CN102915045B - Method and device for controlling cantilever crane type engineering vehicle - Google Patents

Abstract

The invention discloses a method and a device for controlling a cantilever crane type engineering vehicle. The method and the device are used for solving the problem that operation safety cannot be guaranteed in the prior art. The method includes that a force sensor is arranged on each support leg of the cantilever crane type engineering vehicle, counterforce born by each support leg is measured, the projection position of the gravity center of the cantilever crane type engineering vehicle is determined according to the counterforce, the support legs are used as vertexes to form a polygonal region used as a safe region, and the cantilever crane type engineering vehicle is controlled, so that the projection position of the gravity center of the cantilever crane type engineering vehicle is located within the safe region. As the counterforce born by each support leg is measured by the corresponding force sensor, each force sensor still can accurately measure the counterforce currently born by the corresponding support leg even if the counterforce born by the support leg is additionally restrained, and the current actual gravity center can also be accurately determined according to the measured counterforce born by each support leg. Accordingly, the cantilever crane type engineering vehicle is controlled, the projection position of the gravity center of the cantilever crane type engineering vehicle is located within the safe region, and the operation safety can be guaranteed.

Description

A kind of control method of arm support engineering truck and device

Technical field

The present invention relates to engineering machinery field, particularly relate to a kind of control method and device of arm support engineering truck.

Background technology

At highly-mechanized society, the such as arm support such as concrete mixer, crane engineering truck is the indispensable visual plant of building trade, and the security performance of arm support engineering truck receives the concern of people day by day.

Be described for concrete mixer (abbreviation pump truck).Pump truck, in operation process, can cause rollover or overthrow accident usually due to following reason:

Reason one, cannot support pump truck complete machine weight due to problems such as roadbed injustice, Subgrade Subsidence or soft roadbeds, cause pump truck unbalance;

Reason two, due to the change of the jib extension elongation of pump truck, the change of change angle, the change of angle of revolution and make the center of gravity of pump truck complete machine change, causes pump truck unbalance.

In the prior art, in operation process, rollover or overthrow accident is there is in order to prevent pump truck, control the method for pump truck generally: in advance according to the theoretic center of gravity of pump truck, in conjunction with balance equation, determine that pump truck is in critical rollover situation, that adjacent two supporting legs being positioned at side flanging are subject to the counter-force of ground supports and value, should and be worth as critical value, and in the process of pump truck operation, control the attitude of pumping vehicle arm rack, the counter-force be subject to make these adjacent two supporting legs be no more than predetermined critical value with value.

But the center of gravity due in fact pump truck can be subject to the impact of jib extension elongation, change angle, angle of revolution, therefore, the center of gravity that pump truck is actual in operation process and theoretic center of gravity can differences to some extent.And, the counter-force suffered by each supporting leg of pump truck is except the constraint by pump truck self structure and weight, also can be subject to the multiple constraint additionally such as character, jib dynamic loading, vibratory impulse, wind load supporting ground, therefore, the problem how calculating the counter-force of pump truck in critical rollover situation suffered by each supporting leg is actually a statically indeterminate problem, depends merely on the counter-force that balance equation can not obtain suffered by each supporting leg accurately.

In sum, only be inaccurate in conjunction with the critical value that balance equation is determined according to the theoretic center of gravity of arm support engineering truck in prior art, if control arm support engineering truck according to the critical value be inaccurate, just probably can cause arm support engineering truck that rollover or overthrow accident occur, the security of operation cannot be ensured.

Summary of the invention

The embodiment of the present invention provides a kind of control method and device of arm support engineering truck, in order to solve in prior art the problem of the security that cannot ensure the operation of arm support engineering truck.

The embodiment of the present invention provides a kind of control method of arm support engineering truck, comprising:

In the operation process of arm support engineering truck, determine the counter-force suffered by each supporting leg that the force cell arranged on each supporting leg of described arm support engineering truck measures;

According to the counter-force suffered by each supporting leg measured, determine the center of gravity projected position in the horizontal plane of described arm support engineering truck;

The polygonal region that to determine with each supporting leg of described arm support engineering truck be in the horizontal plane summit, using the security domain of described polygonal region as described arm support engineering truck;

According to the described projected position determined and described security domain, control described arm support engineering truck, within making the center of gravity projected position in the horizontal plane of described arm support engineering truck be in described security domain.

The embodiment of the present invention provides a kind of control device of arm support engineering truck, comprising:

Measurement module, in the process of arm support engineering truck operation, determines the counter-force suffered by each supporting leg that the force cell arranged on each supporting leg of described arm support engineering truck measures;

Machine gravity determination module, for the counter-force suffered by each supporting leg measured, determines the center of gravity projected position in the horizontal plane of described arm support engineering truck;

Security domain determination module, for the polygonal region that to determine with each supporting leg of described arm support engineering truck be in the horizontal plane summit, using the security domain of described polygonal region as described arm support engineering truck;

Control module, for according to the described projected position determined and described security domain, controls described arm support engineering truck, within making the center of gravity projected position in the horizontal plane of described arm support engineering truck be in described security domain.

The embodiment of the present invention provides a kind of control method and device of arm support engineering truck, the method arranges force cell on each supporting leg of arm support engineering truck, to measure the counter-force suffered by each supporting leg, and the center of gravity projected position in the horizontal plane of counter-force determination arm support engineering truck suffered by each supporting leg, by the polygonal region that is summit using each supporting leg of arm support engineering truck as security domain, control within arm support engineering truck makes its center of gravity projected position in the horizontal plane be in security domain.Because said method measures counter-force suffered by each supporting leg by force cell, even if the counter-force therefore suffered by each supporting leg can be subject to extra constraint, force cell still can measure the current suffered counter-force of each supporting leg accurately, and, also the center of gravity of current arm support class engineering truck reality can be determined accurately according to the counter-force that is subject to of each supporting leg measured, thus, within control arm support engineering truck makes its center of gravity projected position in the horizontal plane be in security domain, just can ensure the security of operation.

Accompanying drawing explanation

The control procedure of the pump truck that Fig. 1 provides for the embodiment of the present invention;

The schematic diagram of the rectangular coordinate system of the foundation that Fig. 2 provides for the embodiment of the present invention;

Jib the first schematic diagram to secure side to luffing of the pump truck that Fig. 3 A provides for the embodiment of the present invention;

The second schematic diagram of jib to secure side to luffing of the pump truck that Fig. 3 B provides for the embodiment of the present invention;

Fig. 4 for the embodiment of the present invention provide when in operation process, its jib only has angle of revolution to change to pump truck, the control procedure of pump truck;

The schematic diagram of the rectangular coordinate system set up during the determination projected footprint that Fig. 5 provides for the embodiment of the present invention;

The control device structural representation of the arm support engineering truck that Fig. 6 provides for the embodiment of the present invention.

Embodiment

According to the theoretic center of gravity of arm support engineering truck in prior art, and in conjunction with balance equation, determine the counter-force adjacent two supporting legs suffered by of arm support engineering truck in critical rollover situation and value (critical value), and control arm support engineering truck accordingly, but due to center of gravity and the theoretic center of gravity difference to some extent of arm support engineering truck reality, and depend merely on the counter-force that balance equation can not obtain suffered by each supporting leg accurately, therefore the critical value determined in prior art is inaccurate, arm support engineering truck is controlled according to inaccurate critical value, cause arm support engineering truck that rollover or overthrow accident occur possibly, the security of operation cannot be ensured.Rollover is there is when operation or tumbles in the embodiment of the present invention in order to avoid arm support engineering truck, by the force cell arranged on each supporting leg of arm support engineering truck, the counter-force suffered by each supporting leg is measured in real time, the center of gravity of arm support engineering truck reality is determined again according to the counter-force measured, as long as within follow-up control arm support engineering truck makes its center of gravity be in security domain, the security of operation just can be ensured.

Below in conjunction with Figure of description, for arm support engineering truck for pump truck, the embodiment of the present invention is described in detail.

The control procedure of the pump truck that Fig. 1 provides for the embodiment of the present invention, specifically comprises the following steps:

S101: in the operation process of pump truck, determines the counter-force suffered by each supporting leg that the force cell arranged on each supporting leg of pump truck measures.

In embodiments of the present invention, each supporting leg of pump truck arranges force cell, for measuring the counter-force (anchorage force on ground) suffered by each supporting leg, thus, even if the counter-force suffered by supporting leg can be subject to extra constraint, the force cell be arranged on supporting leg also can measure the counter-force suffered by supporting leg in real time accurately.

S102: according to the counter-force suffered by each supporting leg measured, determines the center of gravity projected position in the horizontal plane of pump truck.

In embodiments of the present invention, can counter-force suffered by each supporting leg measured, and in conjunction with equilibrium principle, determine the center of gravity projected position in the horizontal plane of pump truck reality.

Specifically determine that the method for the center of gravity projected position in the horizontal plane of pump truck is: in the horizontal plane, with the centre of gyration of the jib of pump truck for true origin sets up rectangular coordinate system, wherein, the transverse axis of this rectangular coordinate system is the longitudinal centre line on the chassis of pump truck; Based on equilibrium principle, the counter-force suffered by each supporting leg measured, the coordinate of each supporting leg in this rectangular coordinate system, the total force of pump truck, determine the coordinate of the center of gravity of this pump truck in this rectangular coordinate system.

Concrete, can according to formula $\left\{\begin{array}{c}\left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i\right)-F_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{x}_i\right)-F_G{x}_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{y}_i\right)-F_G{y}_G=0\end{array}\right.$ Determine the coordinate (x of the center of gravity of pump truck in this rectangular coordinate system _g, y _g), wherein, i represents i-th supporting leg of described pump truck, and n represents that described pump truck has n supporting leg, F _icounter-force suffered by this i-th supporting leg that the force cell be arranged on i-th supporting leg of described pump truck measures, x _ifor the horizontal ordinate of this i-th supporting leg in described rectangular coordinate system, y _ifor the ordinate of this i-th supporting leg in described rectangular coordinate system, F _gfor the total force of described pump truck.

Be described in detail for the pump truck of four supporting legs below, as shown in Figure 2.

The schematic diagram of the rectangular coordinate system of the foundation that Fig. 2 provides for the embodiment of the present invention, in fig. 2, A, B, C, D tetra-points are four supporting legs of pump truck respectively, and with these four points for the quadrilateral that summit is formed is an isosceles trapezoid, also be, look up from the vertical of pump truck, pump truck is symmetrical.Suppose that O point is the centre of gyration (general, the centre of gyration of pumping vehicle arm rack is on the longitudinal centre line of pump truck) of pumping vehicle arm rack, then with O point for true origin, with the longitudinal centre line of pump truck for transverse axis (x-axis) sets up rectangular coordinate system as shown in Figure 2.In this rectangular coordinate system, the coordinate of A, B, C, D tetra-points is (x respectively ₁, y ₁), (x ₂, y ₂), (x ₃, y ₃), (x ₄, y ₄).

Due to pump truck 3 conditions below demand fulfillment when balancing, that is:

Self total force of counter-force sum and pump truck that each supporting leg of condition one, pump truck is subject to is equal;

The counter-force that each supporting leg of condition two, pump truck is subject to self total force of moment sum and pump truck moment in the direction of the x axis is in the direction of the x axis equal;

The counter-force that each supporting leg of condition three, pump truck is subject to moment sum is in the y-axis direction equal with pump truck self gravitation moment in the y-axis direction;

Therefore, in the rectangular coordinate system shown in Fig. 2, suppose that the counter-force suffered by four supporting legs of the pump truck that A, B, C, D tetra-points of being measured by step S101 are corresponding is respectively F ₁, F ₂, F ₃, F ₄, then:

Can be obtained by condition one: $\left(\underset{i=1}{\overset{4}{\mathrm{\Σ}}}{F}_i\right)-F_G=0;$

Can be obtained by condition two: $\left(\underset{i=1}{\overset{4}{\mathrm{\Σ}}}{F}_i{x}_i\right)-F_G{x}_G=0;$

Can be obtained by condition three: $\left(\underset{i=1}{\overset{4}{\mathrm{\Σ}}}{F}_i{y}_i\right)-F_G{y}_G=0.$

Finally, by above-mentioned 3 independently balance equations, the coordinate (x of center of gravity in this rectangular coordinate system of pump truck can just be obtained _g, y _g).

S103: the polygonal region that to determine with each supporting leg of pump truck be in the horizontal plane summit, using the security domain of this polygonal region as pump truck.

Continue to be described for Fig. 2, four supporting legs due to pump truck correspond respectively to A, B, C, D tetra-points in rectangular coordinate system as shown in Figure 2, therefore, the region of quadrilateral (isosceles trapezoid) ABCD being summit with these four points is exactly the security domain of this pump truck.

S104: according to the projected position determined and security domain, controls pump truck, within making the center of gravity of pump truck projected position in the horizontal plane be in security domain.

In embodiments of the present invention, as long as control the attitude of pumping vehicle arm rack, the center of gravity of pump truck projected position is in the horizontal plane within security domain all the time, just can ensures that rollover or overthrow accident do not occur pump truck, and then ensure the security of pump truck operation.

Continue to be described for Fig. 2.Due in the rectangular coordinate system shown in Fig. 2, A point and B point are about x-axis symmetry, C point and D point are about x-axis symmetry, therefore the straight line at AD place and the straight line at BC place are about x-axis symmetry, therefore, judge that the method whether the center of gravity projection position Ge in the horizontal plane of pump truck is within security domain can be: judge the coordinate (x of the center of gravity of the pump truck by determining in step S102 in this rectangular coordinate system _g, y _g) whether meet $\left\{\begin{array}{c}{x}_1\≤x_G\≤x_4\\ -k{x}_G-b_{\mathrm{AD}}\≤y_G\≤{\mathrm{kx}}_G+b_{\mathrm{AD}}\end{array}\right.,$ If meet, then determine (x _g, y _g) within the region of quadrilateral ABCD, also, within determining that the center of gravity projection Wei Ge in the horizontal plane of pump truck is in security domain, otherwise, determine (x _g, y _g) not within the region of quadrilateral ABCD, also, determine that the center of gravity projected position in the horizontal plane of pump truck is not within security domain.Wherein, k is the slope of the straight line at AD place, b _aDfor the ordinate of the straight line at AD place and the intersection point of y-axis.

Concrete, the method controlling pump truck according to the projected position determined and security domain comprises: when the minor increment on the center of gravity projected position in the horizontal plane of pump truck and the border of security domain is less than the first setting threshold value, illustrate that pump truck has been in critical roll-over state, now, control the jib of pump truck to secure side to luffing, this secure side to for: make the direction that the absolute value of the angle of jib and surface level increases.As shown in Figure 3 A and Figure 3 B.

Jib the first schematic diagram to secure side to luffing of the pump truck that Fig. 3 A provides for the embodiment of the present invention, in figure 3 a, pumping vehicle arm rack is positioned at above water, therefore, when the minor increment on the center of gravity projected position in the horizontal plane of pump truck and the border of security domain is less than the first setting threshold value, jib upwards luffing can be controlled, the absolute value of the angle of jib and surface level is increased, like this, within just the center of gravity of pump truck complete machine can being pulled to security domain, thus ensure the security of pump truck operation.

The second schematic diagram of jib to secure side to luffing of the pump truck that Fig. 3 B provides for the embodiment of the present invention, in figure 3b, pumping vehicle arm rack is positioned at below surface level, therefore, when the minor increment on the center of gravity projected position in the horizontal plane of pump truck and the border of security domain is less than the first setting threshold value, the downward luffing of jib can be controlled, the absolute value of the angle of jib and surface level can be made equally to increase, like this, also the center of gravity of pump truck complete machine can be pulled to safety with within, thus ensure the security of pump truck operation.

Certainly, control the method that pump truck makes its center of gravity projected position in the horizontal plane be within security domain in the embodiment of the present invention and be not limited in said method, other control methods can also be comprised, such as extension elongation shortening jib etc., just repeat no longer one by one here.

Further, consider in actual applications, some or certain several supporting leg of pump truck can not be subject to any counter-force due to the change of pump truck center of gravity, even liftoff situation.If with perpendicular to surface level direction straight up for positive dirction, then when the supporting leg of pump truck is not subject to any counter-force, the counter-force suffered by this supporting leg that the force cell that this supporting leg is arranged measures be exactly be not more than 0 numerical value, also i.e. non-positive number.Now, in order to improve the accuracy of the pump truck center of gravity projected position in the horizontal plane determined, to ensure the security of pump truck operation further, at the coordinate time of center of gravity in rectangular coordinate system based on equilibrium principle determination pump truck in step S102, counter-force suffered by this supporting leg should be set to 0, then participate in calculating.Also be, the coordinate time of the center of gravity of pump truck in rectangular coordinate system is determined by above-mentioned steps S102, with perpendicular to surface level direction straight up for positive dirction, if the counter-force of this being arranged on that the force cell on i-th supporting leg of pump truck measures suffered by i-th supporting leg is not more than 0, then the counter-force suffered by this i-th supporting leg is defined as 0, and based on equilibrium principle, counter-force suffered by each supporting leg determined, the coordinate of each supporting leg in rectangular coordinate system, the total force of pump truck, determine the coordinate of the center of gravity of this pump truck in rectangular coordinate system.Concrete, according to formula $\left\{\begin{array}{c}\left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i\right)-F_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{x}_i\right)-F_G{x}_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{y}_i\right)-F_G{y}_G=0\end{array}\right.$ Determine the coordinate (x of the center of gravity of pump truck in rectangular coordinate system _g, y _g) time, with perpendicular to surface level direction straight up for positive dirction, if the counter-force of this being arranged on that the force cell on i-th supporting leg of pump truck measures suffered by i-th supporting leg is not more than 0, then by F _ibe defined as 0, then according to formula $\left\{\begin{array}{c}\left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i\right)-F_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{x}_i\right)-F_G{x}_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{y}_i\right)-F_G{y}_G=0\end{array}\right.$ Determine the coordinate (x of the center of gravity of pump truck in rectangular coordinate system _g, y _g).

In embodiments of the present invention, in order to ensure the security of pump truck operation further, within will being ensured that by said method the center of gravity projected position in the horizontal plane of pump truck is in security domain, the counter-force suffered by each supporting leg of pump truck also will be made to keep in balance as far as possible, therefore, the method controlling pump truck in the embodiment of the present invention also comprises: with perpendicular to surface level direction straight up for positive dirction, when the counter-force suffered by the supporting leg measuring setting quantity is not more than 0, control the jib of pump truck to secure side to luffing, this secure side to for: make the direction that the absolute value of the angle of jib and surface level increases, or, with perpendicular to surface level direction straight up for positive dirction, when measure the counter-force suffered by two adjacent supporting legs with the counter-force suffered by value and all supporting legs be greater than the second setting threshold value with the ratio of value time, send unbalance early warning.

Still be described for the pump truck of four supporting legs.With perpendicular to surface level direction straight up for positive dirction, when measuring the counter-force suffered by two or more supporting leg and being not more than 0, control the jib of pump truck to secure side to luffing, or, when measure counter-force that two adjacent supporting legs are subject to value with counter-force suffered by all supporting legs be greater than 90% with the ratio of value time, send unbalance early warning, close on rollover to point out this pump truck of operator of operation pump truck.

Preferably, jib due to pump truck can carry out the change of extension elongation, change angle and angle of revolution, therefore, in the embodiment of the present invention before the center of gravity being determined pump truck by the step S102 shown in Fig. 1 projected position in the horizontal plane, also first will determine that this pump truck is in operation process, extension elongation and/or the change angle of the jib of pump truck change.Also be, when the extension elongation of pumping vehicle arm rack and/or change angle change, adopt the counter-force of said method suffered by each supporting leg measured, the center of gravity projected position in the horizontal plane of real-time determination pump truck, and control pump truck according to the projected position determined and security domain.

Further, when in the process of pump truck in operation, jib only has angle of revolution to change, and extension elongation and change angle all constant time (also jib only carries out revolution action), center of gravity due to the jib of pump truck is known, the chassis of pump truck and the conjunction center of gravity of all supporting legs are also known, therefore, now except can determine the center of gravity of pump truck according to the counter-force measured by force cell, the center of gravity of pump truck can also be determined according to the conjunction center of gravity of the center of gravity of jib and chassis and all supporting legs.And the change due to angle of revolution is in the scope of 0 ~ 360 degree, therefore, the center of gravity of pump truck now not only can be determined, when can also determine that angle of revolution changes in the scope of 0 ~ 360 degree, the track of the center of gravity of pump truck.Thus, in order to ensure the security of pump truck operation further, when pump truck only has angle of revolution to change in operation process, except controlling within pump truck makes its center of gravity projected position in the horizontal plane be in security domain, also will control pump truck makes its center of gravity projected footprint in the horizontal plane also be within security domain, and detailed process as shown in Figure 4.

Fig. 4 for the embodiment of the present invention provide when in operation process, its jib only has angle of revolution to change to pump truck, the control procedure of pump truck, specifically comprises:

S401: when determining that pump truck is in operation process, when the jib of pump truck only has angle of revolution to change, according to the center of gravity of the jib of this pump truck current, and the conjunction center of gravity of the chassis of this pump truck and all supporting legs, determine the center of gravity projected footprint in the horizontal plane of jib this pump truck in turning course.

Wherein, determine in step S401 that the method for the center of gravity projected footprint in the horizontal plane of jib this pump truck in turning course is specially: in the horizontal plane, with the centre of gyration of the jib of pump truck for true origin sets up rectangular coordinate system, wherein, the transverse axis of this rectangular coordinate system is the longitudinal centre line on the chassis of this pump truck; Determine the coordinate that the chassis of pump truck and the conjunction center of gravity of all supporting legs are fastened at rectangular coordinate, determine the coordinate that the center of gravity of the jib of pump truck is fastened at rectangular coordinate; The coordinate fastened at rectangular coordinate according to the conjunction center of gravity of chassis and all supporting legs, the center of gravity of jib fasten at rectangular coordinate coordinate, chassis and all supporting legs conjunction gravity, the gravity of jib, the total force of pump truck, determine the center of gravity projected footprint in the horizontal plane of jib pump truck in turning course, wherein, what chassis was added with the gravity of jib with the conjunction gravity of all supporting legs is the total force of pump truck with value.

Concrete, determine the coordinate (x that the chassis of pump truck and the conjunction center of gravity of all supporting legs are fastened at this rectangular coordinate _p1, y _p1), determine the coordinate (x that the jib of pump truck is fastened at this rectangular coordinate _p2, y _p2); Determine that the center of gravity projected footprint in the horizontal plane of jib this pump truck in turning course is wherein, x _gfor the horizontal ordinate of center of gravity in this rectangular coordinate system of pump truck, y _gfor the ordinate of center of gravity in this rectangular coordinate system of pump truck, F _g1for the chassis of pump truck and the conjunction gravity of all supporting legs, F _g2for the gravity of the jib of pump truck, F _gfor the total force of pump truck, and F _g=F _g1+ F _g2, R is the coordinate (x that the center of gravity of the jib of pump truck is fastened at this rectangular coordinate _p2, y _p2) to the distance of true origin.

Still be described in detail for the pump truck of four supporting legs, as shown in Figure 5.

The schematic diagram of the rectangular coordinate system set up during the determination projected footprint that Fig. 5 provides for the embodiment of the present invention, similar with Fig. 2, in Figure 5, A, B, C, D tetra-points are four supporting legs of pump truck respectively, and with these four points for the quadrilateral that summit is formed is an isosceles trapezoid, also namely, look up from the vertical of pump truck, pump truck is symmetrical.Suppose that O point is the centre of gyration (general, the centre of gyration of pumping vehicle arm rack is on the longitudinal centre line of pump truck) of pumping vehicle arm rack, then with O point for true origin, with the longitudinal centre line of pump truck for transverse axis (x-axis) sets up rectangular coordinate system as shown in Figure 5.

In this rectangular coordinate system, the coordinate of A, B, C, D tetra-points is (x respectively ₁, y ₁), (x ₂, y ₂), (x ₃, y ₃), (x ₄, y ₄).The chassis of pump truck and the conjunction center of gravity of all supporting legs are O ₁point, coordinate is (x _p1, y _p1)=(x _p1, 0), O ₁point ordinate be 0 reason be, the chassis of general pump truck and all supporting legs are about longitudinal centre line symmetry, and therefore the chassis of pump truck and the conjunction center of gravity of all supporting legs generally also drop on longitudinal center upwards, therefore O in Fig. 5 ₁the ordinate of point is 0.The center of gravity of the jib of pump truck is O ₂point, coordinate is (x _p2, y _p2).

The center of gravity O of connection coordinate initial point O and jib ₂, then jib is in 0 ~ 360 degree of turning course, OO ₂namely around O point rotation 0 ~ 360 degree, OO is supposed ₂with OO ₁the angle of (x-axis is also the longitudinal centre line of pump truck) is α, OO ₂distance be then:

Due in the direction of the x axis and on y-axis direction, the moment that the moment of the gravity of pump truck complete machine is equal to the gravity of jib adds the moment sum of the gravity of top bottom-disc and all supporting legs, therefore, can obtain F _gx _g=F _g1x _p1+ F _g2x _p2and F _gx _g=F _g1y _p1+ F _g2y _p2, thus, $y_G=\frac{(F_{G1}{y}_{p1}+F_{G2}{y}_{p2})}{F_G}=\frac{(F_{G1}{y}_{p1}+F_{G2}R\sin \mathrm{\α})}{F_G};$ Due to sin ²α+cos ²α: 1, therefore, ${\left(\frac{F_G{x}_G-F_{G1}{x}_{p1}}{F_{G2}R}\right)}^2+{\left(\frac{F_G{y}_G-F_{G1}{y}_{p1}}{F_{G2}R}\right)}^2=1,$ Can obtain thus ${(x_G-\frac{F_{G1}{x}_{p1}}{F_G})}^2+{(y_G-\frac{F_{G1}{y}_{p1}}{F_G})}^2={\left(\frac{F_{G2}R}{F_G}\right)}^2.$ Visible, when the jib of pump truck turns round in the scope of 0 ~ 360 degree, the center of gravity projected footprint in the horizontal plane of pump truck is o ₃point for the center of circle, with for a circle of radius, circle as shown in phantom in Figure 5, be the center of gravity projected footprint in the horizontal plane of the pump truck determined.

S402: according to this projected footprint determined and security domain, controls pump truck, within making the center of gravity of pump truck projected footprint in the horizontal plane be in security domain.

Continue for Fig. 5, after determining projected footprint by above-mentioned steps S401, then because the security domain of pump truck is exactly with the region of A, B, C, D tetra-somes quadrilateral (isosceles trapezoid) ABCD that is summit, therefore, controlling pump truck except adopting method as shown in Figure 1 makes its center of gravity projected position in the horizontal plane within this security domain, can also control within pump truck makes its center of gravity projected footprint in the horizontal plane also be in this security domain.Concrete control method can be: the adjustment change angle of jib and/or extension elongation, to make when only having angle of revolution to change in operation process, within the center of gravity projected footprint in the horizontal plane of pump truck is in this security domain.

Preferably, when pump truck is in operation process, when jib only has angle of revolution to change, except controlling pump truck, its center of gravity projected footprint is in the horizontal plane remained on except within security domain, also to control the scope of activities of the center of gravity of pump truck as far as possible, to keep the stability of pump truck as far as possible, improve the security of pump truck operation.Concrete, when jib only has angle of revolution to change, except controlling pump truck, its center of gravity projected footprint is in the horizontal plane remained on except within security domain, when the ratio of the area determining the area that this projected footprint surrounds and security domain be greater than the 3rd set threshold value time, send unbalance early warning, may turn on one's side with this pump truck of operator of prompting operation pump truck, or, when the ratio of the area determining the area that this projected footprint surrounds and security domain be greater than the 4th set threshold value time, lock machine control is carried out to pump truck.

Continue to be described for Fig. 5, if the ratio of the area in the region of the area that this projected footprint (circle shown in dotted lines in Figure 5) surrounds and quadrilateral ABCD is greater than 70%, then send unbalance early warning, if ratio is greater than 90%, then lock machine control is carried out to pump truck.

Be more than the control method of the arm support engineering truck be described for pump truck for arm support engineering truck, certainly, above-mentioned control method also can be applied to other arm support engineering trucks except pump truck, as crane etc.Based on same invention thinking, the embodiment of the present invention also provides a kind of control device of arm support engineering truck, as shown in Figure 6.

The control device structural representation of the arm support engineering truck that Fig. 6 provides for the embodiment of the present invention, specifically comprises:

Measurement module 601, in the process of arm support engineering truck operation, determines the counter-force suffered by each supporting leg that the force cell arranged on each supporting leg of described arm support engineering truck measures;

Machine gravity determination module 602, for the counter-force suffered by each supporting leg measured, determines the center of gravity projected position in the horizontal plane of described arm support engineering truck;

Security domain determination module 603, for the polygonal region that to determine with each supporting leg of described arm support engineering truck be in the horizontal plane summit, using the security domain of described polygonal region as described arm support engineering truck;

Control module 604, for according to the described projection Wei Ge determined and described security domain, controls described arm support engineering truck, within making the center of gravity of described arm support engineering truck projection Wei Ge in the horizontal plane be in described security domain.

Described machine gravity determination module 602 specifically for, in the horizontal plane, with the centre of gyration of the jib of described arm support engineering truck for true origin sets up rectangular coordinate system, wherein, the transverse axis of described rectangular coordinate system is the longitudinal centre line on the chassis of described arm support engineering truck; Based on equilibrium principle, the total force of the counter-force suffered by each supporting leg measured, the coordinate of each supporting leg in described rectangular coordinate system, described arm support engineering truck, determines the coordinate of center of gravity in described rectangular coordinate system of described arm support engineering truck.

Described machine gravity determination module 602 specifically for, with perpendicular to surface level direction straight up for positive dirction, if the counter-force suffered by this i-th supporting leg that the force cell of She Ge on i-th supporting leg of described arm support engineering truck measures is not more than 0, then the counter-force suffered by this i-th supporting leg is defined as 0, and based on equilibrium principle, according to the counter-force suffered by each supporting leg determined, the coordinate of each supporting leg in described rectangular coordinate system, the total force of described arm support engineering truck, determine the coordinate of center of gravity in described rectangular coordinate system of described arm support engineering truck.

Described machine gravity determination module 602 also for, in the counter-force suffered by each supporting leg measured, before the center of gravity determining described arm support engineering truck projection Wei Ge in the horizontal plane, determine that described arm support engineering truck is in operation process, extension elongation and/or the change angle of the jib of described arm support engineering truck change.

Described control module 604 specifically for, when the minor increment on the border of described project Wei Ge and described security domain is less than the first setting threshold value, control the jib of described arm support engineering truck to secure side to luffing, described secure side to for: make the direction that the absolute value of the angle of described jib and surface level increases.

Described control module 604 also for, with perpendicular to surface level direction straight up for positive dirction, when the counter-force suffered by the supporting leg measuring setting quantity is not more than 0, control the jib of described arm support engineering truck to secure side to luffing, described secure side to for: make the direction that the absolute value of the angle of described jib and surface level increases; Or, with perpendicular to surface level direction straight up for positive dirction, when measure the counter-force suffered by two adjacent supporting legs with the counter-force suffered by value and all supporting legs be greater than the second setting threshold value with the ratio of value time, send unbalance early warning.

Described device also comprises:

Track determination module 605, determine that described arm support engineering truck is in operation process for working as, when the jib of described arm support engineering truck only has angle of revolution to change, according to the center of gravity of the jib of current described arm support engineering truck, and the chassis of described arm support engineering truck and the conjunction center of gravity of all supporting legs, determine the center of gravity projected footprint in the horizontal plane of described jib arm support engineering truck described in turning course;

Described control module 604 also for, according to the described projected footprint determined and described security domain, control described arm support engineering truck, within making the center of gravity projected footprint in the horizontal plane of described arm support engineering truck be in described security domain.

Described track determination module 605 specifically for, in the horizontal plane, with the centre of gyration of the jib of described arm support engineering truck for true origin sets up rectangular coordinate system, wherein, the transverse axis of described rectangular coordinate system is the longitudinal centre line on the chassis of described arm support engineering truck; Determine the coordinate that the chassis of described arm support engineering truck and the conjunction center of gravity of all supporting legs are fastened at described rectangular coordinate, determine the coordinate that the center of gravity of the jib of described arm support engineering truck is fastened at described rectangular coordinate; The coordinate fastened at described rectangular coordinate according to the conjunction center of gravity of chassis and all supporting legs, the center of gravity of described jib fasten at described rectangular coordinate coordinate, chassis and all supporting legs conjunction gravity, the gravity of described jib, the total force of described arm support engineering truck, determine the center of gravity projected footprint in the horizontal plane of described jib arm support engineering truck described in turning course, wherein, what described chassis was added with the gravity of described jib with the conjunction gravity of all supporting legs is the total force of described arm support engineering truck with value.

Described control module 604 also for, when the ratio of the area determining the area that described projected footprint surrounds and described security domain be greater than the 3rd set threshold value time, send unbalance early warning; Or, when the ratio of the area determining the area that described projected footprint surrounds and described security domain be greater than the 4th set threshold value time, lock machine control is carried out to described arm support engineering truck.

The embodiment of the present invention provides a kind of control method and device of arm support engineering truck, the method arranges force cell on each supporting leg of arm support engineering truck, to measure the counter-force suffered by each supporting leg, and the center of gravity projected position in the horizontal plane of counter-force determination arm support engineering truck suffered by each supporting leg, by the polygonal region that is summit using each supporting leg of arm support engineering truck as security domain, control within arm support engineering truck makes its center of gravity projected position in the horizontal plane be in security domain.Because said method measures counter-force suffered by each supporting leg by force cell, even if the counter-force therefore suffered by each supporting leg can be subject to extra constraint, force cell still can measure the current suffered counter-force of each supporting leg accurately, and, also the center of gravity of current arm support class engineering truck reality can be determined accurately according to the counter-force that is subject to of each supporting leg measured, thus, within control arm support engineering truck makes its center of gravity projected position in the horizontal plane be in security domain, just can ensure the security of operation.

Those skilled in the art should understand, the embodiment of the application can be provided as method, system or computer program.Therefore, the application can adopt the form of complete hardware embodiment, completely software implementation or the embodiment in conjunction with software and hardware aspect.And the application can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) of computer usable program code.

The application describes with reference to according to the process flow diagram of the method for the embodiment of the present application, equipment (system) and computer program and/or block scheme.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or square frame.These computer program instructions can being provided to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the processor of computing machine or other programmable data processing device produce device for realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.

These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.

These computer program instructions also can be loaded in computing machine or other programmable data processing device, make on computing machine or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computing machine or other programmable devices is provided for the step realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.

Although described the preferred embodiment of the application, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the application's scope.

Obviously, those skilled in the art can carry out various change and modification to the application and not depart from the spirit and scope of the application.Like this, if these amendments of the application and modification belong within the scope of the application's claim and equivalent technologies thereof, then the application is also intended to comprise these change and modification.

Claims (16)

1. a control method for pump truck, is characterized in that, comprising:

In the operation process of pump truck, measure the counter-force suffered by each supporting leg by the force cell arranged on each supporting leg of described pump truck;

According to the counter-force suffered by each supporting leg measured, determine the center of gravity projected position in the horizontal plane of described pump truck;

The polygonal region that to determine with each supporting leg of described pump truck be in the horizontal plane summit, using the security domain of described polygonal region as described pump truck;

According to the described projected position determined and described security domain, control described pump truck, within making the center of gravity of described pump truck projected position in the horizontal plane be in described security domain;

Wherein, according to the counter-force suffered by each supporting leg measured, determine the center of gravity projected position in the horizontal plane of described pump truck, specifically comprise:

In the horizontal plane, with the centre of gyration of the jib of described pump truck for true origin sets up rectangular coordinate system, wherein, the transverse axis of described rectangular coordinate system is the longitudinal centre line on the chassis of described pump truck;

According to formula $\left\{\begin{array}{c}\left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i\right)-F_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{x}_i\right)-F_G{x}_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{y}_i\right)-F_G{y}_G=0\end{array}\right.$ Determine the coordinate (x of the center of gravity of described pump truck in described rectangular coordinate system _g, y _g), wherein, i represents i-th supporting leg of described pump truck, and n represents that described pump truck has n supporting leg, F _icounter-force suffered by this i-th supporting leg that the force cell be arranged on i-th supporting leg of described pump truck measures, x _ifor the horizontal ordinate of this i-th supporting leg in described rectangular coordinate system, y _ifor the ordinate of this i-th supporting leg in described rectangular coordinate system, F _gfor the total force of described pump truck.

2. the method for claim 1, is characterized in that, determines the coordinate (x of the center of gravity of described pump truck in described rectangular coordinate system _g, y _g), specifically comprise:

With perpendicular to surface level direction straight up for positive dirction, if the counter-force of this being arranged on that the force cell on i-th supporting leg of described pump truck measures suffered by i-th supporting leg is not more than 0, then by F _ibe defined as 0, and according to formula $\left\{\begin{array}{c}\left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i\right)-F_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{x}_i\right)-F_G{x}_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{y}_i\right)-F_G{y}_G=0\end{array}\right.$ Determine the coordinate (x of the center of gravity of described pump truck in described rectangular coordinate system _g, y _g).

3. the method for claim 1, is characterized in that, according to the counter-force suffered by each supporting leg measured, before the center of gravity determining described pump truck projected position in the horizontal plane, described method also comprises:

Determine that described pump truck is in operation process, extension elongation and/or the change angle of the jib of described pump truck change.

4. the method for claim 1, is characterized in that, controls described pump truck, specifically comprises:

When the minor increment on the border of described projected position and described security domain is less than the first setting threshold value, control the jib of described pump truck to secure side to luffing, described secure side to for: make the direction that the absolute value of the angle of described jib and surface level increases.

5. the method for claim 1, is characterized in that, described method also comprises:

With perpendicular to surface level direction straight up for positive dirction, when the counter-force suffered by the supporting leg measuring setting quantity is not more than 0, control the jib of described pump truck to secure side to luffing, described secure side to for: make the direction that the absolute value of the angle of described jib and surface level increases; Or

With perpendicular to surface level direction straight up for positive dirction, when measure the counter-force suffered by two adjacent supporting legs with the counter-force suffered by value and all supporting legs be greater than the second setting threshold value with the ratio of value time, send unbalance early warning.

6. the method for claim 1, is characterized in that, described method also comprises:

When determining that described pump truck is in operation process, when the jib of described pump truck only has angle of revolution to change, according to the center of gravity of the jib of current described pump truck, and the conjunction center of gravity of the chassis of described pump truck and all supporting legs, determine the center of gravity projected footprint in the horizontal plane of described jib pump truck described in turning course;

According to the described projected footprint determined and described security domain, control described pump truck, within making the center of gravity of described pump truck projected footprint in the horizontal plane be in described security domain.

7. method as claimed in claim 6, is characterized in that, determine the center of gravity projected footprint in the horizontal plane of described jib pump truck described in turning course, specifically comprise:

In the horizontal plane, with the centre of gyration of the jib of described pump truck for true origin sets up rectangular coordinate system, wherein, the transverse axis of described rectangular coordinate system is the longitudinal centre line on the chassis of described pump truck;

Determine the coordinate (x that the chassis of described pump truck and the conjunction center of gravity of all supporting legs are fastened at described rectangular coordinate _p1, y _p1), determine the coordinate (x that the center of gravity of the jib of described pump truck is fastened at described rectangular coordinate _p2, y _p2);

Determine that the center of gravity projected footprint in the horizontal plane of described jib pump truck described in turning course is wherein, x _gfor the horizontal ordinate of center of gravity in described rectangular coordinate system of described pump truck, y _gfor the ordinate of center of gravity in described rectangular coordinate system of described pump truck, F _g1for the chassis of described pump truck and the conjunction gravity of all supporting legs, F _g2for the gravity of the jib of described pump truck, F _gfor the total force of described pump truck, and F _g=F _g1+ F _g2, R is the coordinate (x that the center of gravity of the jib of described pump truck is fastened at described rectangular coordinate _p2, y _p2) to the distance of described true origin.

8. method as claimed in claim 6, it is characterized in that, described method also comprises:

When the ratio of the area determining the area that described projected footprint surrounds and described security domain be greater than the 3rd set threshold value time, send unbalance early warning; Or

When the ratio of the area determining the area that described projected footprint surrounds and described security domain be greater than the 4th set threshold value time, lock machine control is carried out to described pump truck.

9. a control device for pump truck, is characterized in that, comprising:

Measurement module, in the process of pump truck operation, measures the counter-force suffered by each supporting leg by the force cell arranged on each supporting leg of described pump truck;

Machine gravity determination module, for the counter-force suffered by each supporting leg measured, determines the center of gravity projected position in the horizontal plane of described pump truck;

Security domain determination module, for the polygonal region that to determine with each supporting leg of described pump truck be in the horizontal plane summit, using the security domain of described polygonal region as described pump truck;

Control module, for according to the described projected position determined and described security domain, controls described pump truck, within making the center of gravity of described pump truck projected position in the horizontal plane be in described security domain;

Wherein, described machine gravity determination module specifically for, in the horizontal plane, with the centre of gyration of the jib of described pump truck for true origin sets up rectangular coordinate system, wherein, the transverse axis of described rectangular coordinate system is the longitudinal centre line on the chassis of described pump truck; According to formula $\left\{\begin{array}{c}\left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i\right)-F_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{x}_i\right)-F_G{x}_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{y}_i\right)-F_G{y}_G=0\end{array}\right.$ Determine the coordinate (x of the center of gravity of described pump truck in described rectangular coordinate system _g, y _g), wherein, i represents i-th supporting leg of described pump truck, and n represents that described pump truck has n supporting leg, F _icounter-force suffered by this i-th supporting leg that the force cell be arranged on i-th supporting leg of described pump truck measures, x _ifor the horizontal ordinate of this i-th supporting leg in described rectangular coordinate system, y _ifor the ordinate of this i-th supporting leg in described rectangular coordinate system, F _gfor the total force of described pump truck.

10. device as claimed in claim 9, it is characterized in that, described machine gravity determination module specifically for, with perpendicular to surface level direction straight up for positive dirction, if the counter-force of this being arranged on that the force cell on i-th supporting leg of described pump truck measures suffered by i-th supporting leg is not more than 0, then by F _ibe defined as 0, and according to formula $\left\{\begin{array}{c}\left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i\right)-F_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{x}_i\right)-F_G{x}_G=0\\ \left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{F}_i{y}_i\right)-F_G{y}_G=0\end{array}\right.$ Determine the coordinate (x of the center of gravity of described pump truck in described rectangular coordinate system _g, y _g).

11. devices as claimed in claim 9, it is characterized in that, described machine gravity determination module also for, in the counter-force suffered by each supporting leg measured, before the center of gravity determining described pump truck projected position in the horizontal plane, determine that described pump truck is in operation process, extension elongation and/or the change angle of the jib of described pump truck change.

12. devices as claimed in claim 9, it is characterized in that, described control module specifically for, when the minor increment on the border of described projected position and described security domain is less than the first setting threshold value, control the jib of described pump truck to secure side to luffing, described secure side to for: make the direction that the absolute value of the angle of described jib and surface level increases.

13. devices as claimed in claim 9, it is characterized in that, described control module also for, with perpendicular to surface level direction straight up for positive dirction, when the counter-force suffered by the supporting leg measuring setting quantity is not more than 0, control the jib of described pump truck to secure side to luffing, described secure side to for: make the direction that the absolute value of the angle of described jib and surface level increases; Or, with perpendicular to surface level direction straight up for positive dirction, when measure the counter-force suffered by two adjacent supporting legs with the counter-force suffered by value and all supporting legs be greater than the second setting threshold value with the ratio of value time, send unbalance early warning.

14. devices as claimed in claim 9, it is characterized in that, described device also comprises:

Track determination module, determine that described pump truck is in operation process for working as, when the jib of described pump truck only has angle of revolution to change, according to the center of gravity of the jib of current described pump truck, and the conjunction center of gravity of the chassis of described pump truck and all supporting legs, determine the center of gravity projected footprint in the horizontal plane of described jib pump truck described in turning course;

Described control module also for, according to the described projected footprint determined and described security domain, control described pump truck, within making the center of gravity of described pump truck projected footprint in the horizontal plane be in described security domain.

15. devices as claimed in claim 14, is characterized in that, described track determination module specifically for, in the horizontal plane, with the centre of gyration of the jib of described pump truck for true origin sets up rectangular coordinate system, wherein, the transverse axis of described rectangular coordinate system is the longitudinal centre line on the chassis of described pump truck; Determine the coordinate (x that the chassis of described pump truck and the conjunction center of gravity of all supporting legs are fastened at described rectangular coordinate _p1, y _p1), determine the coordinate (x that the center of gravity of the jib of described pump truck is fastened at described rectangular coordinate _p2, y _p2); Determine that the center of gravity projected footprint in the horizontal plane of described jib pump truck described in turning course is wherein, x _gfor the horizontal ordinate of center of gravity in described rectangular coordinate system of described pump truck, y _gfor the ordinate of center of gravity in described rectangular coordinate system of described pump truck, F _g1for the chassis of described pump truck and the conjunction gravity of all supporting legs, F _g2for the gravity of the jib of described pump truck, F _gfor the total force of described pump truck, and F _g=F _g1+ F _g2, R is the coordinate (x that the center of gravity of the jib of described pump truck is fastened at described rectangular coordinate _p2, y _p2) to the distance of described true origin.

16. devices as claimed in claim 14, is characterized in that, described control module also for, when the ratio of the area determining the area that described projected footprint surrounds and described security domain be greater than the 3rd set threshold value time, send unbalance early warning; Or, when the ratio of the area determining the area that described projected footprint surrounds and described security domain be greater than the 4th set threshold value time, lock machine control is carried out to described pump truck.