CN118621991B - A modular mobile system for a scaffold with a loop and a safety warning method thereof - Google Patents
A modular mobile system for a scaffold with a loop and a safety warning method thereof Download PDFInfo
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- CN118621991B CN118621991B CN202410915805.2A CN202410915805A CN118621991B CN 118621991 B CN118621991 B CN 118621991B CN 202410915805 A CN202410915805 A CN 202410915805A CN 118621991 B CN118621991 B CN 118621991B
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000012360 testing method Methods 0.000 claims abstract description 67
- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims description 21
- 230000005483 Hooke's law Effects 0.000 claims description 12
- 230000005489 elastic deformation Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 8
- 229910000831 Steel Inorganic materials 0.000 description 7
- 239000010959 steel Substances 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G1/00—Scaffolds primarily resting on the ground
- E04G1/24—Scaffolds primarily resting on the ground comprising essentially special base constructions; comprising essentially special ground-engaging parts, e.g. inclined struts, wheels
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G5/00—Component parts or accessories for scaffolds
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G5/00—Component parts or accessories for scaffolds
- E04G5/02—Scaffold feet, e.g. with arrangements for adjustment
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G7/00—Connections between parts of the scaffold
- E04G7/02—Connections between parts of the scaffold with separate coupling elements
- E04G7/06—Stiff scaffolding clamps for connecting scaffold members of common shape
- E04G7/20—Stiff scaffolding clamps for connecting scaffold members of common shape for ends of members only, e.g. for connecting members in end-to-end relation
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G7/00—Connections between parts of the scaffold
- E04G7/02—Connections between parts of the scaffold with separate coupling elements
- E04G7/06—Stiff scaffolding clamps for connecting scaffold members of common shape
- E04G7/22—Stiff scaffolding clamps for connecting scaffold members of common shape for scaffold members in end-to-side relation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G1/00—Scaffolds primarily resting on the ground
- E04G1/24—Scaffolds primarily resting on the ground comprising essentially special base constructions; comprising essentially special ground-engaging parts, e.g. inclined struts, wheels
- E04G2001/242—Scaffolds movable on wheels or tracks
- E04G2001/244—Scaffolds movable on wheels or tracks mechanically operated
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Computing Systems (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
本发明公开了一种盘扣脚手架模数化移动体系及其安全预警方法，属于脚手架技术领域。盘扣脚手架模数化移动体系包括盘扣脚手架、安装在盘扣脚手架底部的移动底盘、安装在移动底盘上的牵引装置和模数化监测组件。本申请提出的盘扣脚手架模数化移动体系和安全预警方法可在测试制动时对盘扣脚手架自身的特性和移动环境进行真实的信息捕捉，得到的制动参数可为后续盘扣脚手架模数化移动体系运行制动时提供运行预警基础，结合制动所需的距离与脚手架制动时的变形幅度，可以得到紧急制动下盘扣脚手架模数化移动体系所需的安全制动距离，从而实现了制动时的碰撞预警。
The present invention discloses a modular mobile system of a disc-lock scaffolding and a safety warning method thereof, and belongs to the technical field of scaffolding. The modular mobile system of the disc-lock scaffolding includes a disc-lock scaffolding, a mobile chassis installed at the bottom of the disc-lock scaffolding, a traction device installed on the mobile chassis, and a modular monitoring component. The modular mobile system of the disc-lock scaffolding and the safety warning method proposed in the present application can capture real information about the characteristics of the disc-lock scaffolding itself and the mobile environment during test braking, and the obtained braking parameters can provide an operation warning basis for the subsequent operation braking of the modular mobile system of the disc-lock scaffolding. Combining the distance required for braking and the deformation amplitude of the scaffolding during braking, the safe braking distance required by the modular mobile system of the disc-lock scaffolding under emergency braking can be obtained, thereby realizing a collision warning during braking.
Description
Technical Field
The invention belongs to the technical field of scaffolds, and particularly relates to a modular moving system of a scaffold with a disc buckle and a safety early warning method thereof.
Background
The scaffold is characterized by high assembling and disassembling efficiency, stability and good quality, and has become the preferred construction platform. At present, according to the construction progress, the scaffold can be repeatedly built and disassembled on corresponding construction sites, so that the use cost of the scaffold is high.
In order to solve the technical problems, the movable scaffold is new, but the existing movable scaffold lacks an alarm function, when the movable scaffold moves in a use place, braking collision often occurs, the connection strength of the movable scaffold is continuously created in the continuous starting braking process, the self-stability of the movable scaffold is continuously attenuated, and sudden inclination and collapse of the movable scaffold often occur, so that the movable scaffold is urgently needed to be capable of early warning the self-stability and the braking collision.
Disclosure of Invention
The invention aims to provide a modular moving system of a scaffold with a coil buckle and a safety pre-warning method thereof, so as to solve the problems in the prior art.
The technical scheme is that the modular moving system of the scaffold comprises a scaffold, a moving chassis arranged at the bottom of the scaffold, a traction device arranged on the moving chassis, and a modular monitoring assembly, wherein the modular monitoring assembly comprises:
The distance measuring sensors are respectively arranged on the mobile chassis and are used for monitoring the distance between the mobile chassis and an external obstacle;
the positioning sensor and the rotating speed sensor are embedded in the traction device, and the traction device is arranged at the corner position of the movable chassis;
The attitude sensor is arranged at the corner position of the top of the scaffold, and is matched with the positioning sensor and used for monitoring the deformation of the scaffold;
and the monitoring processor is respectively in communication connection with the ranging sensor, the positioning sensor, the rotating speed sensor and the attitude sensor.
Furthermore, a plurality of anti-collision mechanisms are uniformly distributed on the plate buckle scaffold.
A safety pre-warning method for a modular mobile system of a scaffold with a coil buckle comprises the following steps:
step 1: acquiring braking parameters of the modular moving system of the scaffold under test braking, and acquiring safe braking distances of the modular moving system of the scaffold under different running speeds based on the braking parameters;
Step 2, obtaining the distance of the obstacle by using a ranging sensor of a modular moving system of the scaffold, and obtaining a collision early warning result according to the safety braking distance;
step 3, utilizing a plurality of groups of braking data to obtain early warning braking times of a modular moving system of the scaffold, and obtaining a stability early warning result based on the early warning braking times;
and 4, taking the collision early-warning result and the stability early-warning result as the safety early-warning result of the modular moving system of the scaffold.
Further, the step of obtaining the brake parameter set under test brake of the modular movement system of the scaffold comprises the following steps:
step 11, testing deformation amplitude before and after braking by using a disc buckle scaffold to obtain a stability result of the disc buckle scaffold;
step 12, obtaining the elastic coefficient of the scaffold by utilizing the maximum deformation profile of the scaffold during the test braking process;
step 13, obtaining the friction coefficient of the scaffold with respect to the braking environment by using the testing information of the scaffold with respect to the braking environment in the testing braking process and the testing braking distance based on a braking distance formula, wherein the testing braking distance is obtained by a positioning sensor;
step 14, taking the elastic coefficient and the friction coefficient as a braking parameter group;
the test braking is that the modular moving system of the scaffold is suddenly stopped in the barrier-free direction with allowable braking acceleration, and the allowable braking acceleration is smaller than dumping braking acceleration.
Further, the method for testing the deformation amplitude before and after braking by using the scaffold with the disc buckle to obtain the stability result of the scaffold with the disc buckle comprises the following steps:
step 111, acquiring an initial contour before testing and braking of the scaffold with the disc buckle and a testing contour after testing and braking through a positioning sensor and an attitude sensor;
step 112, obtaining deformation amplitude by using the initial contour and the test contour of the scaffold;
and 113, judging whether the deformation amplitude exceeds a deformation threshold, if so, fastening the scaffold by the scaffold, and if not, executing step 12.
Further, the method for obtaining the elastic coefficient of the scaffold by utilizing the maximum deformation profile of the scaffold during the test braking process comprises the following steps:
Step 121, acquiring the maximum deformation profile of the scaffold in the test braking process by using a positioning sensor and an attitude sensor, and obtaining the maximum deformation of the scaffold in the test braking process by using the maximum deformation profile and the initial profile;
step 122, acquiring test acceleration of the buckling scaffold in the test braking process by using an attitude sensor;
And 123, obtaining the elasticity coefficient of the scaffold by using the maximum deformation and the test acceleration based on Hooke's law and Newton's second law.
Further, the method comprises the steps of, the method for obtaining the safe braking distance of the modular moving system of the scaffold of the disc buckle based on the braking parameters at different running speeds comprises the following steps:
Step 15, acquiring a braking distance model of a modular moving system of the scaffold of the disc buckle under different running speeds based on a braking distance formula and braking parameters;
step 16, based on Hooke's law and braking parameters, obtaining elastic deformation models of the modular moving system of the scaffold for the disc buckle at different running speeds;
Step 17, fitting a braking distance model and an elastic deformation model to obtain a safety braking model;
and 18, inputting different running speeds into the safety braking model, and outputting the safety braking distances corresponding to the different running speeds by the safety braking model.
Further, the method for obtaining the obstacle distance by using the ranging sensor of the modular moving system of the scaffold with the disc buckle and obtaining the collision early warning result according to the safety braking distance comprises the following steps:
Step 21, selecting the minimum value in a plurality of groups of obstacle distances as a dangerous distance;
And step 22, judging whether the dangerous distance is larger than the safe braking distance, if so, judging that the collision early-warning result is a safe result, and if not, judging that the collision early-warning result is a dangerous result.
Further, the method for obtaining early warning braking times of the modular moving system of the scaffold with the disc buckle by utilizing the plurality of groups of braking data and obtaining a stability early warning result based on the early warning braking times comprises the following steps:
Step 31, based on Hooke's law and Newton's second law, obtaining the initial elastic coefficient of the operation contour of the scaffold for buckling relative to the initial contour in the N-th braking, and fitting the N-1 comprehensive elastic coefficients into an elastic attenuation curve;
step 32, acquiring the comprehensive braking times of which the ratio of the Nth comprehensive elastic coefficient to the 1 st comprehensive elastic coefficient is larger than an attenuation threshold value by utilizing an elastic attenuation curve;
step 33, based on Hooke's law and Newton's second law, obtaining a single elastic coefficient of the operation contour of the scaffold for buckling during the N-th braking relative to the operation contour during the N-1 th braking, and fitting the N-1 single elastic coefficients into an elastic growth curve;
step 34, obtaining single braking times with the ratio of the Nth comprehensive elastic coefficient to the N-1 th comprehensive elastic coefficient larger than the increase threshold value by utilizing an elastic increase curve;
Step 35, taking the smaller safety times of the comprehensive braking safety times and the single braking safety times as early warning braking times;
And 36, judging whether the difference value between the current running braking times and the early-warning braking times is smaller than 2, if yes, judging that the scaffold is not firm by the stability early-warning result, otherwise, judging that the scaffold is firm by the stability early-warning result.
The method has the advantages that the method can capture real information of the characteristics and the moving environment of the disc buckling scaffold during test braking, the obtained braking parameters can provide an operation early warning basis for the operation braking of the follow-up disc buckling scaffold modular moving system, the distance required by braking and the deformation amplitude of the scaffold during braking are combined, the safety braking distance required by the disc buckling scaffold modular moving system under emergency braking can be obtained, and therefore collision early warning during braking is achieved.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is an enlarged view of the present invention at A in FIG. 1;
FIG. 3 is an enlarged view of the present invention at B in FIG. 1;
FIG. 4 is a front view of the present invention;
FIG. 5 is a flow chart of the safety precaution of the present invention.
The device comprises a movable chassis, 11, a supporting seat, 12, a steel beam, 13, rollers, 14, a steel pipe, 2, a plate buckle scaffold, 21, a vertical rod, 22, a socket plate, 23, a connecting sleeve, 24, a spring lock catch, 25, a horizontal rod, 26, a bolt, 27, an anti-collision mechanism, 28, supporting feet, 3, a traction device, 4, a ranging sensor and 5, and an attitude sensor.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
In embodiment 1, the present embodiment provides a scaffold with a movable chassis, and in the moving process, the modular monitoring component may perform early warning on the collision risk and the structural stability of the scaffold.
As shown in fig. 1-4, a modular moving system of a scaffold for scaffold comprises a scaffold 2 for scaffold, a moving chassis 1 installed at the bottom of the scaffold 2 for scaffold, and a traction device 3 installed on the moving chassis 1. Specifically, the scaffold 2 is a construction platform formed by splicing a plurality of vertical rods 21 and horizontal rods 25, the adjacent vertical rods 21 are connected by connecting sleeves 23 and fixed by spring lock catches 24, the vertical rods 21 are provided with socket plates 22, the horizontal rods 25 are fixed on the socket plates 22 by bolts, the bottoms of the lowest vertical rods 21 are provided with supporting feet 28, the supporting feet 28 are fixed on the movable chassis 1, the movable chassis 1 comprises steel beams 12 and steel pipes 14 which are vertically and alternately distributed, the steel beams 12 and the steel pipes 14 are fixedly connected by quick lock catches, idler wheels 13 and supporting seats 11 are arranged on the steel beams 12, and when the movable scaffold is required to move, the movable scaffold can be moved by the traction device 3 with the idler wheels 13. In particular, the scaffold 2 is uniformly provided with a plurality of anti-collision mechanisms 27. The anti-collision mechanism 27 comprises a roller, a mounting frame and a buffer piece, wherein the mounting frame is fixedly arranged on the disc buckle scaffold 2, the roller is movably arranged on the mounting frame, the buffer piece is arranged between the roller and the mounting frame, and the anti-collision mechanism 27 plays a role in reducing friction and collision when the disc buckle scaffold modularized moving system rubs or slightly collides with an external wall. The movable scaffold is used on the construction site, so that the scaffold can be prevented from being detached on the old construction site and erected on the new construction site, and the arrangement period of the scaffold is greatly shortened.
The modular mobile system of the scaffold is further provided with a modular monitoring assembly, and the modular monitoring assembly comprises:
The distance measuring sensors 4 are respectively arranged on the mobile chassis 1 and used for monitoring the distance between the mobile chassis 1 and external obstacles.
The positioning sensor and the rotating speed sensor are embedded in the traction device 3, the traction device 3 is arranged at the corner position of the movable chassis 1, and the coordinates of the positioning sensor can represent the coordinates of the bottom corner of the scaffold 2.
The gesture sensor 5 is arranged at the corner position of the top of the scaffold 2, the gesture sensor 5 is matched with the positioning sensor and is used for monitoring deformation of the scaffold 2, the gesture sensor 5 can acquire coordinates and motion acceleration of the distributed points, the coordinates acquired by the gesture sensor 5 and the coordinates acquired by the positioning sensor can completely express the corner coordinates of the scaffold 2, and all the corner coordinates can outline the outline of the scaffold 2.
The monitoring processor is respectively in communication connection with the ranging sensor 4, the positioning sensor, the rotating speed sensor and the attitude sensor 5. The monitoring processor is used for processing the data acquired by the sensor, and outputting the processing result in an acousto-optic manner in real time so as to remind an operator of the running risk of the modular scaffold moving system.
Embodiment 2, the embodiment is based on the safety early warning method of the modular moving system of the scaffold in embodiment 1 during movement.
As shown in fig. 5, a safety pre-warning method for a modular mobile system of a scaffold, comprising the following steps:
step 1: acquiring braking parameters of the modular moving system of the scaffold under test braking, and acquiring safe braking distances of the modular moving system of the scaffold under different running speeds based on the braking parameters;
Step 2, obtaining the distance of the obstacle by using a ranging sensor 4 of a modular moving system of the scaffold, and obtaining a collision early warning result according to the safety braking distance;
step 3, utilizing a plurality of groups of braking data to obtain early warning braking times of a modular moving system of the scaffold, and obtaining a stability early warning result based on the early warning braking times;
and 4, taking the collision early-warning result and the stability early-warning result as the safety early-warning result of the modular moving system of the scaffold.
According to the early warning method, the characteristics of the scaffold 2 and the moving environment can be truly captured during test braking, braking parameters obtained during test braking can provide an operation early warning basis for the operation braking of a follow-up scaffold modular moving system, and the safety braking distance required by the scaffold modular moving system under emergency braking can be obtained by combining the distance required by braking with the deformation amplitude of the scaffold during braking, so that collision early warning during braking is realized. The scaffold belongs to a large construction platform assembled by multiple rods, and the connection strength of the rods in the scaffold 2 is influenced by multiple braking, so that the early warning method also carries out early warning on the stability of the scaffold, particularly, the scaffold 2 is enabled to deform more and more relative to the initial form by continuous braking, the deformation amplitude caused by adjacent braking is enabled to be smaller and less due to the limited deformation capacity of the scaffold 2, and the stability of the scaffold 2 in the braking process can be early warned through critical characteristics shown by the two phenomena. In particular, the method is suitable for linear movement of the modular movement system of the scaffold.
The method for acquiring the braking parameter set under the test braking of the modular moving system of the scaffold comprises the following steps:
step 11, testing deformation amplitude before and after braking by using the disc buckle scaffold 2 to obtain a stability result of the disc buckle scaffold 2, wherein the step 11 specifically comprises the following steps:
Step 111, acquiring an initial contour before test braking and a test contour after test braking of the disc buckle scaffold 2 through a positioning sensor and an attitude sensor 5;
step 112, obtaining deformation amplitude by using the initial contour and the test contour of the scaffold 2, wherein various expression modes of the deformation amplitude are adopted, and the application takes the included angle of the diagonal of the body of the scaffold 2 before and after braking in the projection direction as an example;
And 113, judging whether the deformation amplitude exceeds a deformation threshold, if so, fastening the scaffold 2 by the scaffold 2, and if not, executing step 12.
The deformation threshold is 3-5 degrees if the braking direction is the long side direction of the scaffold 2, and is 2-3 degrees if the braking direction is the wide side direction of the scaffold 2.
Step 12, obtaining the elastic coefficient of the scaffold 2 by utilizing the maximum deformation profile of the scaffold 2 during the test braking process, wherein the step 12 specifically comprises the following steps:
Step 121, acquiring the maximum deformation profile of the scaffold 2 through a positioning sensor and an attitude sensor 5 in the test braking process, and obtaining the maximum deformation of the scaffold 2 through the maximum deformation profile and an initial profile in the test braking process, wherein the maximum deformation is acquired by taking the maximum displacement of the coordinates of the acquisition point of the attitude sensor 5 as the reference;
step 122, acquiring test acceleration of the scaffold 2 by using the attitude sensors 5 in the test braking process, wherein the test acceleration is based on the average value of a plurality of attitude sensors 5;
And step 123, obtaining the elasticity coefficient of the scaffold 2 by using the maximum deformation and the test acceleration based on Hooke's law and Newton's second law. F=kx=ma, where x is the maximum deformation and a is the test acceleration.
And 13, obtaining the friction coefficient of the scaffold 2 relative to a braking environment by using test information and test braking distance of the scaffold 2 in a test braking process based on a braking distance formula d=V 2/(2 mu g), wherein the test braking distance is obtained by a positioning sensor, the test braking distance is d, the test braking distance is obtained by the changing distance of the positioning sensor before and after braking, V is the initial braking speed, m is the mass of a modular moving system of the scaffold, g is the gravity acceleration, and mu is the friction coefficient of the scaffold 2 relative to the braking environment.
Step 14, taking the elastic coefficient and the friction coefficient as a braking parameter group;
The test brake is that the modular moving system of the scaffold is suddenly stopped in the barrier-free direction by using allowable brake acceleration, the allowable brake acceleration is smaller than dumping brake acceleration, the dumping brake acceleration is obtained through Newton's second law, namely F=ma=mg mu 0,μ0 is a friction coefficient estimated value obtained according to a brake environment, so that the test risk is reduced, the allowable brake acceleration cannot be too small, otherwise, the brake cannot obtain accurate maximum static friction force, and the friction coefficient is inaccurate.
The method for obtaining the safe braking distance of the modular moving system of the scaffold of the disc buckle under different running speeds based on the braking parameters comprises the following steps:
Step 15, based on a braking distance formula d=V 2/(2 mu g) and a braking parameter (friction coefficient mu), acquiring a braking distance model of the modular moving system of the scaffold of the disc buckle at different running speeds;
step 16, based on Hooke's law F=kx and a braking parameter (elastic coefficient k), obtaining an elastic deformation model of the modular moving system of the scaffold of the disc buckle at different running speeds;
Step 17, fitting a braking distance model and an elastic deformation model to obtain a safety braking model;
s=d+x=v 2/(2 mu g) +ma/k, s is the safety braking distance and V is the running speed.
And 18, inputting different running speeds into the safety braking model, and outputting the safety braking distances corresponding to the different running speeds by the safety braking model.
The method for obtaining the obstacle distance by using the ranging sensor 4 of the modular moving system of the scaffold with the disc buckle and obtaining the collision early warning result according to the safety braking distance comprises the following steps:
Step 21, selecting the minimum value in a plurality of groups of obstacle distances as a dangerous distance;
and step 22, judging whether the dangerous distance is larger than the safe braking distance, if so, judging that the collision early-warning result is a safe result, and if not, judging that the collision early-warning result is a dangerous result. In particular, the dangerous distance can be reduced in order to improve the safety of collision early warning.
The method for obtaining the early warning braking times of the modular moving system of the scaffold of the disc buckle by utilizing a plurality of groups of braking data and obtaining the stability early warning result based on the early warning braking times comprises the following steps:
Step 31, based on Hooke's law and Newton's second law, obtaining an initial elastic coefficient of the operation contour of the scaffold 2 for buckling during the nth braking, and fitting N-1 comprehensive elastic coefficients into an elastic attenuation curve, wherein the elastic attenuation curve is represented by a formula knz=ma/x n, and x n is the maximum deformation of the operation contour of the scaffold 2 for buckling during the nth braking;
step 32, acquiring the comprehensive braking times of which the ratio of the Nth comprehensive elastic coefficient to the 1 st comprehensive elastic coefficient is larger than an attenuation threshold value by utilizing an elastic attenuation curve, wherein the attenuation threshold value is between 1.3 and 1.5, and the attenuation threshold value is used for limiting the maximum deformation of the modular moving system of the scaffold;
Step 33, based on Hooke's law and Newton's second law, obtaining a single elastic coefficient of the running contour of the scaffold 2 for buckling during the nth braking relative to the running contour during the N-1 th braking, and fitting the N-1 single elastic coefficient into an elastic growth curve, knd=ma/(x 1-0+x2-1+…+xn-n-1), wherein x n-n-1 is the maximum deformation of the scaffold 2 for buckling during the nth braking relative to the N-1 th braking;
Step 34, obtaining single braking times with the ratio of the Nth comprehensive elastic coefficient to the N-1 th comprehensive elastic coefficient being larger than an increase threshold value by utilizing an elastic increase curve, wherein the increase threshold value is between 0.8 and 1, and the increase threshold value is used for limiting the rebound capability of the modular moving system of the scaffold;
step 35, taking the average value of the comprehensive braking safety times and the single braking safety times as the early warning braking times;
And 36, judging whether the difference value between the current running braking times and the early-warning braking times is smaller than 2, if yes, judging that the scaffold 2 is not stable as a stability early-warning result, otherwise, judging that the scaffold 2 is stable as a stability early-warning result. When the difference between the current running braking times and the early warning braking times is smaller than 2, the deformation of the scaffold 2 is large enough relative to the initial form, and the rebound capacity is small enough, so that the scaffold 2 is deformed continuously, and the structural strength is suddenly reduced or the gravity center is deviated too much to cause toppling.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solutions of the present invention within the scope of the technical concept of the present invention, and all such equivalent changes belong to the scope of the present invention.
Claims (6)
1. A safety pre-warning method of a modular mobile system of a scaffold,
The modular moving system of the scaffold comprises a scaffold (2), a moving chassis (1) arranged at the bottom of the scaffold (2) and a traction device (3) arranged on the moving chassis (1);
The modular mobile system of the scaffold is characterized by further comprising a modular monitoring assembly, wherein the modular monitoring assembly comprises a ranging sensor (4), and a plurality of ranging sensors (4) are respectively arranged on the mobile chassis (1) and used for monitoring the distance between the mobile chassis (1) and external obstacles;
The positioning sensor and the rotating speed sensor are embedded in the traction device (3), and the traction device (3) is arranged at the corner position of the movable chassis (1) respectively;
the attitude sensor (5) is arranged at the corner position of the top of the scaffold (2) and is matched with the positioning sensor, and the attitude sensor (5) is used for monitoring the deformation of the scaffold (2);
the monitoring processor is respectively in communication connection with the ranging sensor (4), the positioning sensor, the rotating speed sensor and the attitude sensor (5);
Wherein, a plurality of anti-collision mechanisms (27) are uniformly distributed on the disc buckle scaffold (2);
The method is characterized in that the method for carrying out safety pre-warning by adopting the modular moving system of the scaffold comprises the following steps:
step 1: acquiring braking parameters of the modular moving system of the scaffold under test braking, and acquiring safe braking distances of the modular moving system of the scaffold under different running speeds based on the braking parameters;
Step 2, obtaining the distance of the obstacle by using a ranging sensor (4) of a modular moving system of the scaffold, and obtaining a collision early warning result according to the safety braking distance;
step 3, utilizing a plurality of groups of braking data to obtain early warning braking times of a modular moving system of the scaffold, and obtaining a stability early warning result based on the early warning braking times;
Step 4, taking the collision early warning result and the stability early warning result as the safety early warning result of the modular moving system of the scaffold;
The method for acquiring the braking parameter set under the test braking of the modular moving system of the scaffold of the disc buckle comprises the following steps:
step 11, testing deformation amplitude before and after braking by using the disc buckle scaffold (2) to obtain a stability result of the disc buckle scaffold (2);
Step 12, obtaining the elastic coefficient of the disc buckle scaffold (2) by utilizing the maximum deformation profile of the disc buckle scaffold (2) in the test braking process;
Step 13, obtaining a friction coefficient of the disc buckle scaffold (2) relative to a braking environment by using test information of the disc buckle scaffold (2) and a test braking distance in a test braking process based on a braking distance formula, wherein the test braking distance is obtained by a positioning sensor;
step 14, taking the elastic coefficient and the friction coefficient as a braking parameter group;
the test braking is that the modular moving system of the scaffold is suddenly stopped in the barrier-free direction with allowable braking acceleration, and the allowable braking acceleration is smaller than dumping braking acceleration.
2. The safety precaution method of the modular mobile system of the scaffold of the coil buckle according to claim 1, which is characterized in that, the method for testing the deformation amplitude before and after braking by using the disc buckle scaffold (2) to obtain the stability result of the disc buckle scaffold (2) comprises the following steps:
Step 111, acquiring an initial contour before test braking and a test contour after test braking of the disc buckle scaffold (2) through a positioning sensor and an attitude sensor (5);
step 112, obtaining deformation amplitude by using the initial contour and the test contour of the scaffold (2);
And 113, judging whether the deformation amplitude exceeds a deformation threshold, if so, fastening the scaffold (2) by using the scaffold, and if not, executing step 12, wherein the stability result of the scaffold (2) by using the scaffold is unstable.
3. The safety precaution method of the modular mobile system of the scaffold of the coil buckle according to claim 2, which is characterized in that, the method for obtaining the elastic coefficient of the disc buckle scaffold (2) by utilizing the maximum deformation profile of the disc buckle scaffold (2) in the test braking process comprises the following steps:
Step 121, acquiring the maximum deformation profile of the scaffold (2) for buckling in the test braking process through a positioning sensor and an attitude sensor (5), and obtaining the maximum deformation of the scaffold (2) for buckling in the test braking process by utilizing the maximum deformation profile and the initial profile;
Step 122, acquiring test acceleration of the disc buckle scaffold (2) in the test braking process by using an attitude sensor (5);
and 123, obtaining the elasticity coefficient of the scaffold (2) by using the maximum deformation and the test acceleration based on Hooke's law and Newton's second law.
4. The safety precaution method of the modular mobile system of the scaffold of the coil buckle according to claim 3, which is characterized in that, the method for obtaining the safe braking distance of the modular moving system of the scaffold of the disc buckle based on the braking parameters at different running speeds comprises the following steps:
Step 15, acquiring a braking distance model of a modular moving system of the scaffold of the disc buckle under different running speeds based on a braking distance formula and braking parameters;
step 16, based on Hooke's law and braking parameters, obtaining elastic deformation models of the modular moving system of the scaffold for the disc buckle at different running speeds;
Step 17, fitting a braking distance model and an elastic deformation model to obtain a safety braking model;
and 18, inputting different running speeds into the safety braking model, and outputting the safety braking distances corresponding to the different running speeds by the safety braking model.
5. The safety precaution method of the modular moving system of the scaffold of the disc buckle according to claim 4, wherein the distance measuring sensor (4) of the modular moving system of the scaffold of the disc buckle is used for obtaining the distance of the obstacle, and the collision precaution result is obtained according to the safety braking distance, comprising the following steps:
Step 21, selecting the minimum value in a plurality of groups of obstacle distances as a dangerous distance;
And step 22, judging whether the dangerous distance is larger than the safe braking distance, if so, judging that the collision early-warning result is a safe result, and if not, judging that the collision early-warning result is a dangerous result.
6. The safety precaution method of the modular mobile system of the scaffold of the coil buckle according to claim 5, which is characterized in that, the method for obtaining the early warning braking times of the modular moving system of the scaffold of the disc buckle by utilizing the plurality of groups of braking data and obtaining the stability early warning result based on the early warning braking times comprises the following steps:
Step 31, based on Hooke's law and Newton's second law, obtaining the initial elastic coefficient of the running outline of the scaffold (2) for buckling relative to the initial outline during the Nth braking, and fitting N-1 comprehensive elastic coefficients into an elastic attenuation curve;
step 32, acquiring the comprehensive braking times of which the ratio of the Nth comprehensive elastic coefficient to the 1 st comprehensive elastic coefficient is larger than an attenuation threshold value by utilizing an elastic attenuation curve;
Step 33, based on Hooke's law and Newton's second law, obtaining a single elastic coefficient of an operation contour of the scaffold (2) for buckling during the N-th braking relative to an operation contour during the N-1 th braking, and fitting the N-1 single elastic coefficients into an elastic growth curve;
step 34, obtaining single braking times with the ratio of the Nth comprehensive elastic coefficient to the N-1 th comprehensive elastic coefficient larger than the increase threshold value by utilizing an elastic increase curve;
Step 35, taking the smaller safety times of the comprehensive braking safety times and the single braking safety times as early warning braking times;
And 36, judging whether the difference value between the current running braking times and the early warning braking times is smaller than 2, if yes, judging that the scaffold (2) is not firm due to the early warning result of the stability, otherwise, judging that the scaffold (2) is firm due to the early warning result of the stability.
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