CN-122024386-A - Dynamic anti-collision method for aerial work platform based on multi-sensor array fusion

Abstract

The application provides a dynamic anti-collision method for an aerial working platform based on multi-sensor array fusion, and relates to the technical field of safety control of aerial working platforms. According to the method, the first sensor group which is in fan-shaped distribution on the horizontal plane and the second sensor which is in upward detection are controlled to continuously collect space distance data, signal filtering and interference recognition fusion processing based on space relevance are carried out on the collected data, whether an object enters a preset protection area is judged according to a processing result, and grading response actions are carried out, namely acousto-optic early warning is triggered when the object enters a first-stage warning area, and emergency shutdown is triggered when the object enters a second-stage dangerous area. According to the scheme, continuous three-dimensional coverage of the space above the working area is realized, real obstacles and environment interference are effectively distinguished, the protection reliability is improved through a progressive control mechanism of early warning and emergency stop, and the problem of insufficient coverage continuity of space monitoring is solved.

Inventors

• LU GUANQIAO
• FENG RUIHUA
• PENG XIAOBING

Assignees

• 卢冠桥
• 冯瑞华
• 彭晓兵

Dates

Publication Date

20260512

Application Date

20260313

Claims (8)

1. 1. A dynamic anti-collision method for an aerial work platform based on multi-sensor array fusion is characterized by comprising the following steps: The data acquisition step comprises the steps of controlling a plurality of ranging sensors arranged in an array to continuously acquire the space distance data above a working area of an aerial work platform, wherein the array comprises a first sensor group and a second sensor, wherein the first sensor group is distributed in a fan shape on a horizontal plane, and the second sensor is arranged in an upward detection direction; The data processing step is that fusion processing is carried out on the acquired space distance data, wherein the fusion processing comprises signal filtering and interference recognition based on the space relevance of the multi-sensor data; a threat judging step of judging whether an object enters a preset protection area according to the data after fusion processing; And the response execution step is to execute corresponding grading response actions according to the threat judgment step, wherein the grading response actions at least comprise triggering acousto-optic early warning when judging that an object enters a first-stage warning area and triggering emergency stop of an aerial working platform when judging that the object enters a second-stage dangerous area.
2. 2. The method of claim 1, wherein the signal filtering in the data processing step comprises moving average filtering or median filtering the range data sequence of the individual sensors.
3. 3. The method of claim 1, wherein the identifying of the interference based on the spatial correlation of the multi-sensor data in the data processing step includes determining whether at least two spatially adjacent sensors simultaneously detect a valid obstacle signal during a plurality of consecutive sampling periods, and if not, determining the current signal as an interference signal and filtering.
4. 4. The method of claim 1, wherein after triggering the emergency shutdown in the responding step, the method further comprises entering a safety locking step of maintaining the emergency shutdown state and the corresponding audible and visual alarm until receiving an externally input manual reset command.
5. 5. The method of claim 4, further comprising a reset verification step of checking the current spatial distance data again after receiving the manual reset instruction, wherein the security locking step is released after confirming that no object is in the second level hazard zone, and an instruction is sent to allow the platform to resume operation.
6. 6. The method of claim 1, wherein the number of sensors in the first set of sensors is 3 to 6 and the number of second sensors is at least 1.
7. 7. The method of claim 1, further comprising, prior to the data acquisition step, a system self-test step of powering on the plurality of ranging sensors and the communication module, and triggering a system fault alarm if the self-test fails.
8. 8. The method of claim 1, wherein the distance threshold for the first level guard zone and the second level hazard zone is configurable.

Description

Dynamic anti-collision method for aerial work platform based on multi-sensor array fusion Technical Field The application relates to the technical field of safety control of aerial work platforms, in particular to a dynamic anti-collision method of an aerial work platform based on multi-sensor array fusion. Background The high-altitude operation platform is used as key equipment in the fields of construction, municipal administration, electric power maintenance and the like, and the safety performance of the high-altitude operation platform is directly related to the life safety of operators and the operation reliability of equipment. Along with the acceleration of the urban process and the expansion of the construction scale of the infrastructure, the application scene of the aerial working platform is increasingly complex and various, and higher requirements are put on the safety protection technology. In the prior art, a mainstream safety protection scheme adopts a mode of installing a mechanical travel switch on a platform upright post or a key position, when a platform is in physical contact with an obstacle in the ascending process, the switch triggers and cuts off a power source to stop equipment, and meanwhile, a part of improvement scheme introduces a single or a small number of distance measuring sensors (such as ultrasonic sensors), acquires obstacle distance information through a non-contact distance measuring principle, and triggers a protection mechanism based on a preset threshold value. However, in the prior art, there is a dilemma of insufficient coverage continuity in the monitoring of the space above the working area of the aerial work platform, resulting in limited perceptibility of obstacles during work due to physical contact or the distribution of limited detection points. Disclosure of Invention The application provides a dynamic anti-collision method for an aerial working platform based on multi-sensor array fusion, which can solve the technical problem of insufficient continuity of space monitoring coverage above a working area of the aerial working platform. In order to achieve the above object, the present application provides the following technical solutions: The application provides a dynamic anti-collision method for an aerial work platform based on multi-sensor array fusion, which comprises the following steps: The data acquisition step comprises the steps of controlling a plurality of ranging sensors arranged in an array to continuously acquire the space distance data above a working area of an aerial work platform, wherein the array comprises a first sensor group and a second sensor, wherein the first sensor group is distributed in a fan shape on a horizontal plane, and the second sensor is arranged in an upward detection direction; The data processing step is that fusion processing is carried out on the acquired space distance data, wherein the fusion processing comprises signal filtering and interference recognition based on the space relevance of the multi-sensor data; a threat judging step of judging whether an object enters a preset protection area according to the data after fusion processing; And the response execution step is to execute corresponding grading response actions according to the threat judgment step, wherein the grading response actions at least comprise triggering acousto-optic early warning when judging that an object enters a first-stage warning area and triggering emergency stop of an aerial working platform when judging that the object enters a second-stage dangerous area. In an alternative embodiment, the signal filtering in the data processing step comprises a moving average filtering or median filtering of the range data sequence of the individual sensors. In an alternative embodiment, the interference recognition based on the spatial correlation of the multi-sensor data in the data processing step includes judging whether at least two sensors adjacent in spatial positions detect effective obstacle signals simultaneously in a plurality of continuous sampling periods, and if not, judging the current signal as an interference signal and filtering the interference signal. In an alternative embodiment, after triggering the emergency shutdown in the response execution step, the method further comprises entering a safety locking step, namely maintaining the emergency shutdown state and the corresponding audible and visual alarm until receiving an externally input manual reset instruction. In an alternative embodiment, after receiving the manual reset instruction, the method further comprises a reset verification step of checking the current spatial distance data again, and after confirming that no object is in the second-stage dangerous area, releasing the safety locking step and sending an instruction for allowing the platform to resume operation. In an alternative embodiment, the number of sensors in the first sensor group is 3 to 6, and the number