阅读说明：本技术 高空作业平台下的安全控制方法、系统、设备及存储介质 (Safety control method, system, equipment and storage medium under aerial work platform ) 是由 刘国良 邹俊辉 杨庚 邝昊 于 2021-08-06 设计创作，主要内容包括：本发明公开了一种高空作业平台下的安全控制方法、系统、设备及存储介质,该控制方法获取到长度传感器的故障信号后,通过控制器获取臂架伸出的水平幅度值；当水平幅度值小于预设的最大水平幅度值,控制臂架下变幅；当水平幅度值大于或等于预设的最大水平幅度值,控制臂架缩回,并在臂架缩回到位之后,控制臂架下变幅。本发明能够放宽技能要求,保证高空作业的安全性,提升工作效率。(The invention discloses a safety control method, a system, equipment and a storage medium under an aerial work platform, wherein after a fault signal of a length sensor is acquired by the control method, a horizontal amplitude value of an arm support extending out is acquired by a controller; when the horizontal amplitude value is smaller than the preset maximum horizontal amplitude value, controlling the lower amplitude of the arm support; and when the horizontal amplitude value is larger than or equal to the preset maximum horizontal amplitude value, controlling the boom to retract, and controlling the boom to change the amplitude downwards after the boom retracts in place. The invention can relax the skill requirement, ensure the safety of high-altitude operation and improve the working efficiency.)

1. A safety control method under an aerial work platform is characterized by being applied to a control end and comprising the following steps:

acquiring a horizontal amplitude value of the cantilever crane stretching out after receiving a fault signal of a length sensor of the cantilever crane;

when the horizontal amplitude value is smaller than a preset maximum horizontal amplitude value, controlling the lower amplitude of the arm support;

and when the horizontal amplitude value is larger than or equal to the preset maximum horizontal amplitude value, controlling the boom to retract, and controlling the boom to change the amplitude downwards after the boom retracts to the right position.

2. The safety control method under high altitude construction platform according to claim 1, characterized by further comprising the steps of: and judging whether the arm support retracts in place through a retraction in-place detection switch or a hydraulic system.

3. The safety control method under the high-altitude operation platform as claimed in claim 2, wherein the step of judging whether the arm support retracts to the right position through a hydraulic system comprises the steps of: and when the pressure value in the boom retracting process is larger than an overflow pressure threshold preset by the hydraulic system, judging that the boom is retracted in place.

4. The safety control method under the aerial work platform as claimed in claim 3, wherein before the step of controlling the luffing of the boom, the method further comprises the steps of: and after the boom is judged to retract to the right position, waiting for 1 to 5 seconds.

5. The safety control method under the aerial work platform as claimed in claim 1, wherein the step of obtaining the horizontal amplitude value of the boom extension comprises the steps of: and acquiring the horizontal amplitude value of the cantilever crane stretching through a controller.

6. A safety control system under an aerial work platform, comprising:

the first signal acquisition unit is used for acquiring a horizontal amplitude value of the cantilever crane stretching out after receiving a fault signal of a length sensor of the cantilever crane;

the first control unit is used for controlling the boom to carry out amplitude variation under the condition that the horizontal amplitude value is smaller than a preset maximum horizontal amplitude value; and when the horizontal amplitude value is larger than or equal to the preset maximum horizontal amplitude value, controlling the boom to retract, and controlling the boom to change the amplitude downwards after the boom retracts to the right position.

7. A safety control apparatus under an aerial work platform, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor when executing the computer program implements a method of safety control under an aerial work platform according to any of claims 1 to 5.

8. A computer-readable storage medium having stored thereon computer-executable instructions for performing the method of safety control under an aerial work platform of any one of claims 1 to 5.

Technical Field

The invention relates to the technical field of aerial work machinery, in particular to a safety control method, a safety control system, safety control equipment and a safety control storage medium under an aerial work platform.

Background

As a device for transporting personnel, materials and tools to a designated position for operation, the aerial work platform is widely used due to the characteristics of flexibility, high efficiency and safety. The high-altitude operation vehicle has the characteristics of large horizontal extension, high operation height and the like, and the working columns are controlled within a tipping moment line when needed, otherwise, the tipping risk is caused. This requires that corresponding sensors be arranged on the aerial lift truck to collect boom angle, boom length, turntable levelness, boom load and other parameters, and to ensure that the boom is always in a safe position. However, when the sensor fails to collect signals normally, the safety position control of the working column cannot be realized, wherein the arm support length sensor is the most critical.

Under the prior art condition, when a fault of a length sensor occurs, the whole vehicle sends an audible and visual alarm prompt to limit the movement of the working column to the unsafe direction, at the moment, the boom luffing is realized, a mode of opening the boom retraction switch and the boom luffing switch simultaneously is adopted, the luffing is allowed while the boom is retracted, the position of the working column is judged by the aid of the self operating skills of an operator, and therefore when the luffing is stopped is determined. The operation mode is to realize safe retraction and descending control under the fault of the length sensor, and depends on the skill level of an operator and the familiarity of the operator with the machine, otherwise, the danger that the working column is positioned beyond a tipping moment line in the process of amplitude descending and overturning can occur.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a safety control method, a safety control system, safety control equipment and a storage medium under an aerial work platform, which can enable a working column to be within a safety range and further prevent the working column from tipping under the condition of not depending on the skill level of an operator and the familiarity degree of a machine.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

the invention provides a safety control method under an aerial work platform, which is applied to a control end and comprises the following steps:

acquiring a horizontal amplitude value of the cantilever crane stretching out after receiving a fault signal of a length sensor of the cantilever crane;

when the horizontal amplitude value is smaller than a preset maximum horizontal amplitude value, controlling the lower amplitude of the arm support;

and when the horizontal amplitude value is larger than or equal to the preset maximum horizontal amplitude value, controlling the boom to retract, and controlling the boom to change the amplitude downwards after the boom retracts to the right position.

According to some embodiments of the invention, further comprising the step of: and judging whether the arm support retracts in place through a retraction in-place detection switch or a hydraulic system.

According to some embodiments of the present invention, the determining whether the boom is retracted to the proper position through the hydraulic system includes: and when the pressure value in the boom retracting process is larger than an overflow pressure threshold preset by the hydraulic system, judging that the boom is retracted in place.

According to some embodiments of the present invention, before the controlling the boom luffing, the method further includes: and after the boom is judged to retract to the right position, waiting for 1 to 5 seconds.

According to some embodiments of the invention, the acquiring the horizontal amplitude value of the boom extension includes: and acquiring the horizontal amplitude value of the cantilever crane stretching through a controller.

In a second aspect of the present invention, there is provided a safety control system under an aerial work platform, comprising:

the first signal acquisition unit is used for acquiring a horizontal amplitude value of the cantilever crane stretching out after receiving a fault signal of a length sensor of the cantilever crane;

the first control unit is used for controlling the boom to carry out amplitude variation under the condition that the horizontal amplitude value is smaller than a preset maximum horizontal amplitude value; and when the horizontal amplitude value is larger than or equal to the preset maximum horizontal amplitude value, controlling the boom to retract, and controlling the boom to change the amplitude downwards after the boom retracts to the right position.

In a third aspect of the present invention, there is provided a safety control device under an aerial work platform, comprising: the safety control system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the safety control method under the high-altitude operation platform.

In a fourth aspect of the present invention, a computer-readable storage medium is provided, which stores computer-executable instructions for executing the safety control method under the aerial work platform as described above.

The embodiment of the invention comprises the following steps: according to the embodiment of the invention, the controller records the horizontal amplitude value of the cantilever crane extending out when the length sensor fails, and the horizontal amplitude value is compared with the preset maximum horizontal amplitude value to judge whether the cantilever crane needs to retract first and then carry out cantilever crane downward amplitude changing, so that the operation waiting time is reduced, and the efficiency is improved. And the skill level of an operator and the familiarity degree of the machine are not required to be relied on, the skill requirement is relaxed, the risk of overturning the whole vehicle is reduced, and the working column can be ensured to be put down in place within a safety range at any time.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart illustrating a safety control method according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a safety control system according to an embodiment of the present invention.

Detailed Description

The embodiment of the invention discloses a safety control method, a safety control system, safety control equipment and a storage medium under an aerial work platform, which can effectively solve the problems that the fault of a length sensor needs to depend on the skill level of an operator and the familiarity of the length sensor with a machine, and the overturning possibly occurs because a work column is positioned outside a tipping moment line in the amplitude descending process.

The technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making any creative effort, shall fall within the protection scope of the disclosure. It should be noted that the features of the embodiments and examples of the present disclosure may be combined with each other without conflict. In addition, the purpose of the drawings is to graphically supplement the description in the written portion of the specification so that a person can intuitively and visually understand each technical feature and the whole technical solution of the present disclosure, but it should not be construed as limiting the scope of the present disclosure.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, in an embodiment, the embodiment provides a safety control method under an aerial work platform, which is applied to a control end, and includes the following specific implementation steps:

step S100, acquiring a horizontal amplitude value of the cantilever crane after receiving a fault signal of a length sensor of the cantilever crane;

s200, when the horizontal amplitude value is smaller than a preset maximum horizontal amplitude value, controlling the lower amplitude of the arm support; and when the horizontal amplitude value is larger than or equal to the preset maximum horizontal amplitude value, controlling the boom to retract, and controlling the boom to change the amplitude downwards after the boom retracts in place.

Specifically, after the fault signal of the length sensor is acquired, the horizontal amplitude value of the boom extension is acquired, the horizontal amplitude value is compared with the preset maximum horizontal amplitude value, and when the horizontal amplitude value is smaller than the preset maximum horizontal amplitude value, the work bar is considered to be within the safe amplitude range, and the boom downward amplitude can be directly allowed (that is, the boom retraction and boom downward amplitude operation can be performed simultaneously). When the horizontal amplitude value is larger than or equal to the preset maximum horizontal amplitude value, the working column is considered to be in the unsafe amplitude range, the boom is controlled to retract, and after the boom is judged to retract in place, boom descending amplitude is allowed to be performed. When the recorded horizontal amplitude value is larger than or equal to the preset maximum horizontal amplitude value, in order to ensure safety, the boom is retracted to the right position and then amplitude is allowed to be lowered.

In some embodiments, further comprising the step of: and judging whether the arm support retracts in place through a retraction in-place detection switch or a hydraulic system.

The boom is judged whether to retract in place through a retraction-in-place detection switch or a hydraulic system, and the skill level of an operator and the familiarity degree of a machine are not required to be relied on.

In some embodiments, judging whether the boom retracts to the right position through a hydraulic system includes: and when the pressure value in the boom retracting process is larger than the preset overflow pressure threshold value of the hydraulic system, judging that the boom is retracted in place.

Specifically, because the pressure in the boom retracting process is different from the pressure when the boom is retracted in place, the set overflow pressure threshold value preset by the hydraulic system is set according to the pressure value when the boom is retracted in place, and when the pressure value in the boom retracting process is greater than the overflow pressure threshold value preset by the hydraulic system, it can be determined that the boom is retracted in place.

In some embodiments, before controlling the boom to luff downwards, the method further comprises the following steps: and after the boom is judged to retract to the right position, waiting for 1 to 5 seconds.

Specifically, after the detection switch or the hydraulic system judges that the boom retracts in place, the possibility of judging that the boom retracts in place is wrong is considered, and the boom is considered to be completely retracted in place after waiting for a period of time. The waiting time is usually set to 1 to 5 seconds, and is usually set to 3 seconds to prevent the determination error and avoid causing the next operation waiting time to be too long.

In some embodiments, the control end includes a controller, and the controller is used to obtain the horizontal amplitude value of the boom extension.

Compared with the prior art, the controller records the horizontal amplitude value of the cantilever crane stretching out when the length sensor fails, and compares the horizontal amplitude value with the preset maximum horizontal amplitude value to judge whether the cantilever crane needs to retract first and then carry out cantilever crane downward amplitude changing, so that the operation waiting time is reduced, and the efficiency is improved. And the skill requirement is relaxed according to the skill level of the operator and the familiarity degree of the machine, the risk of overturning the whole vehicle is reduced, and the working column can be ensured to be put down in place within a safety range at any time.

Referring to fig. 2, an embodiment of the present invention provides a safety control system under an aerial work platform, including:

the first signal acquisition unit 100 is configured to acquire a horizontal amplitude value of the boom extension after receiving a fault signal of a length sensor of the boom;

the first control unit 200 is configured to control the boom to lower the amplitude when the horizontal amplitude value is smaller than a preset maximum horizontal amplitude value; and when the horizontal amplitude value is larger than or equal to the preset maximum horizontal amplitude value, controlling the boom to retract, and controlling the boom to change the amplitude downwards after the boom retracts in place.

It should be noted that the steps S100 to S200 of the present embodiment and the above method embodiments are based on the same inventive concept, so that the content of the above embodiments is also applicable to the present embodiment, and will not be described again here.

In one embodiment of the present invention, there is provided a safety control apparatus under an aerial work platform, the apparatus including: a memory, a processor, and a computer program stored on the memory and executable on the processor.

The processor and memory may be connected by a bus or other means.

The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The non-transitory software programs and instructions required to implement the safety control method under an aerial work platform of the above-described embodiments are stored in the memory, and when executed by the processor, perform the safety control method under an aerial work platform of the above-described embodiments, for example, perform the method steps S100 to S200 in fig. 1 described above.

The above described embodiments of the device are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Furthermore, an embodiment of the present invention provides a computer-readable storage medium, which stores computer-executable instructions, which are executed by a processor or a controller, for example, by a processor in the above-mentioned apparatus embodiment, and can make the processor execute the safety control method under the aerial work platform in the above-mentioned embodiment, for example, execute the above-mentioned method steps S100 to S200 in fig. 1.

One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.