CN1154610C - 用于底盘支腿的障碍物避免和压碎保护系统 - Google Patents

用于底盘支腿的障碍物避免和压碎保护系统 Download PDF

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CN1154610C
CN1154610C CNB981261604A CN98126160A CN1154610C CN 1154610 C CN1154610 C CN 1154610C CN B981261604 A CNB981261604 A CN B981261604A CN 98126160 A CN98126160 A CN 98126160A CN 1154610 C CN1154610 C CN 1154610C
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丹尼斯·W·艾克斯坦
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比尔·W·班克斯
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/50—Applications of limit circuits or of limit-switch arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes

Abstract

一个底盘支腿的保护系统，包括一个非接触性的距离检测装置(315，340)，这个非接触性的距离检测装置(315，340)至少和支腿(310，330)以及底盘(300，320)的一个相联系，并安装在支腿(310，330)和底盘(300，320)之一上。非接触性的距离检测装置(315，340)沿着一个预定的角度测量它到地面的距离，并根据检测到的距离产生一个警告信号。一个控制器(350)响应警告信号去停止支腿(310，330)的动作。

Description

用于底盘支腿的障碍物 避免和压碎保护系统
本发明涉及的是用于起重机和空中工作平台的装置；更具体地，涉及用于支腿的障碍物避免和压碎保护系统。
许多种传统的起重机和空中工作平台在起升前，使用支腿去稳定起重机和空中工作平台的底盘和把起重机和空中工作平台的底盘放在水平位置上。一个支腿控制机械装置使支腿伸向地面，并执行稳定底盘和把底盘放在水平位置的工作。在这个操作中，位于展开支腿的路上的障碍物会被压碎，或使起重机和空中工作平台位于一个危险的不稳定的位置。因此，需要一个用于支腿的障碍物避免和压碎保护系统。
根据本发明的底盘支腿的保护系统至少包括一个安装于一个支腿和底盘之一上的非接触性距离检测装置。这个非接触性距离检测装置至少和一个支腿有关，并沿着一个预定的角度测量它到地面的距离。如果由非接触性距离检测装置检测到的距离小于一个由多个预定值决定的基本距离测量值，这个非接触性距离检测装置就产生一个警告信号。基本的距离测量值是这样的一个距离测量值，即在支腿和地面之间无障碍物存在时，非接触性距离检测装置想要设定的距离值。换句话说，当检测到的距离小于预定临界值时，警告信号产生，这个预定临界值等于基本距离测量值减去预定距离。
和警告信号相响应，一个控制器引起支腿的控制机械装置停止展开支腿。本发明以这种方式帮助工作人员阻止支腿不利地和障碍物接触。
从以下构成详细说明部分的最优实施例和附图的详细描述，本发明的其他目的、特征、性质；以及这种结构相关组成部分的方法、操作、功能；零部件的结合；制造的经济情况都将变得显而易见，其中，在不同的附图中，同样的参考序号表示同样的部分。
从下面所给的详细论述和仅仅是举例说明的的附图中，将能更加充分理解本发明，不过本发明不限制在这样的描述中，其中：
图1A-1C表示的是根据本发明的一个用于起重机或空中工作平台支腿的障碍物避免和压碎保护系统的一个实施例。
图1A-1C表示了根据本发明的一个起重机或空中工作平台的障碍物避免和压碎保护系统的一个实施例。图1A表示了一个空中工作平台或起重机的底盘300有竖直支腿310。分子化红外线(MIR)系统315安装在每个支腿310的液压缸305上。众所周知，分子化红外线系统发射短程超宽带脉冲波，并检测从一个物体上反射回来的这些波。基于反射回来的波，也就是说，基于波的传送和接收之间的时间延迟，再结合其他因素，这个分子化红外线系统决定支腿到这个物体的距离。每个分子化红外线系统315的天线从相应的液压缸305以预定的角度发射波。预定角度的设置是使波不从相应的支腿310的支腿脚307反射回来，但，如果没有障碍物，波就从地面反射回来。
图1B表示了一个空中工作平台或起重机的底盘320有倾斜的支腿30。分子化红外线系统340安装在每一个支腿330旁边的底盘320上。如图1B所示，每一个分子化红外线系统340的天线从底盘320以预定的角度发射波。这个预定的角度和相应的支腿340与底盘320之间形成的角度相同，但要有足够的不同，以便波不会从相应的支腿330的支腿脚337上反射回来，而在没有障碍物的情况下，波从地面反射回来。
因为每一个分子化红外线系统315或340和地面(即，轮子的底端)之间的距离已知，而波的发射角是预定的(即，已知)，在当时无障碍物时，由每一个分子化红外线系统315或340测出的距离也已知(忽略地形的差别)。在下文，这个已知的距离测量值叫做基本测量值。或者，这个已知的距离测量值由经验决定。
分子化红外线系统315或340标定为，当距离检测值小于由第一预定距离决定的基本测量值或小于第一预定临界值时，它就输出一个警告信号，这个第一预定临界值等于基本测量值减去第一预定距离。警告信号指示了障碍物的存在。
图1A和1B解释的是仅有两个支腿的情况，而我们知道，一个起重机或空中工作平台可能有任意N个支腿，每一个支腿上有一个相应的分子化红外线系统。
图1C表示的是用于支腿的障碍物避免和压碎保护系统的工作截面图。如图1C所示，一个控制系统350接收到从N个分子化红外线系统输出的警告信号和工作人员输入的支腿310或340应该有的操作。控制系统350包括一个与一个只读存储器354以及一个随机存取存储器356相连接的处理器352。基于警告信号和使用者的输入，控制系统350产生控制信号，并把这个控制信号输出到一个支腿控制机械装置360。支腿控制机械装置360是任何一种已知的控制支腿310或330的机械装置。基于控制信号，支腿控制系统360控制着支腿310或330的动作。
当控制系统350从分子化红外线系统315或340中的一个接收到警告信号时，控制系统350点亮信号灯370，并指示支腿控制系统去停止支腿310或330的动作。
代替使用分子化红外线系统去检测障碍物，任何不依赖于接触去检测到一个物体或表面的距离的仪器都可以使用，如声波、超声波、红外线、激光距离检测仪。
以上讨论的本发明的实施例点亮了一个信号灯，除信号灯以外或代替信号灯，还可以使用声音示警。
本发明如上所述地进行了讨论，显然，同一个部分可能有许多种变形。我们认为这样的变化不脱离本发明的原理和范围，同时也认为所有本领域技术人员容易作出的改进都包括在本发明的范围之内。

Claims (12)

1.一种用于底盘支腿的保护系统，包括；
一个至少和底盘(300，320)的一个支腿(310，330)相联系的非接触性的距离检测装置(315，340)，这个非接触性的距离检测装置(315，340)安装在支腿(310，330)以及底盘(300，320)之一上，并沿着一个预定的角度检测它到地面的距离，根据检测到的距离产生一个警告信号；
一个控制器(350)响应警告信号，停止支腿的运动。
2.根据权利要求1所述的系统，其特征在于，非接触性的距离检测装置(315，340)是一个微脉冲波雷达。
3.根据权利要求1所述的系统，其特征在于，非接触性的距离检测装置(315，340)是一个声波距离检测装置。
4.根据权利要求1所述的系统，其特征在于，非接触性的距离检测装置(315，340)是一个超声波距离检测装置。
5.根据权利要求1所述的系统，其特征在于，非接触性的距离检测装置(315，340)是一个红外线距离检测装置。
6.根据权利要求1所述的系统，其特在于，非接触性的距离检测装置(315，340)是一个激光距离检测装置。
7.根据权利要求1所述的系统，其特征在于，非接触性的距离检测装置(315，340)把检测到的距离值和预定的临界值作比较，当检测到的距离值小于预定临界值时，它就产生警告信号。
8.根据权利要求1所述的系统，其特征在于，非接触性的距离检测装置(315，340)确定了检测到的距离值减去一个基本距离的差值，基本距离代表了当底盘位于大致光滑的表面上时，检测距离的期望值，当差值小于预定临界值时，非接触性的距离检测装置产生一个警告信号。
9.根据权利要求1所述的系统，进一步还包括：
一个指示器(370)；其中
控制器(350)响应警告信号去驱动指示器(370)。
10.根据权利要求1所述的系统，其特征在于，非接触性的距离检测装置(315，340)安装在支腿(310，330)上。
11.根据权利要求1所述的系统，其特征在于，非接触性的距离检测装置(315，340)安装在支腿(310，330)旁边的底盘(315，340)上。
12.根据权利要求1所述的系统，进一步还包括：
多个非接触性的距离检测装置(315，340)，每一个非接触性的距离检测装置(315，340)和底盘(300，320)上的一个相应的支腿(310，330)相联系；其中
控制器(350)至少响应一个警告信号，去停止支腿(310，330)的动作。
CNB981261604A 1997-12-05 1998-12-04 用于底盘支腿的障碍物避免和压碎保护系统 Expired - Fee Related CN1154610C (zh)

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US067815 1997-12-05
US067,815 1997-12-05
US6905597P 1997-12-10 1997-12-10
US069055 1997-12-10
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CN1144026C (zh) 2004-03-31
KR19990062835A (ko) 1999-07-26
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DE69818781T2 (de) 2004-05-19
US6380849B1 (en) 2002-04-30
US6343703B1 (en) 2002-02-05
DE69835194D1 (de) 2006-08-24
EP0921089B1 (en) 2003-10-08
KR100563294B1 (ko) 2006-06-01
EP0921093B1 (en) 2004-10-06
CA2255105A1 (en) 1999-06-05
CN1239070A (zh) 1999-12-22
CA2255234C (en) 2006-03-28
DE69823965D1 (de) 2004-06-24
EP0921096A3 (en) 1999-06-16
KR19990062834A (ko) 1999-07-26
CA2255105C (en) 2006-01-31
DE69818781D1 (de) 2003-11-13
EP0921093A2 (en) 1999-06-09
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US6473715B1 (en) 2002-10-29
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CN1236694A (zh) 1999-12-01
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KR100576793B1 (ko) 2006-08-18
CN1234364A (zh) 1999-11-10
KR19990062832A (ko) 1999-07-26
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