CN104591050A - Overhead working truck tipping prevention control method - Google Patents
Overhead working truck tipping prevention control method Download PDFInfo
- Publication number
- CN104591050A CN104591050A CN201410701382.0A CN201410701382A CN104591050A CN 104591050 A CN104591050 A CN 104591050A CN 201410701382 A CN201410701382 A CN 201410701382A CN 104591050 A CN104591050 A CN 104591050A
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- China
- Prior art keywords
- control method
- aerial platform
- antagonistic force
- supporting legs
- counter
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to an overhead working truck tipping prevention control method. The method is characterized in that the method includes the following steps that 1, pressure sensor data of four supporting legs are read and converted to counter-acting force; 2, when the counter-acting force sum of the four supporting legs is not equal to the whole truck weight, fault processing is conducted; 3, when an arm frame acts, the counter-acting force sums of all adjacent supporting legs are calculated; 4, when the counter-acting force sum of any two adjacent supporting legs is larger than or equal to the speed limiting alarm value, step 7 is executed; 5, the current action slows down and an alarm is given out; 6, when the counter-acting force sum of any two adjacent supporting legs is smaller than the action limiting value, emergency processing is conducted; 7, after the arm frame is drawn back in place, machine halt is conducted, or step 1 is executed. The speed limiting alarm value is a product of a speed reducing safety coefficient and the whole truck weight, and the action limiting value is a product of a stopping safety coefficient and the whole truck weight. According to the overhead working truck tipping prevention control method, through the concise and clear control method, the tipping risks that an overhead working truck tips over towards any side are directly determined, early warning is extracted and processing is conducted, and the control complexity is greatly lowered.
Description
Technical field
The present invention relates to a kind of aerial platform anti-tipping control method, be mainly applicable to aerial platform real time monitoring signals and trend analysis and trend and control.
Background technology
The anti-tipping control employing amplitude restriction of current telescopic boom aerial platform (containing high lifting kind fire extinguishing tanker) or the method for moment restriction, need the physical quantity of detection more: the extension elongation of arm, the luffing angle of arm or the load of working bucket, the extension elongation (detection of supporting leg span) of each bar horizontal support legs, the levelness (requiring vehicle frame leveling) of turntable plane, the degreeof turn etc. of turntable, corresponding control system and control program are all comparatively complicated, need to calculate amplitude restricting data table according to desirable typical condition in advance, send in the program of controller, one or more typical scope of work are fixed up, selected the scope of work be applicable to according to the supporting leg operating mode detected and working bucket load by control program during operation, realize anti-tipping control.
The method of calculating of amplitude restriction and moment restriction is: suppose that rotation of rotary table axes normal is in horizontal surface, the line of neighboring vertical supporting leg touchdown point is defined as " tipping line ", calculate the jib position that car load center of gravity projects in the horizontal plane when various typical attitude; Criterion: if this position is at 4 " tipping line " car load is stablized in the region that surrounds, is critical conditions on line, the state can tumbled exactly outside region.After adding certain safety factor, just form one or more typical scope of work.
Along with the appearance of complicated jib structure (multi-joint, degree of freedom of doing more physical exercises), center of gravity calculation equation complex, abnormal harsh to the error requirements of the sensor measuring each joint arm collapsing length and angle, what cost improved is difficult to accept, therefore, adopt traditional amplitude restriction or the method for moment restriction, be difficult to anti-tipping control.
Summary of the invention
Technical matters to be solved by this invention is the deficiency overcoming prior art existence, a kind of aerial platform anti-tipping control method is provided, significantly reduce the complexity of aerial platform (containing high lifting kind fire extinguishing tanker) anti-rollover control system, realize the anti-tipping control of complicated jib structure vehicle, automatically adapt to the anti-tipping control (self adaptation scope of work) during aloft work under complex site (uneven, narrow) environment.
The present invention solves the problems of the technologies described above adopted technical scheme: a kind of aerial platform anti-tipping control method, aerial platform four supporting leg tops are all provided with the pressure sensor of the antagonistic force for detecting supporting leg, the controller of aerial platform is connected with four pressure sensors and controls the operation of aerial platform, it is characterized in that described aerial platform anti-tipping control method comprises the following steps:
One, read the pressure sensor data of four supporting legs and convert antagonistic force to;
Two, the antagonistic force sum of four supporting legs is not equal to complete vehicle weight and then carries out fault handling;
Three, the antagonistic force sum of each adjacent legs is calculated when jib has action;
Four, the 7th step is turned when the antagonistic force sum of any one adjacent legs is not less than speed limit alarming value;
Five, current action slows down and reports to the police;
Six, emergency treatment is carried out when the antagonistic force sum of any one adjacent legs is less than restraint value;
Seven, jib is regained and is put in place, shuts down, otherwise turns the first step.
Due to aerial platform face to tumble risk to a certain side time, the stressed of two supporting legs of its opposite side must tend to zero, therefore the present invention is by the stressing conditions of detection four supporting legs, calculate the antagonistic force sum of each adjacent legs, the risk of tumbling of aerial platform can be judged, and be divided into two grades according to the size of risk of tumbling, first grade of situation for early warning, now carry out speed limit warning, carry out current action deceleration and report to the police when namely the antagonistic force sum of any two adjacent legs is less than speed limit alarming value; Second gear is very urgent situation, carries out emergency treatment, stop current action immediately when namely the antagonistic force sum of any two adjacent legs is less than restraint value, reports to the police and or allows (current action) reverse operating.
Fault handling steps of the present invention comprises: pressure sensor failure process, starts calibration package and shuts down.
Speed limit alarming value of the present invention is the product of deceleration safety factor and complete vehicle weight, and its span is 0.08 ~ 0.15; Described restraint value is the product stopping safety factor and complete vehicle weight, and its span is 0.05 ~ 0.1; According to concrete vehicle, test can be carried by wind and determines.
Advantage of the present invention is: directly determine the tumble risk of aerial platform to either side by succinctly clear and definite control method, extracts early warning and processes, significantly simplifying control complexity.
Accompanying drawing explanation
Fig. 1 is the principle schematic of the embodiment of the present invention.
Fig. 2 is the control flow chart of the embodiment of the present invention.
In figure: G-working bucket, S-horizontal rotation arm, B3-the 3rd telescopic boom, B2-second telescopic boom, B1-first telescopic boom, the left front support leg pressure sensor of Qlf-, the right front support leg pressure sensor of Qrf-, the left back support leg pressure sensor of Qlr-, the right back support leg pressure sensor of Qrr-, N-turntable, NL-turntable plane.
Detailed description of the invention
See Fig. 1, the main thought of embodiment of the present invention aerial platform anti-tipping control method is based on following 2 brass tacks: 1, when support reaction (supporting leg antagonistic force) sum of adjacent two supporting legs level off to 0 time, the danger that the oriented offside of car load is tumbled; 2, the support reaction sum of all supporting legs is that a constant equals complete vehicle weight.In jib motion process, by the change of continuous real-time monitoring 4 vertical leg support reactions, by each operation control program containing trend-analyzing model, analyze current jib motion to the impact (favourable or unfavorable trend) of whole vehicle stability generation and degree, when reaching speed limit alarming value, to unfavorable action reduction of speed, send alerting signal simultaneously, when reaching restraint value, constraint (stopping) this unfavorable action, upgrade to warning signal, decontrol the reciprocal constraint of this action (escape mechanism of constraint) simultaneously, thus realize anti-tipping control.
Complete vehicle weight F=(Fa+Fb+Fc+Fd) * (1 ± Δ %)------(1); Wherein: Fa is left front supporting leg antagonistic force, Fb is left back supporting leg antagonistic force, Fc is right back supporting leg antagonistic force, Fd is right front supporting leg antagonistic force, Δ %-is sensor reasonable error, by the credibility of equation (1) continuous monitoring supporting leg reaction force sensor, supporting leg antagonistic force is called for short support reaction or counter-force.
Tumble forward critical: Fq=(Fb+Fc) * (1-Δ %)=0------(2), in formula, Fq is rear side two supporting leg antagonistic force sum.
Tumble backward critical: Fh=(Fa+Fd) * (1-Δ %)=0------(3), in formula, Fh is front side two supporting leg antagonistic force sum.
Tumble left critical: Fz=(Fc+Fd) * (1-Δ %)=0------(4), in formula, Fz is right side two supporting leg antagonistic force sum.
Tumble to the right critical: Fy=(Fa+Fb) * (1-Δ %)=0------(5), in formula, Fy is left side two supporting leg antagonistic force sum.
Formula (2)-formula (5) is anti-tipping criterion.
With reference to formula (1)--formula (5), when Fq or Fh or Fz or Fy≤Fds--------(6)
When Fq or Fh or Fz or Fy≤Fxd--------(7)
Suppose: speed limit alarming value Fds=d% × F, in formula, d is deceleration safety factor, d desirable 8 ~ 15; Restraint value Fxd=e% × F, in formula, e is for stopping safety factor, e desirable 5 ~ 10; According to concrete vehicle, test can be carried by wind and determines.
The present invention is all provided with pressure sensor on aerial platform four supporting leg tops, and four pressure sensors are used for the antagonistic force of detection four supporting legs, and control program outline flow process as shown in Figure 2, comprises following key step:
1, read the pressure sensor data of four supporting legs and convert antagonistic force to;
2, the antagonistic force sum of four supporting legs is not equal to complete vehicle weight and then carries out fault handling;
3, the antagonistic force sum of each adjacent legs is calculated when jib has action;
4, the 7th step is turned when the antagonistic force sum of any one adjacent legs is not less than speed limit alarming value;
5, current action slows down (speed limit) and reports to the police;
6, emergency treatment is carried out when the antagonistic force sum of any one adjacent legs is less than restraint value;
7, jib is regained and is put in place, shuts down, otherwise turns the 1st step.
Described emergency treatment step is generally stopping current action, reports to the police and or allows reverse operating.
Allly conceive according to the present invention the equivalence or simple change that described structure, shape and feature do, be included in the protection domain of patent of the present invention.
Claims (5)
1. an aerial platform anti-tipping control method, aerial platform four supporting leg tops are all provided with the pressure sensor of the antagonistic force for detecting supporting leg, the controller of aerial platform is connected with four pressure sensors and controls the operation of aerial platform, and it is held and levies is comprise the following steps:
One, read the pressure sensor data of four supporting legs and convert antagonistic force to;
Two, the antagonistic force sum of four supporting legs is not equal to complete vehicle weight and then carries out fault handling;
Three, the antagonistic force sum of each adjacent legs is calculated when jib has action;
Four, the 7th step is turned when the antagonistic force sum of any one adjacent legs is not less than speed limit alarming value;
Five, current action slows down and reports to the police;
Six, emergency treatment is carried out when the antagonistic force sum of any one adjacent legs is less than restraint value;
Seven, jib is regained and is put in place, shuts down, otherwise turns the first step;
Described speed limit alarming value is the product of deceleration safety factor and complete vehicle weight, and described restraint value is the product stopping safety factor and complete vehicle weight.
2. aerial platform anti-tipping control method according to claim 1, it is held to levy and is: described deceleration safety factor is 0.08 ~ 0.15.
3. aerial platform anti-tipping control method according to claim 1, it is held to levy and is: described stopping safety factor is 0.05 ~ 0.1.
4. aerial platform anti-tipping control method according to claim 1, it is held to levy and is: described fault handling steps comprises: pressure sensor failure process, starts calibration package and shuts down.
5. aerial platform anti-tipping control method according to claim 1, it is held to levy and is: described emergency treatment step comprises: stop current action immediately, reports to the police and or allows reverse operating.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410701382.0A CN104591050A (en) | 2014-11-28 | 2014-11-28 | Overhead working truck tipping prevention control method |
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| CN201410701382.0A CN104591050A (en) | 2014-11-28 | 2014-11-28 | Overhead working truck tipping prevention control method |
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| CN201410701382.0A Pending CN104591050A (en) | 2014-11-28 | 2014-11-28 | Overhead working truck tipping prevention control method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106599544A (en) * | 2016-11-24 | 2017-04-26 | 徐工消防安全装备有限公司 | Support leg counter-force calculation method and turntable leveling control method for high-altitude operation vehicle |
| CN106586918A (en) * | 2016-11-11 | 2017-04-26 | 徐州海伦哲专用车辆股份有限公司 | Folding-jib overhead working truck control method capable of realizing automatic amplitude limiting |
| CN106865459A (en) * | 2017-03-23 | 2017-06-20 | 江苏大学 | A kind of full working scope of mobile lift is automatically anti-to turn over system and method |
| CN109826908A (en) * | 2018-12-31 | 2019-05-31 | 武汉理工大学 | High-altitude operation vehicle counterweight determines method and determining device |
| CN110885042A (en) * | 2019-11-29 | 2020-03-17 | 三一汽车制造有限公司 | Arm support equipment, control method and control device thereof, and computer-readable storage medium |
| CN112173997A (en) * | 2020-09-30 | 2021-01-05 | 江苏宏昌天马物流装备有限公司 | Intelligent folding arm crane safety early warning and control system and method based on cloud side end data fusion |
| CN112499533A (en) * | 2020-10-30 | 2021-03-16 | 徐州海伦哲特种车辆有限公司 | Dynamic amplitude limiting method for boom type operation vehicle |
| CN112938853A (en) * | 2021-03-10 | 2021-06-11 | 湖南星邦智能装备股份有限公司 | Optimization control method for implementing stable operation of aerial work platform |
| CN114455474A (en) * | 2021-12-23 | 2022-05-10 | 中联重科股份有限公司 | Method and device for determining stability of engineering equipment and engineering equipment |
| CN114687561A (en) * | 2020-12-31 | 2022-07-01 | 三一汽车制造有限公司 | Method and device for controlling working machine and working machine |
| CN117208819A (en) * | 2023-11-09 | 2023-12-12 | 临工重机股份有限公司 | Control method of telescopic boom forklift supporting leg and telescopic boom forklift |
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| DE10110176A1 (en) * | 2001-03-02 | 2002-09-05 | Putzmeister Ag | Mobile work-tool, especially concrete pumping vehicle has force sensors in each support foot monitored by an evaluating electronics |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106586918A (en) * | 2016-11-11 | 2017-04-26 | 徐州海伦哲专用车辆股份有限公司 | Folding-jib overhead working truck control method capable of realizing automatic amplitude limiting |
| CN106586918B (en) * | 2016-11-11 | 2018-09-25 | 徐州海伦哲专用车辆股份有限公司 | A kind of folding arm high-altitude operation vehicle control method that automatic amplitude limit can be achieved |
| CN106599544A (en) * | 2016-11-24 | 2017-04-26 | 徐工消防安全装备有限公司 | Support leg counter-force calculation method and turntable leveling control method for high-altitude operation vehicle |
| CN106865459A (en) * | 2017-03-23 | 2017-06-20 | 江苏大学 | A kind of full working scope of mobile lift is automatically anti-to turn over system and method |
| CN109826908A (en) * | 2018-12-31 | 2019-05-31 | 武汉理工大学 | High-altitude operation vehicle counterweight determines method and determining device |
| WO2021103275A1 (en) * | 2019-11-29 | 2021-06-03 | 三一汽车制造有限公司 | Boom apparatus and control method and control device therefor, and computer-readable storage medium |
| CN110885042A (en) * | 2019-11-29 | 2020-03-17 | 三一汽车制造有限公司 | Arm support equipment, control method and control device thereof, and computer-readable storage medium |
| CN112173997A (en) * | 2020-09-30 | 2021-01-05 | 江苏宏昌天马物流装备有限公司 | Intelligent folding arm crane safety early warning and control system and method based on cloud side end data fusion |
| CN112499533A (en) * | 2020-10-30 | 2021-03-16 | 徐州海伦哲特种车辆有限公司 | Dynamic amplitude limiting method for boom type operation vehicle |
| CN114687561A (en) * | 2020-12-31 | 2022-07-01 | 三一汽车制造有限公司 | Method and device for controlling working machine and working machine |
| CN112938853A (en) * | 2021-03-10 | 2021-06-11 | 湖南星邦智能装备股份有限公司 | Optimization control method for implementing stable operation of aerial work platform |
| CN114455474A (en) * | 2021-12-23 | 2022-05-10 | 中联重科股份有限公司 | Method and device for determining stability of engineering equipment and engineering equipment |
| CN117208819A (en) * | 2023-11-09 | 2023-12-12 | 临工重机股份有限公司 | Control method of telescopic boom forklift supporting leg and telescopic boom forklift |
| CN117208819B (en) * | 2023-11-09 | 2024-02-02 | 临工重机股份有限公司 | Control method of telescopic boom forklift supporting leg and telescopic boom forklift |
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