CN102120556A - Ultrasonic probe type anti-collision device for working platform - Google Patents
Ultrasonic probe type anti-collision device for working platform Download PDFInfo
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Abstract
The invention discloses an ultrasonic probe type anti-collision device for a working platform. The anti-collision device comprises ultrasonic probes, a probe signal processing module and a programmable logic controller (PLC), wherein the ultrasonic probes are mounted on the bottom surface, front surface, left side surface and right side surface of the working platform; the probe signal processing module is used for receiving mV-level voltage signals sent by the ultrasonic probes and converting the signals into controller area network (CAN) bus signals; and the PLC is used for receiving the CAN bus signals and controlling the normal operation, slow operation and stop operation of high-altitude operation equipment according to the signals. The system not only can prevent the working platform from colliding with an obstacle, but also can selectively stop the operation of the high-altitude operation equipment and constantly inform an operator of the distance between each surface of the working platform and the obstacle, thereby realizing intelligent safety control of the high-altitude operation equipment; the current detection range of the system is 0-2m, and completely meets the requirements of anti-collision safety detection on the working platform of any high-altitude operation equipment; and moreover, the system is convenient to mount, easy to debug, high in reliability and cheap in price.
Description
Technical field
The present invention relates to the safety guard on a kind of aloft work equipment, be used to prevent that the workplatform and the obstacle of aloft work equipment from bumping, avoid safety misadventure and equipment to damage.
Background technology
Owing to reasons such as aloft work equipment operation personnel vision blind area or misoperationes, workplatform easily bumps with obstacle, and the safety of operating personal is produced threat.The workplatform collision prevention device is the important component part of aloft work equipment intelligence control system, generally has following several mode:
(1) antenna type travel switch: as shown in Figure 1, 2, this collision prevention device is made up of the antenna type travel switch.Two antenna type travel switches 2 are fixed on the outer end corner of lower edge, workplatform 1 left and right sides, trigger switch when feeler and object are collided.Because workplatform 1 is a ccasual with the direction that obstacle is collided, and when bumping, full car everything is stopped.The safety protection range of this device is very little, only limits to around the angle, two ends of lower edge, the platform outside.In addition, the obstacle surface is lacked, damaged and scratch easily to the antenna type travel switch life-span.
(2) anti-collision frame: shown in Fig. 3,4,, increase anti-collision frame 3 in workplatform 1 bottom surface in order to increase the protection domain of collision prevention device.Anti-collision frame 3 is the rectangle plane frameworks that are welded with pipe, is connected with workplatform 1 with steel rope 4.When workplatform and obstacle bump, make 2 actions of antenna type travel switch by anti-collision frame 3, their position relation is as shown in Figure 5.Travel switch is arranged on the diagonal line of workplatform bottom surface, shown in Fig. 3,4 usually with two.Its protection domain is four edges of workplatform bottom surface, and workplatform left and right sides face, bottom surface and front are not had general protection.And the use of this device has increased the space and the weight of workplatform, has reduced the complete machine performance of aloft work equipment.In addition, the anti-collision frame is not easy to install, and it is attractive in appearance to influence car load.
(3) photoelectric switch: as shown in Figure 6, photoelectric switch is applied to the workplatform anticollision, a photoelectric switch respectively is installed in the outside, workplatform 1 lower edge and left and right sides face.By diffuser reflection, a part turned back to receptor when the light modulated that photoelectric switch 2 is sent by projector (light-emitting diode) dropped on the object, was received light intensity trigger switch when enough.Programmable Logic Controller (PLC) in the aloft work equipment is gathered photoelectric switching signal and is controlled the car load action.This photoelectric switch is simple in structure, and is easy for installation, do not have contact-impact, but photoelectric switch can only detect place, dead ahead obstacle, and the maximum dispersion angle of each photoelectric switch is 1 °, and detection range is very limited, as shown in Figure 7.In addition, this photoelectric switch cost is higher.
Summary of the invention
Goal of the invention: the object of the invention provides a kind of economical and practical, workplatform collision prevention device that detection range is big.
Technical scheme: a kind of ultrasonic probe formula workplatform collision prevention device is provided, comprises: the ultrasonic probe that is installed on bottom surface, front, left surface and the right flank of workplatform; Be used to receive the mV magnitude voltage signals that ultrasonic probe sends, and this signal transformed the probe signal processing module of CAN bus signals; Be used to receive the CAN bus signals and calculate distance between each surface of workplatform and the obstacle, and according to self inner setting value, output safety signal, minimum detectable signal and danger signal, by the normal running of this signal control aloft work equipment, the Programmable Logic Controller PLC of operation and shut-down operation at a slow speed.
Wherein, described probe signal processing module comprises signal amplification circuit, 10 A/D change-over circuit and the micro controller system of integrated CAN controller; The mV level signal of ultrasonic probe output, through signal amplification circuit, deliver to the input end of A/D conversion, start and stop by Single-chip Controlling A/D conversion, and the A/D transformation result read in memory device, according to being stored in the sensor zero point ISN among the Electrically Erasable Read Only Memory EEPROM, fully loaded interior code value, the process calculation process obtains the distance between actual each ultrasonic probe and the obstacle.
Wherein, the bottom surface of described workplatform, front, left surface and right flank respectively are provided with 4 ultrasonic probes.
Wherein, the program of described Programmable Logic Controller PLC defines 16 ultrasonic probes respectively, bottom surface: 1-4, front: 5-8, left surface: 9-12, right flank: 13-16, after system powered on, the probe signal processing module sent 4 road PDO detection signal of will popping one's head in and sends to the signal that CAN bus: first via PDO transmits the 1-4 probe, and the second the tunnel is 5-8, Third Road is 9-12, and the four the tunnel is 13-16; PLC receives this 4 road PDO signal, calculate distance between each surface of workplatform and the obstacle, and according to setting value in the controller, output safety signal, minimum detectable signal and danger signal, by the normal running of this signal control aloft work equipment, operation and shut-down operation at a slow speed.
Specific operation process: if any one ultrasonic probe detects obstacle among the 1-4 in the critical zone of setting, PLC will reduce principal arm automatically and fall and the principal arm electric current of electromagnetic valve that contracts, and fall the speed that contracts with principal arm thereby reduce principal arm; If the 1-4 ultrasonic probe detects obstacle in the hazardous location of setting, PLC then limits principal arm and falls the action of contracting with principal arm; Equally, 5-8 ultrasonic probe control principal arm is stretched, action falls in principal arm, 9-12 ultrasonic probe control platform left side pendulum and left side revolution action, right pendulum of 13-16 ultrasonic probe control platform and right-hand rotation action.
Wherein, PLC controls the state of buzzer phone and anticollision indicator lamp simultaneously according to the PDO signal that receives, if when a certain surface of workplatform and obstacle distance reach the critical value that controller sets, buzzer phone is intermittently reported to the police, and the flicker of anticollision indicator lamp is indicated; When reaching the dangerous values of setting, the buzzer phone warning of often ringing, the normal bright indication of indicator lamp.
Beneficial effect: the present invention efficiently solves the technical barrier of aloft work armament-related work platform anticollision, adopt the big ultrasonic probe of dispersion angle to detect, and the PLC of specialty controls, not only can detect and show distance between each surface of workplatform and the obstacle in real time, and can be selectively intelligentized the action of restriction aloft work equipment, the state and the safe operation space that allow operating personal grasp workplatform fast make operation have more hommization.In addition, the cost of ultrasonic probe is low, is 1/10 of photoelectric switch approximately.
Description of drawings
Fig. 1 is the workplatform collision prevention device constructional drawing that prior art antenna type travel switch is formed.
Fig. 2 be among Fig. 1 A to view.
Fig. 3 is the workplatform collision prevention device front view that prior art anti-collision frame and travel switch are formed.
Fig. 4 is the workplatform collision prevention device upward view that prior art anti-collision frame and travel switch are formed.
Fig. 5 is the anti-collision frame and the antenna type travel switch location diagram of the workplatform collision prevention device of prior art anti-collision frame and travel switch composition.
The workplatform collision prevention device photoelectric switch arrangement plan that Fig. 6 forms for the prior art photoelectric switch.
The workplatform collision prevention device detection range scheme drawing (birds-eye view) that Fig. 7 forms for the prior art photoelectric switch.
Fig. 8 is the ultrasonic probe arrangement plan of ultrasonic probe formula workplatform collision prevention device of the present invention.
Fig. 9 is the detection range scheme drawing (birds-eye view) of ultrasonic probe formula workplatform collision prevention device of the present invention.
Figure 10 is the control system circuit structure diagram of ultrasonic probe formula workplatform collision prevention device of the present invention.
Figure 11 is the electric-control system schematic diagram of ultrasonic probe formula workplatform collision prevention device of the present invention.
Figure 12 is the control system diagram of circuit of ultrasonic probe formula workplatform collision prevention device of the present invention.
Accompanying drawing sign: 1. workplatform; 2. travel switch; 3. anti-collision frame; 4. steel rope; 5. photoelectric switch; 6. the effective surveyed area of photoelectric switch; 7. ultrasonic probe; 8. regulator cubicle and guidance panel; 9. electromagnetic valve; 10. the effective surveyed area of ultrasonic probe.
The specific embodiment
The present invention is described in detail below in conjunction with drawings and Examples.
The ultrasonic probe formula workplatform collision prevention device of present embodiment comprises following components:
(a) ultrasonic probe: adopt the ultrasonic probe of reversing radar of vehicle system to carry out acquisition of signal, ultrasonic probe utilizes piezoeffect realization sound, electricity conversion.This ultrasonic probe dispersion angle is big, and the angle of divergence is 50 °.The installation of probe on workplatform installed four ultrasonic probes respectively at front, bottom surface and the left and right sides face of workplatform 1 as shown in Figure 8.Probe is maximum to be detected apart from being 2m, adopts graphic mounting means, and effectively surveyed area is Fig. 9 dash area, can detect in this surveyed area near any obstacle of flat-bed.
(b) signal conditioning: the equipment of aloft work at present generally is an electrohydraulic control system, by Programmable Logic Controller (PLC) thus realize car load action control according to the aperture of incoming signal control electromagnetic valve.But directly the reverse radar system of buying is the system of an encapsulation from the market, can not carry out communication with the control system of aloft work equipment, can not control the car load action, so Reverse Sensor can't directly apply to the anticollision of aloft work equipment.
This ultrasonic probe formula workplatform collision prevention device as shown in figure 10, this device comprises 16 of ultrasonic probes, probe signal processing module, PLC, electromagnetic valve and telltale and warning device (comprising buzzer phone and anticollision indicator lamp).
The probe signal processing module is a pith of this device, because ultrasonic probe output is the mV magnitude voltage signals, and the analog quantity input of PLC can only receive the standard signal of 0-5V and 4-20mA, and the two can not communication.This device is converted to the CAN bus signals with probe signal, and PLC just can detect the signal of ultrasonic probe in real time by the CAN bus.This device comprises signal amplification circuit, 10 the A/D change-over circuit and the micro controller system of integrated CAN controller.The mV level signal of ultrasonic probe output, through signal amplification circuit, deliver to the input end of A/D conversion, start and stop by Single-chip Controlling A/D conversion, and the A/D transformation result read in memory device, according to being stored in the EEPROM(Electrically Erasable Read Only Memory) in the sensor zero point ISN, fully loaded in code value, obtain distance between actual each ultrasonic probe and the obstacle through calculation process.This range signal finally carries out communication by CAN bus and PLC.
(c) action control and warning: in program, respectively 16 ultrasonic probes are defined the bottom surface: 1-4, front: 5-8, left surface: 9-12, right flank: 13-16.After system powered on, the probe signal processing module sent 4 road PDO detection signal of will popping one's head in and sends to the CAN bus.First via PDO transmits the signal of 1-4 probe, and the second the tunnel is 5-8, and Third Road is 9-12, and the four the tunnel is 13-16.PLC receives this 4 road PDO signal, calculate distance between each surface of workplatform and the obstacle, and according to setting value in the controller, output safety signal, minimum detectable signal and danger signal, by the normal running of this signal control aloft work equipment, operation and shut-down operation at a slow speed.If any one ultrasonic probe detects obstacle among the 1-4 in the critical zone of setting, PLC will reduce principal arm automatically and fall and the principal arm electric current of electromagnetic valve that contracts, and fall the speed that contracts with principal arm thereby reduce principal arm.If the 1-4 sensor detects obstacle in the hazardous location of setting, PLC then limits principal arm and falls the action of contracting with principal arm.Equally, 5-8 ultrasonic probe control principal arm is stretched, action falls in principal arm, 9-12 ultrasonic probe control platform left side pendulum and left side revolution action, right pendulum of 13-16 ultrasonic probe control platform and right-hand rotation action.Control flow chart as shown in figure 12.In addition, PLC controls the state of buzzer phone and anticollision indicator lamp simultaneously according to the PDO signal that receives, if when a certain surface of platform and obstacle distance reach the critical value that controller sets, buzzer phone is intermittently reported to the police, and the flicker of anticollision indicator lamp is indicated; When reaching the dangerous values of setting, the buzzer phone warning of often ringing, the normal bright indication of indicator lamp.
Concrete, as shown in figure 10, example of the present invention comprises 16 ultrasonic probes, signal processing module, Programmable Logic Controller PLC, electromagnetic valve, telltale and warning device.Signal processing module comprises the micro controller system of signal amplification circuit, A/D change-over circuit and integrated CAN controller, and warning device comprises indicator lamp and buzzer phone.
As shown in Figure 8, at bottom surface, front and the left and right sides face of aerial platform workplatform 14 ultrasonic probes are installed respectively.The concrete installation site of ultrasonic probe is principle according to platform size and probe dispersion angle to the maximum with effective surveyed area, in this example, the aerial platform workplatform is of a size of 1.1*0.8*1.1m, the dispersion angle of ultrasonic probe is 50 °, effective surveyed area of ultrasonic probe is seen Fig. 9, not having the blind area, in this scope, can detect near any obstacle of flat-bed apart from each plane 0.3m～2m place.Probe signal processing module and PLC are installed in the regulator cubicle 3, and telltale and warning device are installed on the guidance panel.
As shown in figure 10,16 ultrasonic probe signals enter the probe signal processing module, amplify by signal, and A/D conversion and the conversion of CAN bus are carried out communication with PLC.PLC adopts Finland EPEC2024, and the electric-control system principle as shown in figure 11.Probe signal processing module, telltale are all used CAN bus and controller communication, principal arm luffing, principal arm are flexible, the electromagnetic valve of turntable revolution, walking and platform swing inserts PWM delivery port or the DO delivery port of EPEC2024 respectively, EPEC2024 calculates distance between each surface of workplatform and the obstacle by the range signal of CAN bus reception probe signal processing module.It is 0.5m that critical range is set in EPEC2024, and danger range is 0.3m.When the place ahead of workplatform sense of motion 0.3m～0.5m, the aperture of PLC automatic guidance respective electrical magnet valve, it is original 50% that the maximum movement speed of this direction is slowed to automatically, and the buzzer phone on the guidance panel is intermittently reported to the police anticollision indicator lamp flicker indication; When the place ahead of workplatform sense of motion obstacle occurs smaller or equal to the 0.3m place, the outage of PLC automatic guidance respective electrical magnet valve, system is stopped automatically to this direction motion, and buzzer phone long time of alarm, anticollision indicator lamp Chang Liang detects each surface of platform up to control system and can remove alerting signal away from the distance of obstacle greater than 0.5m.In whole control process, PLC is delivered to telltale to range information in real time, and telltale shows distance between each surface of workplatform and the obstacle in real time.
Brief summary, this workplatform collision prevention device has following characteristics:
1) this system can prevent that not only workplatform and obstacle from bumping, and can selectively stop the flat-bed action, in addition, can also inform the distance between each surface of operating personal platform and the obstacle, realize the intelligent safety control of aloft work equipment.
2) the present detection range of this system is 0～2m, satisfies the safety detection requirement of any aloft work armament-related work platform anticollision fully.
3) this system is easy for installation, and debugging is simple, reliability height, low price.
Table 1 be antenna type travel switch, anti-collision frame, photoelectric switch and four kinds of collision prevention device of ultrasonic probe performance ratio.
Table 1.
Above content be in conjunction with optimal technical scheme to further describing that the present invention did, can not assert that the concrete enforcement of invention only limits to these explanations.Concerning the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make simple deduction and replacement, all should be considered as protection scope of the present invention.
Claims (5)
1. a ultrasonic probe formula workplatform collision prevention device is characterized in that described collision prevention device comprises: the ultrasonic probe (7) that is installed on workplatform (1) bottom surface, front, left surface and right flank; Be used to receive the mV magnitude voltage signals that ultrasonic probe (7) sends, and this signal be converted into the probe signal processing module of CAN bus signals; Be used to receive the CAN bus signals and calculate distance between each surface of workplatform and the obstacle, and according to self inner setting value, output safety signal, minimum detectable signal and danger signal, by the normal running of this signal control aloft work equipment, the Programmable Logic Controller PLC of operation and shut-down operation at a slow speed.
2. ultrasonic probe formula workplatform collision prevention device according to claim 1 is characterized in that described probe signal processing module comprises signal amplification circuit, 10 A/D change-over circuit and the micro controller system of integrated CAN controller; The mV magnitude voltage signals of ultrasonic probe output, through signal amplification circuit, deliver to the input end of A/D conversion, start and stop by Single-chip Controlling A/D conversion, and the A/D transformation result read in memory device, according to being stored in the sensor zero point ISN among the Electrically Erasable Read Only Memory EEPROM, fully loaded interior code value, the process calculation process obtains the distance between actual each ultrasonic probe (7) and the obstacle.
3. ultrasonic probe formula workplatform collision prevention device according to claim 1 is characterized in that bottom surface, front, left surface and the right flank of described workplatform (1) respectively is provided with 4 ultrasonic probes (7).
4. ultrasonic probe formula workplatform collision prevention device according to claim 3, it is characterized in that, the program of described Programmable Logic Controller PLC defines 16 ultrasonic probes respectively, bottom surface: 1-4, front: 5-8, left surface: 9-12, right flank: 13-16, after system powers on, the probe signal processing module sends 4 and passes by number of passes and send to CAN bus: first via PDO and transmit the signal that 1-4 pops one's head in according to the object PDO detection signal of will pop one's head in, the second the tunnel is 5-8, and Third Road is 9-12, and the four the tunnel is 13-16; PLC receives this and 4 passes by number of passes according to object PDO signal, calculate distance between each surface of workplatform and the obstacle, and according to setting value in the controller, output safety signal, minimum detectable signal and danger signal, by the normal running of this signal control aloft work equipment, operation and shut-down operation at a slow speed;
Specific operation process: if any one ultrasonic probe detects obstacle among the 1-4 in the critical zone of setting, PLC will reduce principal arm automatically and fall and the principal arm electric current of electromagnetic valve that contracts, and fall the speed that contracts with principal arm thereby reduce principal arm; If the 1-4 ultrasonic probe detects obstacle in the hazardous location of setting, PLC then limits principal arm and falls the action of contracting with principal arm; Equally, 5-8 ultrasonic probe control principal arm is stretched, action falls in principal arm, 9-12 ultrasonic probe control platform left side pendulum and left side revolution action, right pendulum of 13-16 ultrasonic probe control platform and right-hand rotation action.
5. ultrasonic probe formula workplatform collision prevention device according to claim 4, it is characterized in that, PLC controls the state of buzzer phone and anticollision indicator lamp simultaneously according to the process data object PDO signal that receives, when if a certain surface of workplatform and obstacle distance reach the critical value of controller setting, buzzer phone is intermittently reported to the police, anticollision indicator lamp flicker indication; When reaching the dangerous values of setting, the buzzer phone warning of often ringing, the normal bright indication of indicator lamp.
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| GB2495158A (en) * | 2011-12-15 | 2013-04-03 | Paul Richards | An aerial lift with proximity sensors having a sensing zone opposite a platform control panel |
| CN103303240A (en) * | 2013-06-25 | 2013-09-18 | 徐州重型机械有限公司 | Anti-collision device, elevating platform fire truck and anti-collision method thereof |
| CN104290096A (en) * | 2014-09-16 | 2015-01-21 | 湖南大学 | CANopen based mechanical arm joint motor control method and system |
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| GB2495158B (en) * | 2011-12-15 | 2014-09-10 | Safety Zone Ltd | Proximity alarm for an aerial lift |
| CN103303240A (en) * | 2013-06-25 | 2013-09-18 | 徐州重型机械有限公司 | Anti-collision device, elevating platform fire truck and anti-collision method thereof |
| CN103303240B (en) * | 2013-06-25 | 2016-06-29 | 徐州重型机械有限公司 | The device of anticollision, Elevating platform fire truck and collision-proof method thereof |
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Application publication date: 20110713 |