CN102582684A - Engineering vehicle and safe steering early warning device and method thereof - Google Patents
Engineering vehicle and safe steering early warning device and method thereof Download PDFInfo
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- 230000002153 concerted effect Effects 0.000 claims description 35
- 238000012937 correction Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 description 10
- 239000000463 material Substances 0.000 description 7
- 238000005259 measurement Methods 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 239000004568 cement Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
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- 239000007788 liquid Substances 0.000 description 2
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- 238000012856 packing Methods 0.000 description 1
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Abstract
The invention provides an engineering vehicle and a safety steering early warning device and method thereof. The safety steering early warning device comprises: the controller acquires the gravity and the real-time turning radius of the engineering vehicle and obtains the critical turning radius of the engineering vehicle according to the relation among the critical resultant force, the centripetal force and the included angle between the gravity of the engineering vehicle; when the difference between the real-time turning radius and the critical turning radius is smaller than a set value, the controller sends out an alarm signal; and the prompting unit is electrically connected with the controller and executes preset operation according to the alarm signal. The invention can determine the critical turning radius according to the included angle relation between the gravity and the centripetal force of the engineering vehicle in the critical state, and send out an alarm when the difference between the real-time turning radius and the critical turning radius is smaller than a set value, thereby avoiding the problem of rollover.
Description
Technical field
The present invention relates to vehicle safety warning device field, more specifically, relate to a kind of engineering truck and turn to prior-warning device, method safely.
Background technology
Often be mounted with on the engineering truck (for example concrete mixer truck) and betransported object (for example cement concrete), and need long distance travel.Weight is big under motoring condition, center of gravity is higher owing to engineering truck, therefore, and restive rational turn radius when turning to, the problem of tumbling easily.
Summary of the invention
The present invention aims to provide a kind of engineering truck and safety turns to prior-warning device, method, to solve engineering truck restive rational turn radius when turning in the prior art, the problem of tumbling easily.
For solving the problems of the technologies described above, according to a first aspect of the invention, provide a kind of safety of engineering truck to turn to prior-warning device; Have a plurality of strong points between engineering truck and the ground, a plurality of strong points surround supporting zone, and the gravity of engineering truck and the centripetal force of engineering truck form makes a concerted effort; When the bearing of trend of making a concerted effort passes the edge of supporting zone; Make a concerted effort for critical with joint efforts, safety turns to prior-warning device to comprise: controller, controller obtain the gravity and real-time turn radius of engineering truck; And according to engineering truck critical make a concerted effort, angle relation between centripetal force and the gravity, obtain the critical turn radius of engineering truck; When the difference of real-time turn radius and critical turn radius during less than setting value, controller sends alerting signal; Tip element is electrically connected with controller, and Tip element is carried out predetermined operation according to alerting signal.
Further; Controller also obtains the safety turning radius of engineering truck according to the highest safety traffic speed of the reference of engineering truck; And then obtaining safe steer coefficient according to safety turning radius and critical turn radius, Tip element receives and the output safety steer coefficient.
Further, safe steer coefficient is the ratio of safety turning radius and critical turn radius, or the correction of ratio.
Further, gravity be engineering truck car body produced gravity and engineering truck delivered betransported gravity that object produces with.
Further, in real time turn radius is that chassis structure and wheel flutter pivot angle according to engineering truck obtains.
According to a second aspect of the invention, a kind of engineering truck is provided, has comprised that safety turns to prior-warning device, this turns to prior-warning device safely is that above-mentioned safety turns to prior-warning device.
According to a third aspect of the present invention; Provide a kind of safety of engineering truck to turn to method for early warning; Have a plurality of strong points between engineering truck and the ground, a plurality of strong points surround supporting zone, and the gravity of engineering truck and the centripetal force of engineering truck form makes a concerted effort; When the bearing of trend of making a concerted effort passes the edge of supporting zone; Make a concerted effort to make a concerted effort for critical: obtain the gravity of engineering truck, and according to engineering truck critical make a concerted effort, angle relation between centripetal force and the gravity, obtain the critical turn radius of engineering truck; Obtain the real-time turn radius of engineering truck; When the difference of real-time turn radius and critical turn radius during, send alerting signal less than setting value.
Further; Safety turns to method for early warning also to comprise: the safety turning radius that obtains engineering truck according to the highest safety traffic speed of the reference of engineering truck; And then obtain safe steer coefficient, and output safety steer coefficient according to safety turning radius and critical turn radius.
Further, safe steer coefficient is the ratio of safety turning radius and critical turn radius, or the correction of ratio.
Further, in real time turn radius is that chassis structure and wheel flutter pivot angle according to engineering truck obtains.
The present invention can confirm critical turn radius according to the gravity of the engineering truck under the critical conditions and the relation of the angle between the centripetal force, and sends warning in the difference of turn radius and critical turn radius in real time during less than setting value, thereby avoids the problem of tumbling.
Description of drawings
The accompanying drawing that constitutes the application's a part is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 has schematically shown quality and the scheme drawing of barycenter of the each several part of concrete mixer truck;
Fig. 2 has schematically shown the total mass of concrete mixer truck and the scheme drawing of barycenter;
Fig. 3 has schematically shown the scheme drawing of concerning between gravity and the supporting zone of the concrete mixer truck when producing centripetal force;
Fig. 4 has schematically shown the scheme drawing when intersection point is positioned at supporting zone;
Fig. 5 has schematically shown the scheme drawing when intersection point is positioned at outside the supporting zone; And
Fig. 6 has schematically shown the structural representation that the safety among the present invention turns to a preferred embodiment of prior-warning device.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
As first aspect of the present invention, provide a kind of safety of engineering truck to turn to prior-warning device, have a plurality of strong points between engineering truck and the ground, a plurality of strong points surround supporting zone.Wherein, the gravity of engineering truck and the centripetal force of engineering truck form makes a concerted effort, and when the bearing of trend of making a concerted effort passes the edge of supporting zone, makes a concerted effort to make a concerted effort for critical.
Safety turns to prior-warning device to comprise: gravity that controller, controller obtain engineering truck and turn radius in real time, and according to engineering truck critical make a concerted effort, angle relation between centripetal force and the gravity, obtain the critical turn radius of engineering truck; When the difference of real-time turn radius and critical turn radius during less than setting value, controller sends alerting signal; Tip element is electrically connected with controller, and predetermined operation (for example auditory tone cues information, displaying information on screen, sound and light alarm information, the further speed-raising of restriction or steering angle etc.) is carried out according to alerting signal in Tip element root hints unit.Preferably, in real time turn radius can be that angle according to the tire of engineering truck obtains.
Can adopt several different methods that real-time turn radius is detected, for example can detect steering handwheel (being bearing circle) corner, wheel flutter pivot angle or steering gear variation (like track arm, tierod position etc.) etc. respectively.In addition, because characteristics such as the different suspension frame structure of wheel flutter or steering power for realizing the measurement of turn radius, can have several different methods.
Being example with the mode that detects steering wheel angle and wheel flutter pivot angle below, describing how recording real-time turn radius.
(1) detects steering wheel angle
Steering handwheel (being bearing circle) is the device of chaufeur direct contact as the front end of deflector.Specifically, the corner of the steering shaft of direct connection steering handwheel can be measured, tire pivot angle amount can be obtained through the conversion of " steering gear angle ratio " through rotary encoder.For example, on steering shaft, be provided with gear coaxially, this gear and coder, convert through following formula then and can obtain the wheel flutter pivot angle so when steering shaft rotated, coder just can record the angle of steering shaft through gear mesh.
θ
Pendulum=i
1I
2θ
Compile
Wherein, i
1Be deflector angular drive ratio, i
2Be the transmitting ratio of coder to steering handwheel, θ
CompileBe that coder is measured the corner value; θ
PendulumBe the wheel flutter pivot angle, i.e. tire corner (pitman arm pivot angle).
(2) measure the wheel flutter pivot angle
Deflector is through the pitman arm outputting power, through about " tierod " drive the tire interlock, realize Vehicular turn.Therefore, can utilize the position transduser that is fixed on the chassis overhang to detect this continuous variation, convert through following formula and obtain real-time deflection angle.
θ
Pendulum=G (x)
Wherein, x is a measurement value sensor; G is a conversion relation, and it is relevant with chassis structure and sensor installation site (with the sensor measurement initial value); θ
PendulumIt is the wheel flutter pivot angle.
On the basis of above-mentioned (1) and (2), can obtain real-time turn radius according to chassis structure and the wheel flutter pivot angle that records.For example, following formula capable of using converses the real-time turn radius R of chassis car load.
R=H (η
1, η
2η
n, θ
Pendulum)
Wherein, η
1, η
2η
nBe the parameter relevant with chassis structure; H is about R and θ
PendulumMapping relations; R is the real-time turn radius of car load.
Annotate: above each formula all is a continually varying in time, like θ
PendulumWith R be θ
Pendulum(t) and the writing a Chinese character in simplified form of R (t).
Preferably, turn radius also can read from the chassis of engineering truck in real time, and this chassis can be detected turn radius in real time, can also obtain through alternate manner certainly.For example, real-time turn radius has been detected on chassis self, then can be through setting up communication and directly obtain real-time turn radius with chassis ECU (ECU).
Preferably, the controller position that draws the barycenter of engineering truck according to the construction parameter of the engineering truck of storage (for example: the framework of car load, the installation site of each parts, quality and size etc. can also be wheel spacing, height etc.) in advance.Gravity comprise engineering truck car body produced that gravity and engineering truck delivered betransported the gravity that object produces.
Below, be example with the concrete mixer truck, turn to the principle of prior-warning device to describe to safety.
As shown in Figure 1, concrete mixer truck comprises chassis, water tank and material, and wherein, the quality on chassis is that the quality of M1, water tank is that the quality of M3, material is M2.Therefore, as shown in Figure 2, the total mass of concrete mixer truck is M, and
M=M1+M2+M3 formula (1)
Especially, M, M1, M2, M3 are vectors, have both represented the size of quality, also represent the position of barycenter.
Wherein, the mass M 1 on chassis is a unmodified, and the mass M 2 of material and the mass M 3 of water tank possibly be different (material of for example, at every turn packing into are different with the amount of water).The quality on chassis and barycenter can obtain through the direct computing of the construction parameter on chassis.The quality of material and water tank and barycenter also can obtain through calculating according to the related data that sensor measurement obtains, thereby obtain the quality and the barycenter of car load.
Further, can the quality of water tank be thought unmodified, and it is counted in the middle of the quality on chassis that then formula (1) can be simplified to:
M=M1+M2 formula (2)
Because the quality of concrete mixer truck is bigger, therefore in normal turning process, its moving velocity can not suddenly change, and can be considered uniform movement, then can under the situation of known centripetal force, instead release turn radius according to formula (3) and (4) of following centripetal force:
F
Entad=M * a formula (3)
A=V
2/ R formula (4)
Wherein:
F
EntadCentripetal force during for turning;
M is the total weight of concrete mixer truck;
R is a turn radius;
V is a moving velocity;
A is the centripetal force acceleration/accel.
Fig. 3 shows the scheme drawing that concerns between gravity and the supporting zone of the concrete mixer truck when producing centripetal force; Wherein, LF representes that left front tire, RF represent that right front fire, LB represent that right rear fire, RB represent right rear fire, and left front tire, right front fire, right rear fire and right rear fire and ground-surface contact point (being the strong point) have limited the supporting zone of this concrete mixer truck jointly.
When producing centripetal force, centripetal force F
EntadThe F that makes a concerted effort to be with the gravity G of concrete mixer truck
Close, F makes a concerted effort
CloseIntersection point between the straight line at place and the plane, supporting zone place is P.Under situation shown in Figure 4, centripetal force F
EntadLess, intersection point P is positioned within the supporting zone, and at this moment, going of engineering truck (for example concrete mixer truck) is stable, can not tumble.Under situation shown in Figure 5, centripetal force F
EntadBigger, intersection point P is positioned at outside the supporting zone, and at this moment, the motoring condition of concrete mixer truck is unsettled, the risk that possibly tumble.When intersection point P was positioned at the edge of supporting zone, engineering truck was in critical conditions.Especially, cause centripetal force F
EntadBigger reason possibly be that the excessive or turn radius of turning speed is too small etc.
Under the situation of the gravity of confirming construction machinery and equipment and supporting zone, can confirm critical direction of making a concerted effort, thereby can determine critical make a concerted effort and gravity between angle.Because gravity is known, therefore can be through the anti-size of releasing critical centripetal force of angle.Then, on the basis of the moving velocity that records construction machinery and equipment,, just can obtain critical turn radius through formula (3) and formula (4).When the actual turn radius of concrete mixer truck during greater than this critical turn radius, but safety traffic; When actual turn radius during less than this critical turn radius, the problem that possibly tumble.Preferably, can report to operating personal to critical turn radius through Tip element, for example, Tip element can be a voice prompting device, also can be read-out.Like this, operating personal just can be prejudged the operation of engineering truck according to critical turn radius, and rationally controls the size of turn radius, to guarantee safety traffic.
Preferably, safety turns to prior-warning device also to comprise to be used to the detecting unit of the corresponding physical quantity of quality of measuring and betransported object.For example, this physical quantity is to betransported the quality of object or betransported electrolyte level of object etc.Especially, when direct measurement betransported the quality of object, the position of the pairing barycenter of each quality can be obtained in advance through statistics, the position of barycenter can be learnt like this through the quality that records.In addition, when betransported to as if when being similar to concrete material owing to have certain mapping relations between its liquid level and the quality, therefore betransported the height of the liquid level of object through measurement, also can obtain to betransported the quality of object indirectly.
In a preferred embodiment; Controller also obtains the safety turning radius of engineering truck according to the highest safety traffic speed of the reference of engineering truck; And then obtaining safe steer coefficient according to safety turning radius and critical turn radius, Tip element receives and the output safety steer coefficient.Under the situation of only pointing out critical turn radius, for different engineering trucks, the operation that operating personal need carry out is different.For example, for same turn radius, the measure that car need be taked possibly be that bearing circle is rotated first angle, and concerning another car, then maybe bearing circle be rotated second angle, and wherein, first angle is different with second angle.That is to say that under the situation of identical critical turn radius, different engineering trucks need carry out different operation, this makes troubles for the operation of operating personal.The present invention adopts safe steer coefficient to show present safe condition; Like this; Corresponding to identical safe steer coefficient, operating personal can adopt identical operations (for example making bearing circle turn over identical angle), thereby has guaranteed the unitarity and the standardization of operation; Bring great convenience to operating personal, also further improved the safety of turning.Especially; Can adopt several different methods to obtain safe steer coefficient by safety turning radius and critical turn radius; For example, safe steer coefficient is the ratio of safety turning radius and critical turn radius, or the correction of said ratio (correcting mode comprises ratio, amplitude limit, discretization etc.).When the safety steer coefficient is the ratio of safety turning radius and critical turn radius, safe steer coefficient be one greater than 1 number, its numerical value is big more, shows that safety is high more.
Fig. 6 has provided the structural representation that the safety among the present invention turns to a preferred embodiment of prior-warning device.As shown in Figure 6, safety turns to prior-warning device to comprise a plurality of sensors, and these a plurality of sensors are connected with the input port of controller, and the output port of controller is connected with at least one indicating member.Safety turns to prior-warning device also to comprise memory cell, contains above-mentioned construction parameter in this memory cell.During work; Controller through above-mentioned a plurality of sensors obtain concrete mixer trucks speed and with the corresponding physical quantity of the quality that betransported object; Combine the construction parameter of memory cell storage to calculate critical turn radius and safe steer coefficient in real time then; And, send corresponding prompt information to operating personal through indicating member according to the value of safety steer coefficient.
As second aspect of the present invention, a kind of engineering truck is provided, comprise that safety turns to prior-warning device, this turns to prior-warning device safely is that above-mentioned safety turns to prior-warning device.Certainly, betransporteding object can be cement concrete, also can be other material that betransported or mechanical equipment etc.Especially, engineering truck is a concrete mixer truck.
Certainly, the safety among the present invention turns to prior-warning device not only can be used to be mounted with the construction machinery and equipment that betransported object, also can be the construction machinery and equipment that unloaded betransported object.In addition, also applicable to other non-engineering truck.
On the basis of the foregoing description; As the 3rd aspect of the present invention, provide a kind of safety of engineering truck to turn to method for early warning, have a plurality of strong points between engineering truck and the ground; A plurality of strong points surround supporting zone; The gravity of engineering truck and the centripetal force of engineering truck form makes a concerted effort, and when the bearing of trend of making a concerted effort passes the edge of supporting zone, makes a concerted effort to make a concerted effort for critical: the gravity that obtains engineering truck; And according to engineering truck critical make a concerted effort, angle relation between centripetal force and the gravity, obtain the critical turn radius of engineering truck; When the difference of real-time turn radius and critical turn radius during, send alerting signal less than setting value.Preferably, gravity be engineering truck car body produced gravity and engineering truck delivered betransported gravity that object produces with.
Like this, under the situation of the gravity of confirming construction machinery and equipment and supporting zone, can confirm critical direction of making a concerted effort, thus can determine critical make a concerted effort and gravity between angle.Because gravity is known, therefore can be through the anti-size of releasing critical centripetal force of angle.Then, on the basis of the moving velocity that records construction machinery and equipment,, just can obtain critical turn radius through formula (3) and formula (4).When the actual turn radius of engineering truck during greater than this critical turn radius, but safety traffic; When actual turn radius during less than this critical turn radius, the problem that possibly tumble.Then, can report to operating personal to critical turn radius through Tip element, for example, Tip element can be a voice prompting device, also can be read-out.Like this, operating personal just can be prejudged the operation of engineering truck according to critical turn radius, and rationally controls the size of turn radius, to guarantee safety traffic.
Preferably; Safety turns to method for early warning also to comprise: the safety turning radius that obtains engineering truck according to the highest safety traffic speed of the reference of engineering truck; And then obtain safe steer coefficient, and output safety steer coefficient according to safety turning radius and critical turn radius.Preferably, safe steer coefficient is the ratio of safety turning radius and critical turn radius, or the correction of said ratio.
Preferably, in real time turn radius is that chassis structure and wheel flutter pivot angle according to engineering truck obtains.
More than be merely the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the safety of an engineering truck turns to prior-warning device; Have a plurality of strong points between said engineering truck and the ground, said a plurality of strong points surround supporting zone, it is characterized in that; The gravity of said engineering truck and the centripetal force of said engineering truck form makes a concerted effort; When said bearing of trend of making a concerted effort passed the edge of said supporting zone, made a concerted effort for critical said making a concerted effort, and said safety turns to prior-warning device to comprise:
Gravity that controller, said controller obtain said engineering truck and turn radius in real time, and according to said engineering truck critical make a concerted effort, angle relation between centripetal force and the gravity, obtain the critical turn radius of said engineering truck; When the difference of said real-time turn radius and said critical turn radius during less than setting value, said controller sends alerting signal;
Tip element is electrically connected with said controller, and said Tip element is carried out predetermined operation according to said alerting signal.
2. safety according to claim 1 turns to prior-warning device; It is characterized in that; Said controller also obtains the safety turning radius of said engineering truck according to the highest safety traffic speed of the reference of said engineering truck; And then obtaining safe steer coefficient according to said safety turning radius and said critical turn radius, said Tip element receives also exports said safe steer coefficient.
3. safety according to claim 2 turns to prior-warning device, it is characterized in that, said safe steer coefficient is the ratio of said safety turning radius and said critical turn radius, or the correction of said ratio.
4. turn to prior-warning device according to each described safety among the claim 1-3, it is characterized in that, said gravity be said engineering truck car body produced gravity and said engineering truck delivered betransported gravity that object produces with.
5. turn to prior-warning device according to each described safety among the claim 1-3, it is characterized in that, said real-time turn radius is to obtain according to the chassis structure of said engineering truck and wheel flutter pivot angle.
6. an engineering truck comprises that safety turns to prior-warning device, is characterized in that it is that each described safety turns to prior-warning device among the claim 1-5 that said safety turns to prior-warning device.
7. the safety of an engineering truck turns to method for early warning, has a plurality of strong points between said engineering truck and the ground, and said a plurality of strong points surround supporting zone, it is characterized in that,
The gravity of said engineering truck and the centripetal force of said engineering truck form makes a concerted effort, and when said bearing of trend of making a concerted effort passed the edge of said supporting zone, made a concerted effort for critical said making a concerted effort:
Obtain the gravity of said engineering truck, and according to said engineering truck critical make a concerted effort, angle relation between centripetal force and the gravity, obtain the critical turn radius of said engineering truck;
Obtain the real-time turn radius of said engineering truck;
When the difference of said real-time turn radius and said critical turn radius during, send alerting signal less than setting value.
8. safety according to claim 7 turns to method for early warning; It is characterized in that; Said safety turns to method for early warning also to comprise: the safety turning radius that obtains said engineering truck according to the highest safety traffic speed of the reference of said engineering truck; And then obtain safe steer coefficient, and export said safe steer coefficient according to said safety turning radius and said critical turn radius.
9. safety according to claim 8 turns to method for early warning, it is characterized in that, said safe steer coefficient is the ratio of said safety turning radius and said critical turn radius, or the correction of said ratio.
10. turn to method for early warning according to each described safety among the claim 7-9, it is characterized in that, said real-time turn radius is to obtain according to the chassis structure of said engineering truck and wheel flutter pivot angle.
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| WO2013149453A1 (en) * | 2012-04-01 | 2013-10-10 | 中联重科股份有限公司 | Construction vehicle and safe steering early warning apparatus and method therefor |
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| CN106327862A (en) * | 2015-06-24 | 2017-01-11 | 宝山钢铁股份有限公司 | Factory area vehicle driving safety alarm method and system based on GPS and GIS |
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| CN114481759A (en) * | 2022-01-27 | 2022-05-13 | 中国建筑第二工程局有限公司 | Small-radius connection sharp-bend paving method |
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Application publication date: 20120718 |