Collision prevention control system based on electric lifting table and collision prevention method thereof

A collision prevention method of a collision prevention control system based on an electric lifting table, comprising an electronic lifting table control box disposed on the lifting table, and a single-chip microcomputer disposed in the electric lifting table control box, the electric lifting table control box being internally provided with an acceleration and gyroscope chip, the acceleration and gyroscope chip performing synchronous motion with the lifting table, the acceleration and gyroscope chip being in information interaction with the single-chip microcomputer, and motion control on the lifting table being performed through the single-chip microcomputer, wherein the electric lifting table control box is carried on a panel bottom of the lifting table or a moving member of the lifting table,

• the method comprising the following steps:
• 1) building a X2-Y2-Z2 coordinate system with reference to a ground plane, building a X1-Y1-Z1 coordinate system of the acceleration and gyroscope chip;
• and sensing accelerations and motion angular velocities for three axial directions of the X1-Y1-Z1 coordinate system through the acceleration and gyroscope chip;
• 2) when the lifting table stays still or moves at a constant speed, the acceleration and gyroscope chip being subjected to a gravity acceleration only, in which case the acceleration and gyroscope chip is parallel with ground, such that there is a gravity acceleration in direction Z1 only, and gravity acceleration components in axis X1 and axis Y1 are both 0;
• 3) when the lifting table is tilted with respect to ground, the gravity acceleration of the acceleration and gyroscope chip respectively generating components on the axes X1, Y1 and Z1, and obtaining a tilting angle of the acceleration and gyroscope chip at this moment according to a component value;
• 4) during a process for the lifting table to change from one angle to another angle, the acceleration and gyroscope chip generating a rotational motion on at least one axis of the axes X1, Y1 and Z1, using a method of calculating an angle with the gravity acceleration and a method of calculating an angle with a rotational angular velocity of a gyroscope to respectively obtain an angular variation at the moment and with an initial angle value, thus obtaining a current angle value;
• 5) using a Kalman Filter Algorithm with the angular variation of an angle calculated through the gravity acceleration in the step 4) as a measuring value of the Kalman Filter Algorithm and the angular variation of an angle calculated through the rotational angular velocity of the gyroscope as a process value, and fusing the two values through the Kalman Filter Algorithm, thus obtaining an angular estimation closest to a true value;
• 6) through the angular variation obtained by calculation in the step 5), judging whether resistance is encountered or not, thus enabling the single-chip microcomputer to make a corresponding control response.