, since the structural stability of the work platform (11) may be relatively reduced when the extension length of the boom (12) increases, the control unit (200) may be configured to reduce the allowable approach distance or strengthen the alarm trigger criteria when the extension length increases beyond a preset standard length.

[0229] The load detection unit (800) is configured to detect the load applied to the workbench (11).

[0230] The load detection unit (800) is configured to detect a load generated by the number of workers on the work platform (11), work equipment, or loaded items, and can be implemented, for example, using a load sensor or a pressure sensor.

[0231] Since load information can affect the stability of the work table (11), the control unit (200) can determine the risk of the work environment by considering the load value input from the load detection unit (800).

[0232] The load detection unit (800) is installed on the inner floor surface of the workbench (11) and can be configured to detect the load.

[0233] At this time, a footrest (14) that a worker steps on is installed on the upper surface of the load detection unit (800), and the load transmitted from the footrest can be measured.

[0234] Additionally, the load detection unit (800) may be configured to detect not only the total amount of load acting on the workbench (11) but also the state of load distribution. To this end, the load detection unit (800) may be configured such that a plurality of load sensors are spaced apart at different locations on the bottom surface or support structure of the workbench (11), and the control unit (200) may be configured to determine whether there is a load imbalance on the workbench (11) by comparing the load values ​​detected at each location.

[0235] The control unit (200) can be configured to determine that the balance state of the work table (11) deteriorates when a load is concentrated at a specific location, and to calculate the possibility of tilting or the risk of tipping over of the work table (11) using load distribution information.

[0236] Additionally, the control unit (200) may be configured to limit the allowable working range of the work platform (11) by combining the load value input from the load detection unit (800) with the extension length and tilt angle information of the boom (12). For example, when the boom (12) extends while the load is increased, the control unit (200) may determine that the stability of the work platform (11) is degraded and control the work platform (11) to reduce the allowable approach distance or limit additional extension or lifting movements of the boom (12).

[0237] Additionally, the control unit (200) may be configured to output a control signal to notify of an overload condition through the alarm unit (300) or to reduce the movement speed of the work table (11) when the load value input from the load detection unit (800) exceeds a preset reference load.

[0238] Additionally, the posture detection unit (900) is configured to detect tilting of the workbench (11) frame.

[0239] The attitude detection unit (900) is a sensor for measuring the tilt state of the work table (11), and can be implemented using, for example, a gyroscope sensor, an accelerometer sensor, or a tilt sensor. Since there is a risk of tipping over when the work table (11) tilts, the control unit (200) can determine the stable state of the work table (11) using the attitude information input from the attitude detection unit (900).

[0240] The control unit (200) may be configured to evaluate the working environment around the work platform (11) by comprehensively analyzing detection values ​​input from the boom angle sensor (1700), length detection unit (700), load detection unit (800), and attitude detection unit (900), along with wind speed and wind direction information input from the composite detection module (100). For example, if strong winds occur while the boom (12) is greatly extended or if an excessive load is applied to the work platform (11), the stability of the work platform (11) may be significantly reduced; therefore, the control unit (200) may determine the risk level of the working environment by considering these factors together.

[0241] Additionally, the posture detection unit (900) may be configured to detect the tilt of the work table (11) in multiple directions, and the control unit (200) may be configured to determine the direction of tilt of the work table (11) by calculating the tilt components in the front-back direction and the left-right direction, respectively.

[0242] The control unit (200) may be configured to determine the stable state of the work table (11) by comparing the tilt angle input from the posture detection unit (900) with a preset reference tilt angle, and may determine that there is a risk of tipping in that direction if the tilt angle in a specific direction increases above a reference value.

[0243] Additionally, the control unit (200) may be configured to determine whether the unstable state of the work table (11) is increasing by analyzing the amount or rate of change of the tilt angle, and may control the work table (11) to output a warning signal through the alarm unit (300) or limit the movement speed of the work table (11) when a sudden change in tilt occurs.

[0244] In addition, the control unit (200) may be configured to calculate the possibility of tilting of the work platform (11) by combining the tilt information input from the posture detection unit (900), the load distribution information from the load detection unit (800), and the extension state of the boom (12), and to output a control signal that restricts further extension of the boom (12) or movement in a specific direction based on the calculation result.

[0245] The control unit (200) may be configured to calculate the allowable approach distance for each direction around the workbench (11) by combining these sensor information.

[0246] The allowable approach distance for each direction refers to the allowable range of access to the structure around the workbench (11), and can be set differently depending on the structural condition, environmental conditions, and working situation of the workbench (11).

[0247] For example, as the extension length of the boom (12) increases, the stability of the work platform (11) may decrease, so the control unit (200) may set the allowable approach distance more conservatively.

[0248] In addition, even if the wind speed increases, the movement stability of the work platform (11) may decrease, so the allowable approach distance can be reduced to prevent dangerous situations in advance.

[0249] The control unit (200) may be configured to set different alarm criteria based on the direction of approach to the structure according to the calculated allowable approach distance for each direction. For example, if the risk of approaching the structure is high in the forward direction of the work platform (11), the alarm criteria for the forward direction may be set more strictly, and relaxed criteria may be applied to the direction with a relatively lower risk.

[0250] Accordingly, the worker can distinguish the risk of approaching structures around the work platform (11) by direction and control the direction of movement of the work platform (11) more safely.

[0251] Additionally, the control unit (200) may be configured to variably set the movable range or directional allowable approach distance of the work platform (11) according to the change in tilt angle detected by the boom angle sensor (1700).

[0252] For example, if the tilt angle of the boom (12) increases and the work platform (11) is formed at a high position, the control unit (200) can determine that the stability of the work platform (11) is reduced and set the allowable approach distance to decrease.

[0253] Additionally, the control unit (200) may be configured to create a dynamic safety zone around the work platform (11) by selecting or correcting at least one of a plurality of risk reference maps stored in memory. The risk reference map is data for defining a safety zone allowed around the work platform (11) according to working environment conditions, and different reference maps may be stored according to, for example, the boom (12) extension state, the work platform (11) load state, or wind speed conditions.

[0254] The risk reference map is a data set that defines the allowable approach distance or risk level for each direction based on the location of the work platform (11), and different reference maps may be stored in advance depending on the extension state of the boom (12), the load state of the work platform (11), wind speed conditions or working environment.

[0255] The control unit (200) can generate a dynamic safety zone around the workbench (11) by selecting a risk reference map suitable for the current working environment state or by correcting the reference map by reflecting sensor information. This dynamic safety zone refers to a spatial range around the workbench (11) where work can be performed safely, and can be updated in real time according to changes in the working environment.

[0256] Additionally, the control unit (200) may be configured to generate a dynamic safety zone around the workbench (11) by analyzing currently input sensor information to select one of a plurality of reference maps or by correcting the allowable approach distance for each direction of the selected reference map.

[0257] At this time, the dynamic safety zone is a virtual spatial area formed around the location of the work table (11), and within the area, movement of the work table (11) is permitted, and it can be set so that if it moves out of the area, it is judged to be in a dangerous state.

[0258] The control unit (200) can be configured to calculate a risk distribution in three-dimensional space based on the center of the work platform using the position coordinates of the work platform, the angle and extension length of the boom, and sensor information input from the composite detection module (100).

[0259] At this time, the aforementioned risk distribution can be generated by dividing the space around the workbench into multiple regions and assigning a risk value based on sensor values ​​to each region.

[0260] The control unit (200) may be configured to create a dynamic safety area by setting an area below a predetermined standard as a safety area and an area above the standard as a risk area based on the risk distribution.

[0261] Additionally, the communication unit (400) may be configured to convert the generated dynamic safety area information into data for display on an external terminal and transmit it. On the screen of the external terminal, the dynamic safety area may be displayed in a graphic form based on the location of the work table (11), and through this, the operator of the work equipment or the safety manager can intuitively check the safety area and the danger area around the work table (11).

[0262] For example, on an external terminal screen, a safety zone is displayed centered on the location of the work platform (11), and directions or areas where there is a risk of approaching the structure may be indicated by a separate warning color or mark. By providing this visual information, the worker can perform the work without leaving the safety zone when moving the work platform (11) or operating the boom (12).

[0263] With this configuration, the safety accident prevention device for an aerial work vehicle can dynamically set a safety zone by comprehensively considering not only environmental information around the work platform (11) but also the structural state and working conditions of the aerial work vehicle (10), thereby more precisely determining risk factors in the working environment and effectively reducing the possibility of safety accidents.

[0264] Since the aerial work vehicle (10) has a structure that moves the work platform (11) through the extension, turning, or raising motion of the boom (12), there may be a risk of collision if there is a structure in the path of movement of the work platform (11).

[0265] Accordingly, a safety accident prevention device for an aerial work vehicle according to one embodiment of the present invention can be configured to predict the future movement trajectory of the work platform (11) using the movement state of the work platform (11) and location information of surrounding structures, and to detect in advance if a collision risk is expected.

[0266] To this end, the safety accident prevention device for the aerial work vehicle may include a position detection sensor (1000) that detects the extension length and rotation angle of the boom (12) for the aerial work vehicle (10), respectively.

[0267] The position detection sensor (1000) is a sensor that can calculate the current position and working radius of the work platform (11) by detecting the extension length and turning angle of the boom (12).

[0268] A position detection sensor (1000) may be installed on the boom (12) and configured to detect the extension length and pivot angle of the boom.

[0269] For example, the extension length of the boom (12) can be detected through a stroke sensor or a length sensor, and the pivot angle of the boom (12) can be detected through a rotation angle sensor or an encoder, etc.

[0270] The control unit (200) may be configured to calculate the planar coordinates of the work platform (11) using the extension length and pivot angle information of the boom (12) input from the position detection sensor (1000), and the coordinates may be converted into polar coordinates or Cartesian coordinates based on the work platform (11).

[0271] The control unit (200) can be configured to calculate three-dimensional spatial coordinates including the height direction position of the work platform (11) by using tilt angle information input from the boom angle sensor (1700), thereby allowing the actual position of the work platform (11) to be determined more precisely.

[0272] Additionally, the control unit (200) may be configured to determine the relative positional relationship with the structure based on the spatial coordinates of the calculated work table (11), or to set the movable area and safety area of ​​the work table (11).

[0273] In addition, the control unit (200) may be configured to determine the direction of movement of the work platform (11) or predict the movement trajectory using the change in turning angle and extension length input from the position detection sensor (1000), and may be configured to determine whether to approach a dangerous direction based on the prediction result and to perform an alarm or drive control.

[0274] Additionally, an input signal collecting unit (1100) for collecting an input signal of an operating lever (13) for moving the workbench (11) may be included.

[0275] The input signal collection unit (1100) may be configured to collect operation signals, such as a boom (12) extension command, a boom (12) raising command, or a boom (12) turning command, which are input by an operator through the operation lever (13). These operation signals may be used to determine which direction the work platform (11) will move in the future.

[0276] In addition, the aerial work vehicle safety accident prevention device can obtain location information of structures around the work platform (11) through a distance sensing sensor (130) that detects the distance between the work platform (11) and surrounding structures. The distance information detected by the distance sensing sensor (130) can be used to determine the location of structures or the presence of obstacles around the work platform (11).

[0277] At this time, the operating lever (13) is installed in the driver's seat of the work platform (11) or the aerial work vehicle (10) and is an operating part for the worker to control the operation of the boom (12).

[0278] The input signal collection unit (1100) and the operation input collection unit (1300) described later are configured to be connected to the operation lever (13) to collect operation signals.

[0279] Additionally, the input signal collection unit (1100) may be configured to collect an analog or digital signal input according to the degree of operation of the operation lever (13), convert it into a control signal decomposed into a direction component and a speed component corresponding to each operation axis, and provide it to the control unit (200).

[0280] The control unit (200) may be configured to determine a complex movement state in which extension, lifting, and turning movements of the boom (12) are performed simultaneously using signals collected from the input signal collection unit (1100), and may be configured to calculate the actual movement direction of the work platform (11) in the form of a vector according to the combination of each movement component.

[0281] Additionally, the control unit (200) may be configured to determine whether the expected direction of movement of the work table (11) corresponds to a danger area by considering together the operation signal input from the input signal collection unit (1100), the environmental information obtained from the position detection sensor (1000) and the electric field detection electrode (141).

[0282] In addition, the control unit (200) may be configured to control the operation of the boom (12) by generating a control signal that limits or decelerates the direction component when the operation signal includes movement in a dangerous direction, and conversely, may be configured to normally reflect the operation signal in a safe direction.

[0283] Additionally, the input signal collection unit (1100) may be configured to detect changes in the neutral position and operation state of the operation lever (13) and provide them to the control unit (200), and the control unit (200) may be configured to use the information to detect sudden changes in operation input or abnormal input states and to perform safety control corresponding thereto.

[0284] The trajectory prediction unit (1200) may be configured to calculate the expected movement trajectory of the work platform (11) based on the distance information of surrounding structures detected by the distance detection sensor (130), the position information of the boom (12) input from the position detection sensor (1000), and the operation signal collected by the input signal collection unit (1100).

[0285] To this end, the trajectory prediction unit (1200) may be configured to calculate the current spatial coordinates of the work platform (11) based on the extension length and turning angle of the boom (12) input from the position detection sensor (1000), and to calculate the expected coordinates after a certain time using the movement direction and movement speed information included in the operation signal.

[0286] Additionally, the trajectory prediction unit (1200) may be configured to continuously calculate predicted coordinates for multiple time points to generate a movement trajectory of the work table (11) in a linear or curved form.

[0287] At this time, the trajectory prediction unit (1200) and the movement direction calculation unit (1400) and the safety area determination unit (1500) can be implemented as functional blocks included in the control unit (200).

[0288] For example, when a worker performs an operation to extend or rotate the boom (12) in a specific direction, the trajectory prediction unit (1200) can calculate the expected position or movement path where the work platform (11) will move after a certain period of time according to the operation input.

[0289] At this time, the trajectory prediction unit (1200) can calculate the expected movement trajectory that the work table (11) will reach after a predetermined time by considering the current position information of the work table (11) and the direction and speed of movement according to the operation input. In addition, the trajectory prediction unit (1200) can determine whether the expected movement trajectory intersects with the structure by using the structure position information detected by the distance sensing sensor (130).

[0290] The trajectory prediction unit (1200) may be configured to calculate an expected position after a predetermined time using the current workbench position coordinates and operation input signals, and to generate an expected movement trajectory by connecting the expected positions in chronological order.

[0291] At this time, the trajectory prediction unit (1200) may be configured to correct the predicted movement trajectory by reflecting at least one of the boom's extension speed, turning speed, and lifting speed.

[0292] The control unit (200) may be configured to determine that there is a risk of collision and activate the alarm unit (300) when it is determined that the predicted movement trajectory calculated by the trajectory prediction unit (1200) intersects with a surrounding structure. Accordingly, the worker can recognize in advance a dangerous situation in which a structure exists on the movement path of the work platform (11).

[0293] Additionally, the control unit (200) may be configured to restrict the driving of the aerial work vehicle (10) when operation inputs in a direction where the expected movement trajectory intersects the structure are continuously performed. To this end, the control unit (200) may output a cutoff signal to a hydraulic control valve installed in a hydraulic drive system for driving the boom (12) or to a drive relay installed in a drive circuit of an electric drive system.

[0294] Here, the hydraulic drive system refers to a drive device for extending, raising, or rotating the boom (12) of the aerial work vehicle (10), and can be configured to perform the operation of the boom (12) by driving a hydraulic cylinder or a hydraulic motor using hydraulic fluid supplied by a hydraulic pump. Such a hydraulic drive system may include a hydraulic control valve that opens and closes a hydraulic fluid path or controls the flow rate, and the control unit (200) can control the driving operation of the boom (12) by controlling the operation of the hydraulic control valve.

[0295] And the hydraulic control valve refers to a control valve for supplying or cutting off hydraulic pressure to a hydraulic cylinder that performs the extension, raising, or slewing motion of the boom (12). Also, the drive relay refers to an electrical switching device that controls the power of an electric motor or drive circuit to perform the driving motion of the boom (12).

[0296] The control unit (200) can restrict the movement of the boom (12) by outputting a blocking signal to a hydraulic control valve or drive relay corresponding to the drive command in the direction in which the expected movement trajectory intersects the structure when an operation input is detected that moves the boom (12) in that direction. Accordingly, the work platform (11) can be prevented from continuing to move toward the structure.

[0297] On the other hand, the control unit (200) may be configured to allow operation for a direction of separating the work table (11) from the structure.

[0298] Here, the direction of separating the work platform (11) from the structure means the direction of moving the work platform (11) away from the structure so that the expected movement trajectory does not intersect with the structure. For example, when the boom (12) is moved backward or moved in the opposite direction of the structure through turning while the work platform (11) is close to the structure, the control unit (200) may allow such operation.

[0299] With this configuration, the safety accident prevention device for the aerial work platform can predict the expected movement trajectory of the work platform (11) based on the operator's input and, if a risk of collision with a structure is anticipated, generate an alarm or restrict the operation of the boom (12). In addition, by allowing the input of operation in a direction away from the structure to be performed normally, the operator can move the work platform (11) safely while avoiding dangerous situations.

[0300] The control unit (200) may include a coordinate calculation unit (210) that calculates the spatial coordinates of the work table (11) using the detection value input from the position detection sensor (1000).

[0301] The coordinate calculation unit (210) is configured to numerically calculate the position of the work platform (11) that changes according to the boom (12) state of the aerial work vehicle (10), and is configured to calculate the current location of the work platform (11) in the form of spatial coordinates.

[0302] At this time, the coordinate calculation unit (210) may be configured to calculate the position of the work platform (11) in polar coordinate form based on the extension length and pivot angle of the boom (12), and then convert it into an orthogonal coordinate system to calculate the position in space.

[0303] The position detection sensor (1000) may be configured to detect the extension length and pivot angle of the boom (12) for the aerial work vehicle (10), and may also use inclination angle information of the boom (12) as needed. The coordinate calculation unit (210) may be configured to receive the detection value input from the position detection sensor (1000) and then calculate the position of the work platform (11) based on the reference position or reference coordinate system of the aerial work vehicle (10).

[0304] For example, the coordinate calculation unit (210) can calculate the direction in which the work platform (11) is located on a plane according to the pivot angle of the boom (12), and calculate the radial distance from the work platform (11) to a reference point according to the extension length of the boom (12). In addition, if the inclination angle information of the boom (12) is provided together, the three-dimensional spatial coordinates of the work platform (11) can be calculated including the height direction position of the work platform (11). Accordingly, the position of the work platform (11) can be expressed as spatial position information including the front-back direction, left-right direction, and height direction.

[0305] At this time, the coordinate calculation unit (210) may be configured not only to individually check the detection values ​​of the sensors but also to calculate the actual position of the work table (11) by combining multiple detection values.

[0306] For example, when the boom (12) is rotated at a certain angle and extended by a predetermined length, the coordinate calculation unit (210) can calculate how far the work platform (11) is separated from the reference point in which direction by using the rotation angle and the extension length together.

[0307] In addition, when the angle of inclination of the boom (12) is taken into account, the height position of the work platform (11) can be calculated together, thereby more accurately determining the actual spatial position of the work platform (11).

[0308] The spatial coordinates of the workbench (11) calculated in this manner can be used as reference information to indicate the current position of the workbench (11). For example, the spatial coordinates calculated by the coordinate calculation unit (210) can be used to calculate the expected movement trajectory of the workbench (11), to create a restricted area or virtual protective wall around the workbench (11), or to determine the positional relationship with a structure. In particular, if the spatial coordinates of the workbench (11) are calculated accurately, it is possible to more precisely determine how close the workbench (11) is to the structure, in which direction it is moving, or in which area it is moving out.

[0309] Additionally, the coordinate calculation unit (210) can be configured to update the spatial coordinates of the work platform (11) by reflecting in real time when the detection value input from the position detection sensor (1000) changes. Accordingly, even when the work platform (11) moves according to the extension, rotation, or upward movement of the boom (12), the coordinate calculation unit (210) can continuously calculate the changed position, and the control unit (200) can monitor the movement status of the work platform (11) in real time based on this.

[0310] With this configuration, the coordinate calculation unit (210) calculates the spatial coordinates of the work platform (11) using the detection value of the position detection sensor (1000), thereby enabling accurate determination of the current position of the work platform (11). This improves the accuracy of predicting the movement path of the work platform (11), setting restricted areas, and determining collision risks. Consequently, the position of the work platform (11) can be managed more precisely during the operation of the aerial work vehicle (10), and collisions with structures or entry into dangerous areas can be prevented more effectively.

[0311] The virtual protective wall generation unit (220) is configured to generate a restricted area set around the workbench (11) based on the spatial coordinates of the workbench (11) calculated by the coordinate calculation unit (210).

[0312] The virtual protective wall generation unit (220) can be configured to distinguish between a workspace where the workbench (11) can move safely and a danger area that must be restricted by forming a virtual boundary area set within a certain range based on the current location of the workbench (11).

[0313] The virtual protective wall generation unit (220) can set a virtual boundary surface within a certain distance range around the workbench (11) using spatial coordinate information of the workbench (11) transmitted from the coordinate calculation unit (210). This virtual boundary surface is intended to define, in software, an area that the workbench (11) must not access even if no actual physical structure exists, and can be used as a criterion to limit the movement range of the workbench (11) or to prevent entry into a dangerous area.

[0314] The restricted area generated by the virtual protective wall generation unit (220) can be set centering on the location of the workbench (11) and can be set in various forms depending on the work environment. For example, the restricted area can be defined as a circular or polygonal area set around the workbench (11), and if a risk factor exists in a specific direction, a narrower restricted area can be set for that direction.

[0315] Additionally, the virtual protective wall generation unit (220) may be configured to change the size or shape of the restricted area according to working environment conditions. For example, if the work platform (11) performs work at a high position or the extension length of the boom (12) is increased, the stability of the work platform (11) may be relatively reduced, so the restricted area may be set more conservatively.

[0316] In addition, when strong winds occur or a large load is applied to the work table (11), the movement stability of the work table (11) may decrease, so the restricted area can be expanded to limit the movement range of the work table (11).

[0317] The virtual protective wall generation unit (220) may be configured to update the restricted area in real time according to the movement state of the workbench (11). That is, when the position of the workbench (11) changes, the spatial coordinates calculated by the coordinate calculation unit (210) are updated, and the virtual protective wall generation unit (220) can change the position or shape of the restricted area set around the workbench (11) in accordance with this. Accordingly, a virtual protective boundary based on the current position of the workbench (11) can always be formed around the workbench (11).

[0318] These virtual protective walls can be used as a criterion to distinguish between a safe area where the work platform (11) can move and a dangerous area where entry is restricted. For example, if the work platform (11) approaches a structure or attempts to move to a specific dangerous area, the risk of collision or the possibility of entering a dangerous area can be determined in advance by determining whether the expected movement trajectory of the work platform (11) exceeds the virtual protective walls.

[0319] Additionally, the restricted area information set by the virtual protective wall generation unit (220) can be utilized in the decision-making process of the control unit (200), and, if necessary, can be transmitted to an external terminal via the communication unit (400) so that the operator or safety manager of the work equipment can visually check the restricted area around the work platform (11).

[0320] At this time, the control unit (200) may be configured to determine whether to enter a danger zone based on whether the expected movement trajectory of the work table (11) exceeds or crosses the boundary of the restricted area.

[0321] With this configuration, the virtual protective wall generating unit (220) can safely manage the movement range of the work table (11) by creating a virtual restricted area around the work table (11) based on the location of the work table (11), and can perform the role of preventing in advance situations where the work table (11) enters a dangerous area or collides with a structure.

[0322] The interlock control unit (230) is configured to monitor the movement state of the work platform (11) based on a restricted area set by the virtual protective wall generation unit (220), and to restrict the driving operation of the boom (12) when the work platform (11) attempts to move beyond the restricted area.

[0323] The interlock control unit (230) may be implemented as control logic within the control unit (200) or configured as a separate control module, and may be configured to determine the movement state of the workbench (11) based on the spatial coordinates of the workbench (11) calculated by the coordinate calculation unit (210) and the restricted area information set by the virtual protective wall generation unit (220).

[0324] The interlock control unit (230) may be configured to determine whether the current position or expected movement position of the workbench (11) exceeds a restricted area set by the virtual protective wall generation unit (220).

[0325] For example, when a worker extends or rotates the boom (12) through the operating lever (13), it can be determined whether the position of the work platform (11) moves outside the restricted area depending on the direction of movement of the work platform (11).

[0326] At this time, the interlock control unit (230) can determine whether the workbench (11) intends to exceed the restricted area by comparing the spatial coordinates of the workbench (11) calculated by the coordinate calculation unit (210) with the boundary information of the restricted area set by the virtual protective wall generation unit (220).

[0327] The interlock control unit (230) may be configured to restrict the driving operation of the boom (12) when it is determined that the movement of the work platform (11) exceeds a restricted area. To this end, the interlock control unit (230) may output a hydraulic control signal to a hydraulic drive system that performs the extension, raising, or slewing operation of the boom (12) so that the operation is not performed.

[0328] For example, if a worker attempts to extend the boom (12) in a specific direction through the operating lever (13), and it is determined that the work platform (11) exceeds the restricted area due to such operation, the interlock control unit (230) may output a control signal to block the operation of the hydraulic control valve or to restrict the hydraulic supply.

[0329] In addition, the interlock control unit (230) can perform control in the same way for at least one of the extension movement of the boom (12) as well as the raising movement or slewing movement of the boom (12).

[0330] For example, when the boom (12) is raised or rotated in a specific direction while the work platform (11) is close to a restricted area, the movement path of the work platform (11) may go outside the restricted area, so the interlock control unit (230) can output a hydraulic control signal to restrict the operation.

[0331] This interlock control performs the function of preventing the work platform (11) from moving out of a set safety area by automatically restricting the movement when the operator operates the boom (12) in a dangerous direction. Accordingly, even in a situation where the operator cannot intuitively perceive the range of movement of the work platform (11), movement into the dangerous area can be automatically blocked by the system.

[0332] Additionally, the interlock control unit (230) can ensure that the driving operation of the boom (12) is performed normally within the range where the work platform (11) does not exceed the restricted area. For example, when the work platform (11) is located within the restricted area and the work platform (11) moves within the safe area by means of an operation input, the extension, raising, or slewing operation of the boom (12) can be performed normally without blocking the hydraulic control signal.

[0333] With this configuration, the interlock control unit (230) controls the movement range of the work platform (11) based on the restricted area set by the virtual protective wall generation unit (220), thereby preventing in advance the possibility of the work platform (11) entering a dangerous area or colliding with a structure. Therefore, it is possible to effectively prevent collision accidents, the risk of tipping over, or safety accidents caused by exceeding the working radius that may occur during the operation of the aerial work vehicle (10).

[0334] Additionally, the interlock control unit (230) may be configured not only to completely block the movement of the work platform (11) when it is determined that the movement of the work platform (11) will exceed the restricted area, but also to perform control to gradually reduce the driving speed of the boom (12) according to the degree of approach to the restricted area.

[0335] For example, as the work platform (11) approaches the boundary of the restricted area, the interlock control unit (230) may be configured to adjust the control signal applied to the hydraulic control valve to gradually reduce the extension, lifting, or swinging speed of the boom (12), and to block the operation when it is determined that the restricted area is exceeded.

[0336] Additionally, the interlock control unit (230) can analyze the movement direction component included in the operation input and selectively control the operation so that the operation is restricted only for the direction component that exceeds the restricted area, and the operation is allowed for the direction component that is separated from the restricted area.

[0337] Accordingly, even if the operator uses the same operating lever (13), movement in the dangerous direction is restricted, while movement in the safe direction can be performed normally.

[0338] At this time, the aforementioned control unit (200) may be provided inside a control device installed on the body of the work platform (11) or the aerial work vehicle (10).

[0339] The coordinate calculation unit (210), virtual protection wall generation unit (220), and interlock control unit (230) can be implemented as functional blocks included in the control unit (200).

[0340] The operation input collection unit (1300) is configured to collect operation signals input from an operation lever (13) for moving the workbench (11).

[0341] The operation input collection unit (1300) may be configured to collect the operation signal in the form of an electrical signal and transmit it to the control unit (200) when a worker intends to perform an action such as extending, raising, or rotating the boom (12) by operating the operation lever (13) of the aerial work vehicle (10).

[0342] The movement of the work platform (11) of the aerial work vehicle (10) is generally achieved by a worker controlling the operation of the boom (12) by operating a control lever (13). The control lever (13) may be installed on the work platform (11) or the control panel of the equipment, and the worker may input the direction of operation of the boom (12) by tilting or rotating the lever in the forward, backward, left, or right direction.

[0343] The operation input collection unit (1300) may be configured to detect the operation state of the operation lever (13) and convert the operation state into an electrical control signal.

[0344] The operation input collection unit (1300) may include a sensor or signal detection circuit for detecting the displacement or tilt state of the operation lever (13).

[0345] For example, a signal corresponding to a change in the position of the operating lever (13) can be generated by using a potentiometer, a Hall sensor, or a position sensor to detect the amount of movement of the operating lever (13).

[0346] In addition, a sensor that detects multi-axis directional input may be applied to detect the direction or operating intensity of the operating lever (13).

[0347] Additionally, the operation input collection unit (1300) may be configured to detect the neutral state of the operation lever (13), the start time of operation, and the release time of operation and provide them to the control unit (200), and the control unit (200) may be configured to use the information to determine a change in the operator's operation intention or a change in the operation state.

[0348] The operation input collection unit (1300) can be configured to collect signals input from the operation lever (13) in real time and transmit them to the control unit (200).

[0349] The control unit (200) can determine the direction of movement or movement of the work platform (11) intended by the operator based on these operation signals. For example, if the operator tilts the operation lever (13) forward, it may be determined as an operation input to perform an extension movement of the boom (12) or a forward movement of the work platform (11), and if the operator operates the lever left and right, it may be determined as an operation input for a pivoting movement of the boom (12).

[0350] In addition, the operation input collection unit (1300) can collect signals according to the operation direction of the operation lever (13) as well as the degree of operation. For example, if the lever moves beyond a predetermined range, it can be interpreted as a control signal that increases the driving speed of the boom (12), and if the amount of movement of the lever is small, it can be interpreted as a driving command of a relatively slow speed.

[0351] Accordingly, the operator can control the movement speed or movement intensity of the work table (11) through the degree of operation of the operating lever (13).

[0352] In this way, the operation input collection unit (1300) collects various operation signals input by a worker through the operation lever (13) and transmits them to the control unit (200), thereby providing basic information for control operations regarding the movement of the work table (11). In particular, in an embodiment of the present invention, the operation signals collected by the operation input collection unit (1300) can be used to calculate the expected movement trajectory of the work table (11) or to determine whether there is a risk of approaching a structure, and through this, the risk of collision that may occur on the movement path of the work table (11) can be determined in advance and responded to.

[0353] Accordingly, the operation input collection unit (1300) collects a control signal that accurately reflects the operator's operation intention and transmits it to the control unit (200), thereby performing the role of enabling the movement control and safety control functions of the work table (11) to be accurately performed.

[0354] The movement direction calculation unit (1400) is configured to calculate the movement direction of the work table (11) based on the operation signal input from the operation input collection unit (1300).

[0355] The movement direction calculation unit (1400) can be configured to interpret the direction component and operation magnitude of the operation signal input by the operator through the operation lever (13) and determine which direction the work table (11) will move in.

[0356] Since the work platform (11) of the aerial work vehicle (10) moves by the extension, raising, or turning motion of the boom (12), the operation signal input from the operation lever (13) corresponds to the actual direction of movement of the work platform (11).

[0357] The movement direction calculation unit (1400) can analyze the operation signal collected from the operation input collection unit (1300) to distinguish whether the operation is in the extension direction, upward direction, or swivel direction of the boom (12). In addition, when multiple operation components are input simultaneously, the unit may be configured to calculate the composite movement direction of the work platform (11) by combining each operation component.

[0358] For example, if a worker operates the operating lever (13) in the forward direction, the movement direction calculation unit (1400) can determine this as an operation signal that causes the work table (11) to move forward.

[0359] In addition, if the operator operates the control lever (13) to the left or right, it can be determined that the work platform (11) moves to the left or right according to the rotation of the boom (12).

[0360] Furthermore, if the operating lever (13) is operated upward, it can be determined that the work table (11) moves in the direction of rising.

[0361] The movement direction calculation unit (1400) can calculate the movement direction of the work table (11) more specifically by considering not only the direction of the operation signal but also the magnitude or amount of operation of the operation signal.

[0362] For example, if the operating lever (13) is tilted more than a predetermined angle in a specific direction, it can be determined that there is a strong intention to move in that direction, and if the amount of operation is small, it can be determined that there is a direction of movement for fine position adjustment.

[0363] Additionally, the movement direction calculation unit (1400) may interpret the operation signal input from the operation input collection unit (1300) in conjunction with the current position state of the work platform (11). For example, even if the same swivel operation signal is used, the actual movement direction of the work platform (11) may differ depending on the current swivel angle or extension state of the boom (12). Therefore, the movement direction calculation unit (1400) may be configured to calculate the actual movement direction of the work platform (11) by referring to the current position information provided by the control unit (200) or the position-related configuration.

[0364] The movement direction of the work platform (11) calculated in this manner can be used as reference information to determine the relationship with the direction of the structure or the danger area that the work platform (11) will approach in the future. For example, the movement direction information calculated by the movement direction calculation unit (1400) is transmitted to the safety area determination unit (1500) and can be used to determine whether there is a risk of approaching the structure if the work platform (11) continues to move in its current operating state.

[0365] Accordingly, the movement direction calculation unit (1400) does not simply transmit the operation signal collected from the operation input collection unit (1300), but rather converts the operation signal into actual movement direction information of the work platform (11), thereby performing the role of enabling subsequent risk judgment and control operations to be performed accurately. With this configuration, the movement direction of the work platform (11) can be calculated more clearly, and the accuracy of pre-determining the risk of approaching a structure or the risk of entering a restricted area can be improved.

[0366] The safety area determination unit (1500) is configured to determine whether there is a risk of approaching a structure in the direction of movement of the work platform (11) by comparing the distance information to the structure input from the distance detection sensor (130) with the allowable approach distance for each direction calculated by the control unit (200).

[0367] The safety area determination unit (1500) may be configured to determine whether the work platform (11) can move safely by considering the location of the structure around the work platform (11) and the direction of movement of the work platform (11) together.

[0368] In addition, the safety area determination unit (1500) may be configured to calculate the difference between the actual distance to the structure and the allowable approach distance, and to determine the degree of risk of approaching the structure in stages according to the magnitude of the difference.

[0369] The distance detection sensor (130) can detect the distance between the workbench (11) and surrounding structures and transmit the distance information to the control unit (200), and the safety area determination unit (1500) can determine the position status of structures existing around the workbench (11) using this distance information. For example, the distance value detected in the front, side, or rear direction of the workbench (11) may represent the distance to a structure located in that direction.

[0370] Meanwhile, the control unit (200) can calculate the allowable approach distance for each direction around the work table (11) by comprehensively considering work environment information and equipment status information.

[0371] These directional allowable approach distances can be set as the minimum separation distance that must be safely maintained when the work platform (11) moves in each direction, and can be set to different values ​​depending on the position of the work platform (11), the extension length of the boom (12), the load condition of the work platform (11), or wind speed conditions, etc.

[0372] The control unit (200) can be configured to calculate the allowable approach distance for each direction by applying weights according to multiple factors in such a way that the allowable approach distance increases as the wind speed value increases, the allowable approach distance increases as the height of the workbench increases, and the allowable approach distance increases as the load increases.

[0373] Additionally, the control unit (200) may be configured to prioritize different sensor values ​​depending on the approach direction of the structure.

[0374] The safety area determination unit (1500) may be configured to determine whether there is a risk of approaching the structure in the direction of movement of the work platform (11) by comparing the actual structure distance detected by the distance detection sensor (130) with the allowable approach distance for each direction calculated by the control unit (200).

[0375] For example, if the actual distance value to the structure detected in the direction of movement of the work platform (11) becomes smaller than the allowable approach distance set for that direction, the safety area determination unit (1500) can determine that the work platform (11) is dangerously approaching the structure.

[0376] Additionally, the safety area determination unit (1500) can perform a determination by considering the movement direction information of the work platform (11) calculated by the movement direction calculation unit (1400). For example, even if a structure is located in a specific direction of the work platform (11), if the movement direction of the work platform (11) is opposite to that of the structure, it can be determined that there is no risk of approaching the structure. On the other hand, if the movement direction of the work platform (11) matches the direction in which the structure is located, it can be determined that there is a risk of approaching the structure in that direction.

[0377] In this way, the safety area determination unit (1500) is configured to compare actual distance information with the structure and allowable approach distance information, and simultaneously determine whether there is a risk of approaching the structure by considering the direction of movement of the work platform (11). Accordingly, the risk of collision can be determined more accurately than a method that determines the risk based solely on distance information.

[0378] Additionally, the safety area judgment unit (1500) can transmit the judgment result to the control unit (200) when a risk of approaching the structure is determined, and the control unit (200) can activate the alarm unit (300) or perform movement control of the work platform (11) based on this. For example, when the work platform (11) moves toward the structure and approaches within a distance less than the allowable approach distance, an alarm signal may be generated or control may be performed to limit the movement speed of the work platform (11).

[0379] With this configuration, the safety area determination unit (1500) can determine the risk of approaching a structure by considering the distance from the work platform (11) to surrounding structures and the direction of movement of the work platform (11), thereby detecting in advance the risk of collision with a structure that may occur during the operation of the high-altitude work vehicle (10) and supporting the safe movement of the work platform (11).

[0380] The operation input conversion unit (1600) is configured to convert and output the operation signal input from the operation input collection unit (1300) to suit the purpose of safety control, rather than transmitting it directly to the drive system, when it is determined by the safety area determination unit (1500) that there is a risk of approaching a structure in the direction of movement of the work platform (11).

[0381] The operation input conversion unit (1600) may be included in the control unit (200) and configured to convert the operation signal.

[0382] Additionally, the operation input conversion unit (1600) may be configured to variably set the conversion ratio or direction correction amount of the operation signal by comprehensively considering the distance from the structure, the allowable approach distance, and the movement direction component.

[0383] Here, the structure refers to a fixed installation located around the work platform (11) that may cause a collision or approach risk on the movement path of the work platform (11), and may be, for example, a building exterior wall, a steel frame structure, a bridge structure, an equipment structure, a utility pole, a steel tower, a wire support structure, or other fixed facilities located within the working environment or the working radius of the boom (12).

[0384] The operation input conversion unit (1600) may be configured to output an operation signal by adjusting the magnitude or direction component based on the operator's original operation intention, but to reduce the risk of collision with the structure.

[0385] Additionally, the operation input conversion unit (1600) may be configured to generate a conversion signal in such a way that when movement toward a dangerous direction is determined, the operation signal of the direction component is reduced or removed, and the operation signal of the safe direction component is maintained or amplified.

[0386] At this time, the conversion of the operation signal can be performed using at least one of a linear deceleration or a non-linear deceleration method.

[0387] Since the work platform (11) of the aerial work vehicle (10) moves by the extension, raising, or slewing motion of the boom (12), when a worker operates the operating lever (13), the corresponding operation signal is typically transmitted to a hydraulic control valve for driving the boom (12) or a driving relay of the electric drive system to cause the boom (12) to move.

[0388] Here, the operating lever (13) may include a worker operating lever installed on the work platform (11) of the aerial work vehicle (10) or a boom (12) control operating lever (13) installed on the control panel of the vehicle body, and refers to an operating device that generates an operating signal input by a worker to control the extension, raising, or slewing motion of the boom (12).

[0389] However, if there is a risk of approaching a structure in the direction of movement of the work platform (11), and the operator's operation signal is executed as is, the work platform (11) may come closer to or collide with the structure. Therefore, the operation input conversion unit (1600) is configured to convert the operation signal into a safe form of signal and output it in such a dangerous state.

[0390] The operation input conversion unit (1600) can first receive the operation signal input from the operation input collection unit (1300) and the risk judgment result of the safety area judgment unit (1500) together.

[0391] Subsequently, the operation input conversion unit (1600) can distinguish whether the current operation signal is an input that increases approach toward the structure or an input that separates the work table (11) from the structure.

[0392] For example, if a structure exists in front of the workbench (11) and the worker inputs a forward extension operation, the operation input conversion unit (1600) can determine this as an operation signal that increases the risk of approaching the structure.

[0393] The operation input conversion unit (1600) can convert the operation signal into a deceleration signal if it is determined to be an operation signal that increases the risk of approaching the structure.

[0394] Here, the deceleration signal is a driving command of a smaller size than the original driving command entered by the operator, and means a signal to reduce the extension speed, lifting speed, or swing speed of the boom (12).

[0395] For example, even if the operator inputs the operating lever (13) in the forward direction with the maximum amount of operation, if a risk of approaching the structure is determined, the operating input conversion unit (1600) can reduce the size of the signal to reduce the opening amount of the hydraulic control valve or lower the strength of the driving command applied to the driving relay.

[0396] Accordingly, the work table (11) can move at a lower speed even when moving in the same direction, thereby reducing the risk of collision.

[0397] In addition, the operation input conversion unit (1600) may convert the operation signal into a direction change signal.

[0398] Here, the direction change signal refers to a signal in which the operation component of the approach direction to the structure is reduced or removed and replaced or corrected with the operation component of the direction away from the structure so that the workbench (11) does not move in a direction closer to the structure.

[0399] For example, if a worker inputs a combined operation of forward and left directions but there is a structure in the forward direction, the operation input conversion unit (1600) can remove or reduce the forward direction component and convert it into a signal reflecting the left or rear direction component and output it. Accordingly, the work table (11) can move in a direction away from the structure instead of a path that directly approaches the structure.

[0400] The operation signal converted in the operation input conversion unit (1600) can be output to a hydraulic control valve of a hydraulic drive system or a drive relay of an electric drive system that performs extension, raising, or slewing operations of the boom (12).

[0401] Here, the hydraulic control valve is a valve that controls the flow rate or path of the hydraulic fluid supplied from the hydraulic pump to perform the extension, raising, or swinging motion of the boom (12), and the drive relay may be an electrical switching device that controls the driving power of the electric motor or electric drive circuit to perform the driving motion of the boom (12).

[0402] The operation input conversion unit (1600) can apply the converted signal to these components so that safety control corresponding to a dangerous state is reflected in the actual boom (12) drive.

[0403] For example, when a worker inputs an operation to further extend the boom (12) while the work platform (11) is close to the structure, the safety area determination unit (1500) can determine that there is a risk of approaching the structure in the direction of movement.

[0404] In this case, the operation input conversion unit (1600) can reduce the extension speed of the boom (12) by converting the operation signal into a deceleration signal and outputting it to a hydraulic control valve, or, if necessary, convert it into a direction change signal to control the boom (12) to move in the opposite direction of the structure. As another example, even when a worker intends to rotate the work platform (11) toward the structure through a slewing operation, the operation input conversion unit (1600) can reduce the slewing direction component or correct it to the opposite direction component to reduce the risk of collision.

[0405] With this configuration, the operation input conversion unit (1600) does not merely block the operator's operation signal, but can convert it into a safer form of driving command and output it in situations where there is a risk of approaching the structure. Therefore, the operator can control the work platform (11) more smoothly and safely without abruptly stopping the equipment, even in situations where there is a risk of collision with the structure, and can effectively reduce the possibility of collision with the structure. In addition, since the movement of the work platform (11) is not completely blocked but deceleration or direction correction can be performed by reflecting the risk level, work efficiency and safety can be improved simultaneously.

[0406] A person skilled in the art to which the present invention pertains will understand that the present invention may be implemented in other specific forms without altering its technical concept or essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts should be interpreted as being included within the scope of the present invention. Explanation of the symbols

[0408] 100: Complex detection module 110: Wind speed sensor 120: Wind direction sensor 130: Distance sensing sensor 140: Live wire detection sensor 141: Electric field detection electrode 142 : Reference electrode plate 143 : Amplification circuit 144 : Filter circuit 200 : Control unit 210: Coordinate calculation unit 220: Virtual barrier generation unit 230: Interlock control unit 300: Alarm unit 400 : Communications Unit 500 : Camera Unit 600: Mobile device 610: Mobile application 700: Length detection unit 800: Load detection unit 900: Attitude detection unit 1000: Position detection sensor 1100: Input signal acquisition unit 1200: Trajectory prediction unit 1300: Operation input collection unit 1400: Movement direction calculation unit 1500: Safe area determination unit 1600: Operation input conversion unit

Claims

Claim 1 A safety accident prevention device for an aerial work platform for detecting hazardous elements in the working environment that may occur on the platform and notifying a worker thereof, comprising: a composite detection module unit installed on the platform frame and detecting physical or electrical hazardous elements related to the working environment; a control unit that collects and analyzes signals detected by the composite detection module unit to determine whether there is a risk; an alarm unit that provides a warning signal to a worker according to the judgment result of the control unit; a communication unit that transmits information collected from the composite detection module unit or the judgment result of the control unit to an external terminal; a boom angle sensor that detects the inclination angle of the boom for the aerial work platform; a length detection unit that detects the extension length of the boom; and a load detection unit that detects the loading applied to the platform. and includes a posture detection unit for detecting the tilt of the workbench frame, and the control unit is configured to set different alarm criteria according to the approach direction of the structure based on the calculated allowable approach distance for each direction, and the composite detection module includes a wind speed sensor for detecting the airflow conditions of the work environment; a wind direction sensor; and a distance detection sensor for detecting the separation distance between the workbench and the surrounding structure. It includes a live wire detection sensor for detecting the presence of electrical equipment or wires within the working radius, and the control unit calculates the allowable approach distance for each direction around the work platform by combining wind speed and wind direction information input from the composite detection module and detection values ​​input from the boom angle sensor, length detection unit, load detection unit, and attitude detection unit, and the control unit is configured to generate an alarm signal to notify the worker of the risk of electric shock according to the signal detected through the live wire detection sensor, and the live wire detection sensor comprises: a plurality of electric field detection electrodes spaced apart from each other on the railing frame of the work platform; a reference electrode plate spaced apart from the plurality of electric field detection electrodes to form a reference potential; and an amplification circuit that amplifies weak electric signals output from each electric field detection electrode.and includes a filter circuit that extracts a component of the commercial AC power band from the output signal of the amplification circuit, and the control unit is configured to determine the approach direction of the wire based on the magnitude difference or phase difference of the signal detected by the plurality of electric field sensing electrodes, and the control unit calculates the rate of change of electric field strength that changes over time at each of the plurality of electric field sensing electrodes, and the control unit is configured to determine that the risk of approach in that direction has increased if the rate of increase of electric field strength detected at the electrode in a specific direction is greater than or equal to a reference rate of increase, and to output a directional alarm through the alarm unit or display the dangerous direction on the screen of an external terminal, and a position detection sensor that detects the extension length and slewing angle of the boom for the aerial work vehicle, respectively; and an input signal collection unit that collects an input signal of an operating lever for moving the work platform; The system further includes a trajectory prediction unit that calculates the expected movement trajectory of a work platform after a predetermined time based on distance information of surrounding structures detected by the distance sensing sensor and signals from the position detection sensor and the input signal collection unit, and the control unit is configured to activate the alarm unit when it is determined that the expected movement trajectory intersects with surrounding structures, and the control unit includes: a coordinate calculation unit that calculates the spatial coordinates of the work platform using a detection value input from the position detection sensor; a virtual protective wall generation unit that generates a restricted area set around the work platform based on the work platform coordinates calculated by the coordinate calculation unit; and an interlock control unit that outputs a hydraulic control signal to restrict at least one of the extension, raising, or slewing motions of a boom when the movement of the work platform exceeds the restricted area set by the virtual protective wall generation unit, and an operation input collection unit that collects an operation signal input from an operation lever for moving the work platform; and a movement direction calculation unit that calculates the movement direction of the work platform based on the operation signal input from the operation input collection unit.A safety area determination unit that determines whether there is a risk of approaching a structure in the direction of movement by comparing distance information to a structure input from the distance sensing sensor with the direction of movement and an allowable approach distance for each direction calculated by the control unit; and an operation input conversion unit that converts the operation signal into a deceleration signal or a direction change signal and outputs it to a hydraulic control valve or a drive relay when a risk of approaching a structure in the direction of movement is determined. Claim 2 A safety accident prevention device for an aerial work vehicle according to claim 1, wherein the control unit is configured to generate an alarm signal when a value detected from one or more of the wind speed sensor and the wind direction sensor exceeds a preset reference value, and to generate a step-by-step alarm signal according to the distance detected through the distance detection sensor. Claim 3 delete Claim 4 A safety accident prevention device for an aerial work platform according to claim 1, further comprising at least one camera unit installed on the frame of the work platform and for photographing the work environment, wherein the camera unit is configured to photograph multiple directions around the work platform to visually confirm the work environment.

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