CN110040650B - Electric lifting platform control method for realizing rollback in case of resistance - Google Patents
Electric lifting platform control method for realizing rollback in case of resistance Download PDFInfo
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- CN110040650B CN110040650B CN201910132025.XA CN201910132025A CN110040650B CN 110040650 B CN110040650 B CN 110040650B CN 201910132025 A CN201910132025 A CN 201910132025A CN 110040650 B CN110040650 B CN 110040650B
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- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
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- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Life Sciences & Earth Sciences (AREA)
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- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the technical field of electric lifting platforms, in particular to a control method of an electric lifting platform for realizing rollback when meeting a resistance. It comprises the following steps: s1, detecting the state of the lifting platform at intervals of X time, and jumping to S2 if the lifting platform is in a static state; if the lifting platform is in a motion state, jumping to S3; s2, reading the angular velocity value and/or the acceleration value of the multi-axis motion sensor as a reference value, and then returning to the step S1; s3, reading the angular velocity value and/or the acceleration value of the multi-axis motion sensor, comparing the angular velocity value and/or the acceleration value with a reference value, judging that the angular velocity value and/or the acceleration value is met with a resistance if the change value after comparison exceeds a set threshold value, and controlling the lifting platform to stop or perform a retraction action; if the compared variation value does not exceed the set threshold value, it is determined that there is no chance of being blocked, and the process returns to step S1. The lifting platform controlled by the control method has low false triggering probability and high judgment accuracy.
Description
Technical Field
The invention relates to the technical field of electric lifting platforms, in particular to a control method of an electric lifting platform for realizing rollback when meeting a resistance.
Background
Motorized lift platforms are commonly used in residential, office, and medical settings, such as height-adjustable desks, tables, tatami, desks, hospital beds, and the like. When the user is adjusting lift platform, if platform or its frame meet the barrier when, probably destroy barrier or platform self structure, if the collision goods really extrudes the human body, probably cause bodily injury.
The lifting platform for realizing the function of returning back when encountering a resistance in the market is mostly realized by the following modes: the detection of the encounter resistance is realized by detecting the change of the current in the collision process, but the problems of low sensitivity, large influence of the structure process and poor reliability exist in the current detection. Therefore, some lifting platforms in the prior art also adopt other methods to detect the encountered resistance, such as chinese patent with publication number CN 207115083, named as an electric lifting platform that can be retracted when encountered resistance, and a multi-axis sensor is used to detect the encountered resistance, but when the above-mentioned patent is in a static state, if the above-mentioned patent shakes or shakes, there is a possibility of false triggering, and the reference value of the above-mentioned patent is set, and if the lifting platform moves, the system still uses the originally set reference value, so that it may cause inaccurate judgment.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the control method for the electric lifting platform is low in false triggering probability and high in judgment accuracy and can realize rollback when meeting a resistance.
The technical scheme adopted by the invention is as follows: a control method for an electric lifting platform realizing retraction when meeting a resistance comprises the following steps:
s1, detecting the state of the lifting platform at intervals of X time, and jumping to S2 if the lifting platform is in a static state; if the lifting platform is in a motion state, jumping to S3;
s2, reading the angular velocity value and/or the acceleration value of the multi-axis motion sensor as a reference value, and then returning to the step S1;
s3, reading the angular velocity value and/or the acceleration value of the multi-axis motion sensor, comparing the angular velocity value and/or the acceleration value with a reference value, judging that the angular velocity value and/or the acceleration value is met with a resistance if the change value after comparison exceeds a set threshold value, and controlling the lifting platform to stop or perform a retraction action; if the compared variation value does not exceed the set threshold value, it is determined that there is no chance of being blocked, and the process returns to step S1.
Preferably, in step S3, if the compared variation value is smaller than the set threshold, current detection is further required, and if the detected current value or current variation value exceeds the set current threshold, it is determined that the detected current value or current variation value is met, and then the lifting platform is controlled to stop or perform a retraction operation; if the detected current value or current variation value does not exceed the set current threshold value, it is determined that there is no chance of a jam, and the process returns to step S1.
Preferably, it further comprises the step of sensitivity adjustment of the multi-axis motion sensor: and entering a sensitivity adjusting mode through a condition, and adjusting the sensitivity by adjusting the size of the set threshold.
Preferably, the sensitivity adjustment includes at least three gears, which are a sensitivity first gear, a sensitivity second gear and a switch-off multi-axis motion sensor gear.
Preferably, the multi-axis motion sensor is a six-axis acceleration sensor or a gyroscope.
Compared with the prior art, the method has the following advantages that: the reference value is updated all the time in the static state, so that the judgment accuracy is higher even if the lifting platform is moved, and the reference value is only updated in the static state without judgment, so that the false triggering condition can not occur even if the static state shakes or shakes, and the false triggering probability is lower.
The current detection is added at the same time, and the two modes are combined, so that the judgment accuracy is higher.
Sensitivity adjustment is set, so that the sensitivity can be adjusted according to the requirements of customers, and the judgment accuracy is higher.
And a six-axis acceleration sensor or a gyroscope is adopted, so that the detection accuracy is higher.
Drawings
Fig. 1 is a connection block diagram of a control system of an electric lift platform for realizing retraction when encountering a resistance according to the present invention.
Detailed Description
The present invention will be further described with reference to the following detailed description and drawings, but the present invention is not limited to the following detailed description.
A control system of an electric lifting platform for realizing retraction when encountering a resistance is disclosed, wherein the electric lifting platform is an electric lifting table and comprises a control unit, a motor driving unit, a multi-axis motion sensor, a current detection unit and a sensitivity switch as shown in figure 1, the motor driving unit, the multi-axis motion sensor and the current detection unit are all electrically connected with the control unit,
the multi-axis motion sensor is used for acquiring the change of the motion state of the tabletop on different axes, namely detecting the acceleration and the angular velocity of the lifting platform, and a six-axis motion sensor is adopted in the specific embodiment of the application and mainly comprises a six-axis accelerometer and a six-axis gyroscope, so that the detection accuracy is higher;
the motor driving unit is used for driving a motor of the lifting platform, is conventional in the prior art, and is not expanded in detail in the application;
the current detection unit is used for detecting the current, is more conventional in the prior art, and is not developed in detail;
the sensitivity switch is of a switch structure and is used for adjusting the sensitivity of the multi-axis motion sensor, actually, the threshold value is adjusted, and the multi-axis motion sensor can be turned off and judged only by detecting current;
the control unit reads the three pieces of information and then judges, and is also a conventional main control MCU in the prior art, so the control unit is not developed in detail in the application.
The control method using the control system comprises the following steps:
s1, firstly, the sensitivity of encountering resistance needs to be adjusted, in the specific embodiment, the sensitivity of three gears is set, the first gear is set at 10KG, namely the resistance encountered is 10KG, the resistance encountered is judged to be encountered resistance, the second gear is set at 15KG, namely the resistance encountered is 15KG, the resistance encountered is judged to be encountered resistance, the third gear is set to close the multi-axis motion sensor, and the resistance encountered is judged only by using current detection; the 10kg and the 15kg can be converted into different acceleration or angular velocity thresholds, wherein the threshold of the 10kg is smaller, and the threshold of the 15kg is larger;
s2, detecting the state of the lifting platform at intervals of X time, and jumping to S2 if the lifting platform is in a static state, namely the motor driving unit does not work; if the lifting platform is in a motion state, namely the motor driving unit operates, jumping to S3; this X time can be set as desired; in addition, the reading in the application can be an independent acceleration value, an independent angular velocity value or both the acceleration value and the angular velocity value;
s3, reading the angular velocity value and/or acceleration value of the multi-axis motion sensor as a reference value, then storing the read angular velocity value and/or acceleration value of the multi-axis motion sensor into a reference value storage position of a memory, if the reference value storage position of the memory has data, covering the previous data, namely realizing one-time updating, and then returning to the step S1;
s4, reading the angular velocity value and/or acceleration value of the multi-axis motion sensor, comparing the angular velocity value and/or acceleration value with a reference value stored in a reference value storage position of a memory, judging that the lifting platform is in a blockage state if the change value after comparison is larger than a set threshold value, and controlling the lifting platform to stop or perform a retraction action; if the compared change value is smaller than the set threshold value, the current needs to be judged, if the detected current value or the current change value is larger than the set current threshold value, the current is judged to be blocked, and then the lifting platform is controlled to stop or perform a backspacing action; if the detected current value or current variation value is smaller than the set current threshold value, it is determined that there is no chance of being encountered, and the process returns to step S1. Stopping means that the control unit sends a stop signal to the motor driving unit, the motor driving unit controls the motor to stop rotating, and the same is true for returning, wherein the current change value refers to the change value of current within a fixed time, for example, if the current changes rapidly within 0.4 second, the judgment of meeting resistance is started;
finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A control method for an electric lifting platform realizing retraction when meeting a resistance is characterized by comprising the following steps:
s1, detecting the state of the lifting platform at intervals of X time, and jumping to S2 if the lifting platform is in a static state; if the lifting platform is in a motion state, jumping to S3;
s2, reading the angular velocity value and/or the acceleration value of the multi-axis motion sensor as a reference value, and then returning to the step S1;
s3, reading the angular velocity value and/or the acceleration value of the multi-axis motion sensor, comparing the angular velocity value and/or the acceleration value with a reference value, judging that the angular velocity value and/or the acceleration value is met with a resistance if the change value after comparison exceeds a set threshold value, and controlling the lifting platform to stop or perform a retraction action; if the compared variation value does not exceed the set threshold value, it is determined that there is no chance of being blocked, and the process returns to step S1.
2. The method for controlling the electric lifting platform to realize the retraction after encountering a block according to claim 1, wherein: step S3, if the compared change value is smaller than the set threshold, then current detection is needed, if the detected current value or current change value exceeds the set current threshold, then the detected current value or current change value is judged to be blocked, and then the lifting platform is controlled to stop or perform a rollback action; if the detected current value or current variation value does not exceed the set current threshold value, it is determined that there is no chance of a jam, and the process returns to step S1.
3. The method for controlling the electric lifting platform to realize the retraction after encountering a block according to claim 1, wherein: it also includes the steps of sensitivity adjustment of the multi-axis motion sensor: and entering a sensitivity adjusting mode through a condition, and adjusting the sensitivity by adjusting the size of the set threshold.
4. The method for controlling the electric lifting platform to realize the retraction after encountering a blockage according to claim 3, wherein the method comprises the following steps: the sensitivity adjustment at least comprises three gears, namely a sensitivity first gear, a sensitivity second gear and a gear for closing the multi-axis motion sensor.
5. The method for controlling the electric lifting platform to realize the retraction after encountering a block according to claim 1, wherein: the multi-axis motion sensor is a six-axis acceleration sensor or a gyroscope.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910132025.XA CN110040650B (en) | 2019-02-22 | 2019-02-22 | Electric lifting platform control method for realizing rollback in case of resistance |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910132025.XA CN110040650B (en) | 2019-02-22 | 2019-02-22 | Electric lifting platform control method for realizing rollback in case of resistance |
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| CN110040650B true CN110040650B (en) | 2021-02-02 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111166051A (en) * | 2020-01-13 | 2020-05-19 | 乐歌人体工学科技股份有限公司 | Electric lifting platform control system for realizing rollback after meeting resistance |
| CN112904904B (en) * | 2021-01-28 | 2022-12-02 | 四川巧夺天工信息安全智能设备有限公司 | Method and device for controlling lifting of electric push rod |
| CN114352899A (en) * | 2021-12-14 | 2022-04-15 | 深圳市惠康电机制造有限公司 | Multimedia device |
| CN114631687B (en) * | 2022-03-07 | 2023-05-12 | 深圳市瑞必达科技有限公司 | Control method for knocking protection and tilting protection by lifting table without calculating Euler angle |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1082023B (en) * | 1958-12-06 | 1960-05-19 | Ingo Trepel | Lifting table with Nuernberger scissors |
| JP4389834B2 (en) * | 2005-04-14 | 2009-12-24 | パナソニック電工株式会社 | Lifting storage device |
| CN207115083U (en) * | 2017-06-09 | 2018-03-16 | 浙江捷昌线性驱动科技股份有限公司 | A kind of electric lifting platform that can be retracted that is hampered |
| CN109031953B (en) * | 2018-07-26 | 2021-10-15 | 上海高适软件有限公司 | Self-learning-based electric lifting table resistance-encountering rollback method and system and lifting equipment |
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Effective date of registration: 20211115 Address after: 315191 Jiang Shan Zhen Yu Jia Cun, Yinzhou District, Ningbo City, Zhejiang Province Patentee after: Ningbo lege Information Technology Co., Ltd Address before: 315191 No. 588, Qihang South Road, Yinzhou Economic Development Zone, Ningbo, Zhejiang (Zhanqi Town, Yinzhou District) Patentee before: Lege Ergonomics Technology Co., Ltd |
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