CN102390779A - Detection method and detection device for tipping state of crane - Google Patents
Detection method and detection device for tipping state of crane Download PDFInfo
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- CN102390779A CN102390779A CN2011103468128A CN201110346812A CN102390779A CN 102390779 A CN102390779 A CN 102390779A CN 2011103468128 A CN2011103468128 A CN 2011103468128A CN 201110346812 A CN201110346812 A CN 201110346812A CN 102390779 A CN102390779 A CN 102390779A
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Abstract
The invention discloses a detection method and a detection device for the tipping state of a crane. The disclosed detection method includes the following steps: 11) selecting tipping parameters comprising a dip angle of a work plane opposite to the level surface, a rotation angle, a lifting angle of a jib, and the length of the jig; 12) obtaining tipping lifting weight by sampling in a space formed by the tipping parameters; and establishing the function relationship between the tipping parameters and the tipping lifting weight; 13) substituting the current tipping parameters into the function relationship so as to obtain the tipping lifting weight corresponding to the current tipping parameters; and 14) comparing the current actual lifting weight with the tipping lifting weight corresponding to the current tipping parameters, thus determining whether the crane is in the dangerous tipping state. With the detection method, operators can know whether the crane is in the dangerous tipping state and the safety property of the crane is improved; in addition, the dip angle of the work plane opposite to the level surface is introduced as one tipping parameter, so that the influence on the judgment on the tipping when the crane is in a non-horizontal state is avoided and the judgment on the tipping of the crane is more correct and reliable.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly a kind of hoisting crane rollover conditions method of inspection.The invention still further relates to a kind of hoisting crane rollover conditions detecting device.
Background technology
Hoisting crane is as large-scale engineering machinery, and its safety performance is one of important indicator of considering its complete machine performance.
During operation, hoisting crane is if it is breakneck that overthrow accident takes place, so the important means of the anti-tipping safety device of hoisting crane for assurance crane safety coefficient is set.At present, the anti-tipping safety device on the hoisting crane generally is electronic moment killer or hydraulic torque killer.The principle of work of this safety device is following: storage hoisting crane characteristic curve in computing machine, and this characteristic curve is reflected under the different lifting amplitude-change states, and the lift heavy that hoisting crane is toppled, this lift heavy are rated load; During work, measure signal from the lifting mechanism and the luffing of hoisting crane, its input computing machine is calculated, and compare with the hoisting crane characteristic curve, when actual payload reached a certain ratio of rated load, limiter of moment just gave the alarm.
Yet there is following problems in above-mentioned anti-tipping scheme:
The first, the hoisting crane characteristic curve working face that builds on hoisting crane is the level of state; But because working environment is comparatively complicated; When the working face of hoisting crane is in non-horizontal surface; Use above-mentioned hoisting crane characteristic curve data monitored not accurate enough, it is disconnected that anti-tipping safety device is made erroneous judgement easily, and hoisting crane is tumbled easily.
The second, the reason such as narrow and small or operating personal technical merit deficiency owing to working space, incomplete phenomenon appears stretching in hoisting crane supporting leg probably, causes the safety zone of hoisting crane to diminish, and hoisting crane is also tumbled easily.
In view of this, how a kind of method of more reliable detection hoisting crane rollover conditions being provided, is those skilled in the art's technical issues that need to address.
Summary of the invention
The object of the invention is the method for inspection that a kind of hoisting crane rollover conditions is provided, and this method can judge more reliably whether hoisting crane is in the precarious position of tumbling, so that operating personal correctly operates, prevents that hoisting crane from tumbling.Another object of the present invention provides a kind of detecting device of hoisting crane rollover conditions.
For reaching first purpose of the present invention, the present invention provides a kind of hoisting crane rollover conditions method of inspection, comprises the steps:
11) choose the parameter of tumbling of hoisting crane, the parameter of tumbling comprises hoisting crane work plane inclination angle, degreeof turn, jib with respect to the horizontal plane hoist angle, jib length;
12) in the space that the parameter of respectively tumbling is formed, sample,, obtain under each sampling point operating mode the lift heavy of tumbling that hoisting crane is tumbled according to the sampling number certificate; According to sampling number certificate and the cooresponding lift heavy of tumbling, set up the functional relation of the tumble parameter and the lift heavy of tumbling;
13) detect the current parameter of tumbling of the actual lift heavy and the hoisting crane of hoisting crane in real time, and the functional relation that the current parameter substitution of tumbling is set up, to obtain and the pairing lift heavy of tumbling of the current parameter of tumbling;
14) more current actual lift heavy and with the cooresponding lift heavy of tumbling of the current parameter of tumbling, whether be in the precarious position of tumbling to confirm hoisting crane.
Preferably, in the step 11), the parameter of tumbling of the hoisting crane of choosing also comprises the displacement of each supporting leg of hoisting crane.
Preferably, in the step 12), in the space that the parameter of respectively tumbling is formed, sample through Latin hypercube experimental design method.
Preferably, in the step 12), the functional relation of foundation is the approximate function model based on RBF.
Preferably, in the step 14), also show current actual lift heavy and the cooresponding lift heavy numerical value of tumbling.
Preferably, in the step 14), when hoisting crane is in the precarious position of tumbling, send alerting signal.
The method of inspection that this invention provides; Through foundation tumble parameter and the functional relation between the lift heavy of tumbling; Can obtain and the cooresponding lift heavy of tumbling of actual condition, so that the actual lift heavy and the lift heavy of tumbling are compared, then operating personal can be understood hoisting crane and whether is in the precarious position of tumbling; And then make and avoid the operation of tumbling, effectively improve the safety performance of hoisting crane.In addition; This method of inspection has been introduced hoisting crane work plane and horizontal surface inclination angle as tumbling parameter, and the inclination angle on hoisting crane work plane directly influences the center-of-gravity position of hoisting crane, and the judgement that whether hoisting crane is in the precarious position of tumbling has direct influence; In deterministic process; Add the working face inclination angle and tumble after the parameter, can avoid hoisting crane to be in the influence that non-standard state is judged the hoisting crane rollover conditions, hoisting crane is tumbled judge more accurately and reliably.
For reaching another object of the present invention, the present invention also provides a kind of hoisting crane rollover conditions detecting device, has the tumble parameter detection device and the controller of real-time detection;
The said parameter detection device of tumbling comprises all the hoist force gauge of angular transducer, the length measurement sensor that detects jib length, the actual lift heavy of detection hoisting crane of the obliquity sensor, degreeof turn sensor, the jib that detect hoisting crane work plane and horizontal surface inclination angle with said controller bonded assembly;
Said controller comprises:
Calculating unit; In order to choose the parameter of tumbling of hoisting crane; In the space that the parameter of respectively tumbling is formed, sample,, obtain the lift heavy of tumbling of the cooresponding hoisting crane of each sampling point according to the sampling number certificate; And, set up the functional relation of the tumble parameter and the lift heavy of tumbling according to sampling number certificate and the cooresponding lift heavy of tumbling;
With said calculating unit bonded assembly memory cell, in order to store said functional relation;
With said memory cell bonded assembly analytic unit; The functional relation of the current parameter substitution storage of tumbling that detects in order to the parameter detection device of will tumbling; To obtain and the pairing lift heavy of tumbling of the current parameter of tumbling; And more current actual lift heavy and with the cooresponding lift heavy of tumbling of the current parameter of tumbling, whether be in the precarious position of tumbling to confirm hoisting crane.
Preferably, the said parameter detection device of tumbling also comprises the displacement pickup that detects each supporting leg displacement of hoisting crane.
Preferably, said controller is sampled in the space that the parameter of respectively tumbling is formed through Latin hypercube experimental design method.
Preferably, the functional relation of said controller foundation is the approximate function model based on RBF.
Preferably, comprise also and said controller bonded assembly telltale that said controller exports the numerical value of the actual lift heavy and the lift heavy of tumbling to said telltale.
Preferably, comprise also and said controller bonded assembly warning device that when said controller judged that hoisting crane is in the precarious position of tumbling, said controller was controlled said warning device and sent alerting signal.
The detecting device that this invention provides; Can be through foundation tumble parameter and the functional relation between the lift heavy of tumbling; Obtain and the cooresponding lift heavy of tumbling of actual condition, so that the actual lift heavy and the lift heavy of tumbling are compared, then operating personal can be understood hoisting crane and whether is in the precarious position of tumbling; And then make and avoid the operation of tumbling, effectively improve the safety performance of hoisting crane.In addition; This detecting device is provided with the obliquity sensor that detects hoisting crane work plane and horizontal surface inclination angle; And with the data that detect as the parameter of tumbling, owing to the inclination angle on hoisting crane work plane directly influences the center-of-gravity position of hoisting crane, the judgement that whether hoisting crane is in the precarious position of tumbling has direct influence; Then in deterministic process; Add the working face inclination angle and tumble after the parameter, can avoid hoisting crane to be in the influence that non-standard state is judged the hoisting crane rollover conditions, hoisting crane is tumbled judge more accurately and reliably.
Description of drawings
Fig. 1 is the structural representation of a kind of specific embodiment of hoisting crane rollover conditions detecting device provided by the present invention;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the diagram of circuit of a kind of specific embodiment of hoisting crane rollover conditions method of inspection provided by the present invention;
Fig. 4 is the diagram of circuit of the another kind of specific embodiment of hoisting crane rollover conditions method of inspection provided by the present invention.
The specific embodiment
Core of the present invention is the method for inspection that a kind of hoisting crane rollover conditions is provided, and this method can judge more reliably whether hoisting crane is in the precarious position of tumbling, so that operating personal correctly operates, prevents that hoisting crane from tumbling.Another core of the present invention provides a kind of detecting device of hoisting crane rollover conditions.
In order to make those skilled in the art understand technical scheme of the present invention better, the present invention is done further detailed description below in conjunction with accompanying drawing and specific embodiment.Describe for the ease of understanding with succinct, following content combines method of inspection and detecting device to discuss, and beneficial effect no longer repeats to discuss.
Please refer to Fig. 1 and Fig. 2, Fig. 1 is the structural representation of a kind of specific embodiment of hoisting crane rollover conditions detecting device provided by the present invention; Fig. 2 is the birds-eye view of Fig. 1.
Hoisting crane shown in this figure; Have jib B, get on the bus operator's compartment and supporting leg A, length measurement sensor 6, the jib that real-time detection jib B length is installed on jib B hoist angular transducer 5, degreeof turn sensor 4, detect the force gauge 7 of the actual lift heavy of hoisting crane; Operator's compartment is provided with controller 8, telltale 3, annunciator; Also be provided with the obliquity sensor 1 that detects hoisting crane work plane and horizontal surface inclination angle; Controller 8 is in order to the reception Various types of data that parameter detection device detects of tumbling; And analyzing (concrete principle of work is discussed referring to following method), each supporting leg A of hoisting crane is provided with the displacement pickup 2 that detects the supporting leg displacement.
Please continue with reference to figure 3, Fig. 3 is the diagram of circuit of a kind of specific embodiment of hoisting crane rollover conditions method of inspection provided by the present invention.
The hoisting crane rollover conditions method of inspection that provides in this specific embodiment comprises the steps:
S101) choose the parameter of tumbling of hoisting crane, the parameter of tumbling of hoisting crane comprises length, the jib B of hoisting crane lift heavy, crane arm support B hoist angle, degreeof turn, inclination angle with respect to the horizontal plane, hoisting crane work plane;
The parameter of tumbling of hoisting crane; Promptly tumble or stablize and have the parameter of direct relation with hoisting crane; As: the length of hoisting crane lift heavy, crane arm support B, jib B hoist angle, degreeof turn etc.; Above-mentioned parameter can calculate the suffered moment of hoisting crane, can react hoisting crane then and whether be in the precarious position of tumbling.Different with prior art is; Also choose inclination angle with respect to the horizontal plane, hoisting crane work plane in this specific embodiment as tumbling parameter; Working face inclination angle with respect to the horizontal plane is the angle of both direction perpendicular on working face and the horizontal surface, can be through obtaining with controller 8 bonded assembly obliquity sensors 1.
S102) in the space that the parameter of respectively tumbling is formed, sample,, obtain the lift heavy of tumbling that under each sampling point operating mode, hoisting crane is tumbled according to the sampling number certificate;
Each sampling number is according to a numerical value that comprises the parameter of choosing of respectively tumbling; Characterize a certain operating mode; Under this operating mode; Can calculate the lift heavy of tumbling that the hoisting crane of sening as an envoy to is tumbled, the lift heavy of promptly tumbling is the critical value that hoisting crane is in stable and the two states of tumbling, the minimum lift heavy that also promptly hoisting crane is tumbled.The mode of sampling has multiple, can be the modes of using always such as simple random sampling, multiple sampling, chester sampling or systematic sampling.
S103), set up the functional relation of the tumble parameter and the lift heavy of tumbling according to sampling number certificate and the cooresponding lift heavy of tumbling;
According to sampling number certificate and the cooresponding lift heavy of tumbling; Can set up the functional relation of the tumble parameter and the lift heavy of tumbling through the modeling pattern of routine; And this functional relation is stored in the memory cell of controller 8, the foundation of above-mentioned functional relation can be realized by the calculating unit of controller 8.
S104) detect the current parameter of tumbling of the actual lift heavy and the hoisting crane of hoisting crane in real time, and the functional relation that the current parameter substitution of tumbling is set up, to obtain the pairing lift heavy of tumbling of the current parameter of tumbling;
Can be through detecting the parameter of tumbling of hoisting crane with controller 8 bonded assembly sensor class detecting elements, such as, the angular transducer 5 that hoists that foregoing has been touched upon, length measurement sensor 6, force gauge 7, degreeof turn sensor 4 etc.The parameter of tumbling that each detecting element will detect in real time exports controller 8 to, and controller 8 will respectively be tumbled in the functional relation that the parameter substitution sets up, and then can obtain and the cooresponding lift heavy of tumbling of the current parameter of respectively tumbling.
S105) more current actual lift heavy and with the cooresponding lift heavy of tumbling of the current parameter of tumbling, whether be in the precarious position of tumbling to confirm hoisting crane.
Be under the current working, if the approaching lift heavy of tumbling of actual lift heavy, then hoisting crane is in the precarious position of tumbling, and much smaller than the lift heavy of tumbling, then hoisting crane is in stabilized conditions as if actual lift heavy.In the specific operation process, whether hoisting crane is in stabilized conditions, can impose a condition with auxiliary judgment.Condition such as setting can be: actual lift heavy surpasses setting value (such as 90%) with the ratio value of the lift heavy of tumbling; Or the difference of actual lift heavy and the lift heavy of tumbling can be carried out above-mentioned analysis and judgement by the analytic unit of controller 8 less than setting value etc.
The method of inspection that this specific embodiment provides; Through foundation tumble parameter and the functional relation between the lift heavy of tumbling; Can obtain and the cooresponding lift heavy of tumbling of actual condition, so that the actual lift heavy and the lift heavy of tumbling are compared, then operating personal can be understood hoisting crane and whether is in the precarious position of tumbling; And then make and avoid the operation of tumbling, effectively improve the safety performance of hoisting crane.In addition; This specific embodiment has been introduced hoisting crane work plane and horizontal surface inclination angle as tumbling parameter, and the inclination angle on hoisting crane work plane directly influences the center-of-gravity position of hoisting crane, and the judgement that whether hoisting crane is in the precarious position of tumbling has direct influence; In deterministic process; Add the working face inclination angle and tumble after the parameter, can avoid hoisting crane to be in the influence that non-standard state is judged the hoisting crane rollover conditions, hoisting crane is tumbled judge more accurately and reliably.
Please refer to Fig. 4, Fig. 4 is the diagram of circuit of the another kind of specific embodiment of hoisting crane rollover conditions method of inspection provided by the present invention.
The hoisting crane rollover conditions method of inspection that provides in this specific embodiment comprises the steps:
S201) choose the parameter of tumbling of hoisting crane, the parameter of tumbling of hoisting crane comprises length, the jib B of hoisting crane lift heavy, crane arm support B the hoist angle of angle, degreeof turn, hoisting crane work plane and horizontal surface, the displacement of each supporting leg A of hoisting crane;
Also choose the supporting leg displacement in this step as tumbling parameter.The supporting leg displacement is the displacement of the relative initial position of each supporting leg A, can be through obtaining with controller 8 bonded assembly displacement pickups 2, and as shown in Figure 2, the supporting leg displacement response goes out the support scope of hoisting crane supporting leg A.
S202) in the space that the parameter of respectively tumbling is formed, sample,, obtain under each sampling point operating mode the lift heavy of tumbling that hoisting crane is tumbled according to the sampling number certificate through Latin hypercube experimental design method;
Existing Latin hypercube experimental design method is adopted in the sampling of the parameter of tumbling in this embodiment; This method makes up m (quantity of the parameter of the tumbling) gt of being made up of the parameter of tumbling; Extract the individual sample of n (confirming), can each dimension be divided into mutual nonoverlapping n interval, make each interval have identical probability according to the modeling needs; Randomly draw a point in each interval of each dimension; Extract the point that extracts at random out from each dimension again, with m the some composition of vector that extracts, the vector of then forming is a sampling point.Compared to other methods of samplings, this methods of sampling can access the tumble sampling point of parameter space characteristic of reaction, and the sampling point that obtains can react the hoisting crane rollover conditions preferably, makes step S203 then) in the function model set up more near ideal model.
S203), set up approximate model based on RBF according to sampling number certificate and the cooresponding lift heavy of tumbling;
Foundation is based on the approximate model of RBF, promptly according to tumble in each sampling point parameter and the cooresponding minimum lift heavy of tumbling, through the RBF model, obtains the approximate function of the tumble parameter and the lift heavy of tumbling.Obtain hoisting crane at sample point x through emulation
i(being made up of the sample point parameter of respectively tumbling) located response (at the minimum of each sample point lift heavy of tumbling); Calculate tested point x (actual condition respectively tumble parameter value) response (minimum that obtains through approximate function under the actual condition tumble lift heavy) through the linear superposition of basic function, radially the base model of basic mode type is following for it:
Wherein: weight coefficient w=(w
1..., w
n)
T,
r
i=x-x
iis tested point x and sample point x
iBetween Euclidean distance;
φ (r) is a radial function, and radial function is with Gauss function phi (r)=exp (r
2/ c
2) be basic function, c is given greater than zero constant.
According to the interpolation principle, the corresponding relation when knowing n sample point and each sample point corresponding response functional value can obtain Equation f (x
j)=y
j(j=1 ..., n), write as matrix form:
Φ·w＝Y
Wherein: matrix Φ=[Φ
Ij]=[φ (x
i-x
j)], vectorial Y=(y
1..., y
n)
T(i, j=1 ..., n).
Thereby, can obtain a corresponding n weight coefficient:
w＝Φ
-1·Y
In following formula, n is a sample points, and T is a mathematic sign, the expression transposition.
Thereby obtain tumble lift heavy and the approximate function between the parameter of tumbling.
The mode of this modeling can be reacted the service condition of hoisting crane more all sidedly; And owing to set up the approximate function model; The parameter values of tumbling that detects in real time through substitution compares; Can learn the mode of operation of hoisting crane, need not to carry out in real time the state computation of hoisting crane, improve the speed of response that detects.
S204) detect the current parameter of tumbling of the actual lift heavy and the hoisting crane of hoisting crane in real time, and the functional relation that the current parameter substitution of tumbling is set up, to obtain the pairing lift heavy of tumbling of the current parameter of tumbling;
S205) export telltale 3 to current actual lift heavy with the cooresponding lift heavy of tumbling of the current parameter of tumbling, and more current actual lift heavy and the cooresponding lift heavy of tumbling;
To the foregoing description; Telltale 3 can be set; As shown in Figure 1, be about to controller 8 and be connected with telltale 3, export tumble lift heavy and the actual lift heavy that obtain to telltale 3; Then operating personal can be observed cooresponding lift heavy and the actual lift heavy of tumbling under the current working intuitively, and the mode hoisting crane is tumbled in time to take measures.
S206) judge whether hoisting crane is in the precarious position of tumbling;
With step S105) similar, can be located in the controller 8 judging to regulate, monitor hoisting crane in real time through software program and whether be in the precarious position of tumbling, if be in, then get into step S207); Not, then return step S204), when promptly hoisting crane is in safety zone, keep normal operation, and continue to detect the parameter of tumbling.
S207) send alerting signal.
Warning device 9 can be set, referring to Fig. 2, when tumble lift heavy and actual lift heavy meet when imposing a condition; Warning device 9 can send alerting signal; The caution operating personal is even operating personal observation display 3 not then also can be understood hoisting crane and be in the precarious position of tumbling.Alerting signal can be sound or acousto-optic etc.Further, when actual lift heavy is suitable with the lift heavy of tumbling, can directly cut off hoisting crane work,, stop hoisting crane to be tumbled such as the power supply that cuts off hoisting crane.
In this specific embodiment; Introduced the parameter of tumbling of supporting leg displacement, the support scope of each supporting leg A directly influences the size of hoisting crane center of gravity circle safety zone, and there is certain influence equally in the judgement that whether hoisting crane is in the precarious position of tumbling; So in deterministic process; Add the supporting leg displacement and tumble after the parameter, can avoid hoisting crane supporting leg A not stretch out the influence that the hoisting crane rollover conditions is judged on request, hoisting crane is tumbled judge more accurately and reliably.Certainly, based on actual needs, can also add the parameter that other influence crane stability, binding analysis.
More than a kind of hoisting crane rollover conditions method of inspection provided by the present invention and detecting device have been carried out detailed introduction.Used concrete example among this paper principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (12)
1. a hoisting crane rollover conditions method of inspection is characterized in that, comprises the steps:
11) choose the parameter of tumbling of hoisting crane, the parameter of tumbling comprises hoisting crane work plane inclination angle, degreeof turn, jib with respect to the horizontal plane hoist angle, jib length;
12) in the space that the parameter of respectively tumbling is formed, sample,, obtain under each sampling point operating mode the lift heavy of tumbling that hoisting crane is tumbled according to the sampling number certificate; According to sampling number certificate and the cooresponding lift heavy of tumbling, set up the functional relation of the tumble parameter and the lift heavy of tumbling;
13) detect the current parameter of tumbling of the actual lift heavy and the hoisting crane of hoisting crane in real time, and the functional relation that the current parameter substitution of tumbling is set up, to obtain and the pairing lift heavy of tumbling of the current parameter of tumbling;
14) more current actual lift heavy and with the cooresponding lift heavy of tumbling of the current parameter of tumbling, whether be in the precarious position of tumbling to confirm hoisting crane.
2. hoisting crane rollover conditions method of inspection according to claim 1 is characterized in that, in the step 11), the parameter of tumbling of the hoisting crane of choosing also comprises the displacement of each supporting leg of hoisting crane.
3. hoisting crane rollover conditions method of inspection according to claim 2 is characterized in that, in the step 12), samples in the space that the parameter of respectively tumbling is formed through Latin hypercube experimental design method.
4. according to each described hoisting crane rollover conditions method of inspection of claim 1 to 3, it is characterized in that in the step 12), the functional relation of foundation is the approximate function model based on RBF.
5. hoisting crane rollover conditions method of inspection according to claim 4 is characterized in that, in the step 14), also shows current actual lift heavy and the cooresponding lift heavy numerical value of tumbling.
6. hoisting crane rollover conditions method of inspection according to claim 5 is characterized in that, in the step 14), when hoisting crane is in the precarious position of tumbling, sends alerting signal.
7. a hoisting crane rollover conditions detecting device is characterized in that, has the tumble parameter detection device and the controller of real-time detection;
The said parameter detection device of tumbling comprises all the hoist force gauge of angular transducer, the length measurement sensor that detects jib length, the actual lift heavy of detection hoisting crane of the obliquity sensor, degreeof turn sensor, the jib that detect hoisting crane work plane and horizontal surface inclination angle with said controller bonded assembly;
Said controller comprises:
Calculating unit; In order to choose the parameter of tumbling of hoisting crane; In the space that the parameter of respectively tumbling is formed, sample,, obtain the lift heavy of tumbling of the cooresponding hoisting crane of each sampling point according to the sampling number certificate; And, set up the functional relation of the tumble parameter and the lift heavy of tumbling according to sampling number certificate and the cooresponding lift heavy of tumbling;
With said calculating unit bonded assembly memory cell, in order to store said functional relation;
With said memory cell bonded assembly analytic unit; The functional relation of the current parameter substitution storage of tumbling that detects in order to the parameter detection device of will tumbling; To obtain and the pairing lift heavy of tumbling of the current parameter of tumbling; And more current actual lift heavy and with the cooresponding lift heavy of tumbling of the current parameter of tumbling, whether be in the precarious position of tumbling to confirm hoisting crane.
8. hoisting crane rollover conditions method of inspection according to claim 7 is characterized in that, the said parameter detection device of tumbling also comprises the displacement pickup that detects each supporting leg displacement of hoisting crane.
9. hoisting crane rollover conditions method of inspection according to claim 8 is characterized in that, said controller is sampled in the space that the parameter of respectively tumbling is formed through Latin hypercube experimental design method.
10. according to each described hoisting crane rollover conditions method of inspection of claim 7 to 9, it is characterized in that the functional relation that said controller is set up is the approximate function model based on RBF.
11. hoisting crane rollover conditions detecting device according to claim 10 is characterized in that, also comprises and said controller bonded assembly telltale, said controller exports the numerical value of the actual lift heavy and the lift heavy of tumbling to said telltale.
12. hoisting crane rollover conditions detecting device according to claim 11; It is characterized in that; Comprise also and said controller bonded assembly warning device that when said controller judged that hoisting crane is in the precarious position of tumbling, said controller was controlled said warning device and sent alerting signal.
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| CN111721561A (en) * | 2020-05-28 | 2020-09-29 | 中联重科股份有限公司 | Method and device for judging stability of rotation operation and engineering machinery |
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| CN111761574A (en) * | 2020-05-28 | 2020-10-13 | 中联重科股份有限公司 | Method and device for judging safety of operation capable of being performed by arm support and engineering machinery |
| CN111721561B (en) * | 2020-05-28 | 2022-02-22 | 中联重科股份有限公司 | Method and device for judging stability of rotation operation and engineering machinery |
| CN112026693A (en) * | 2020-08-19 | 2020-12-04 | 山东交通职业学院 | Engineering machinery anti-rollover control system and control method thereof |
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