CN105292082B - Control method, control device and engineering machinery that a kind of preventing engineering machinery is tumbled - Google Patents
Control method, control device and engineering machinery that a kind of preventing engineering machinery is tumbled Download PDFInfo
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- CN105292082B CN105292082B CN201410233940.5A CN201410233940A CN105292082B CN 105292082 B CN105292082 B CN 105292082B CN 201410233940 A CN201410233940 A CN 201410233940A CN 105292082 B CN105292082 B CN 105292082B
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Abstract
The invention discloses control method, control device and the engineering machinery that a kind of preventing engineering machinery is tumbled, this method includes：Obtain position and the support force of each supporting leg of engineering machinery；Vehicle gravity is obtained according to the support force of each supporting leg；Vehicle position of centre of gravity is calculated according to equalising torque；It is determined that side of tumbling；According to vehicle chassis to tumble while torque and vehicle center of gravity between torque when tumbling corresponding relation obtain safety coefficient, safety coefficient be less than setting value range minimum value when, lock engineering machinery.Beneficial effects of the present invention are：By obtaining safety coefficient in real time, and whether the danger tumbled is occurred by safety coefficient and the multilevel iudge engineering machinery of the value range of setting, so as to real-time work machine, and it can also judge whether engineering machinery occurs the danger tumbled when supporting leg is not opened completely, improve the security of engineering machinery.
Description
Technical field
The present invention relates to the technical field that engineering machinery is anti-tipping, more particularly to the control that a kind of preventing engineering machinery is tumbled
Method, control device and engineering machinery.
Background technology
Hydraulic leg engineering mechanical device, such as concrete mixer, autocrane, high altitude extension ladder, high-altitude operation vehicle
Deng, it is that maximum safety work region is formed with supporting leg expansion support ground, then will be negative by stretching more piece boom system
Loading is transported to target location.
The accident of engineering mechanical device is tumbled to equipment and personnel component grave danger, causes this reason to have following
It is several：During operation due to overload etc. reason cause structural focus seriously to offset, supporting leg not completely open when operation beyond safety make
Industry region, supporting leg are because problem carrying in ground is uneven, ground is slowly collapsed.
In the prior art, the design of engineering mechanical device is to be fully deployed support to ensure the maximum operation of equipment with supporting leg
Ability, but often due to the limitation in live place, supporting leg can not be opened completely, the judgement or specific of operating personnel can only be relied on
Supporting way is come the operation that ensures safety.
So, engineering mechanical device is very crucial technical problem in the support safety of work progress, particularly in branch
The safety of engineering mechanical device is dynamically ensured under any open mode of leg, as technical problem urgently to be resolved hurrily.
The content of the invention
The present invention provides control method, control device and the engineering machinery that a kind of preventing engineering machinery is tumbled, to improve work
The security of journey machinery when in use.
The invention provides the control method bag that the control method that a kind of preventing engineering machinery is tumbled, the preventing engineering machinery are tumbled
Include：
When engineering machinery is supported by supporting leg, gather the Support Position information of each supporting leg and support the work
The support force of journey machinery；
The vehicle gravity of the engineering machinery is obtained according to the support force of each supporting leg propping works machinery；
The vehicle position of centre of gravity of the engineering machinery is calculated according to equalising torque, and determines tumble side, the side of tumbling
In line for the Support Position of the adjacent supporting leg of any two, the minimum line with vehicle position of centre of gravity distance
One side；
According to the vehicle chassis center of gravity of engineering machinery to tumble while torque and the vehicle center of gravity to torque when tumbling
Between corresponding relation obtain engineering machinery safety coefficient, acquisition safety coefficient be more than setting value range maximum
When, engineering machinery safety is determined, during the minimum value for the value range for being less than setting in the safety coefficient of acquisition, determines that engineering machinery has
Rollover risk, and lock engineering machinery.
In the above-mentioned technical solutions, by vehicle chassis center of gravity to tumble while torque and vehicle center of gravity to power when tumbling
Corresponding relation between square obtains safety coefficient, and the multilevel iudge engineering machinery of the value range by safety coefficient with setting is
It is no that the danger tumbled occurs, so as to real-time work machine, and also may be used when supporting leg is not opened completely
To judge whether engineering machinery occurs the danger tumbled, the security of engineering machinery is improved.
It is preferred that, vehicle chassis center of gravity to tumble while torque and the vehicle center of gravity between torque when tumbling
Corresponding relation be：
Wherein, ksafeFor the safety coefficient of engineering machinery, GtruckTo be described
The gravity on vehicle chassis, DisP is vehicle chassis center of gravity to the distance on side of tumbling, GtotalFor the vehicle gravity, DisQ is
Distance of the vehicle center of gravity to side of tumbling.The safety coefficient of engineering machinery is obtained by above-mentioned corresponding relation.
It is preferred that, it is described engineering machinery is calculated according to equalising torque vehicle position of centre of gravity be specially：
Coordinate system is set up as reference planes using plane where the end of supporting leg；
Obtain coordinate of the Support Position in coordinate system of each supporting leg；
The line of the coordinate of the Support Position of adjacent supporting leg is reference line using in any three supporting legs；
Vehicle center of gravity is calculated respectively to the distance of two reference lines by equalising torque, the position of vehicle center of gravity is determined.
The center of gravity of vehicle is obtained by equalising torque in the above-mentioned methods.
It is preferred that, the mechanical support force of each supporting leg propping works that gathers is specially：
F=P1S1-P2S2+ f, wherein, F is support force, P1And P2The rodless cavity of the support cylinder of respectively described supporting leg
Pressure and rod chamber pressure, S1And S2The respectively cross-sectional area of the cavity volume of the cross-sectional area of the cavity volume of rodless cavity and rod chamber, f
For friciton compensation power.By increasing the accuracy that friciton compensation power further improves the support force of acquisition.
It is preferred that, this method also includes, when the engineering machinery is not operating, and interval setting time obtains the vehicle weight
The position of the heart is simultaneously contrasted, and when the vehicle position of centre of gravity of acquisition changes, sends the alarm for surface collapse occur.
The further security for improving engineering machinery.
It is preferred that, this method also includes：When the supporting leg of acquisition supports the support force of the engineering machinery, if obtain
When support force exceeds the setting support force of supporting leg, arm support is locked.It ensure that the authenticity of the data of collection.
It is preferred that, this method be additionally included in the arm support of engineering machinery any joint arm frame along direction initialization rotate when, detection
Safety coefficient, when being less than the maximum of the value range of setting and the minimum value more than the value range of setting in the safety coefficient,
The joint arm frame is limited to rotate along the direction initialization.The further security for improving engineering machinery.
It is preferred that, the first setting value, the second setting value and the 3rd that the value range of the setting includes arranging in descending order are set
Definite value, the control method that the preventing engineering machinery is tumbled is additionally included in the safety coefficient between the first setting value and the second setting value
Between when, limit engineering machinery enter slow notch speed degree；When the safety coefficient is between the second setting value and three setting values, prohibit
Only engineering machinery carries out the action of reduction safety coefficient；When the safety coefficient is less than three setting values, engineering machinery is locked.
The action of more precise control engineering machinery, improves the security of engineering machinery.
The invention provides a kind of control device for being used to prevent that engineering machinery from tumbling, the control device includes：
Receiving module, position and support force for receiving the supporting leg detected；
Data processing module, is connected with the receiving module signal, according to the support of each supporting leg propping works machinery
Power obtains the vehicle gravity of the engineering machinery；The vehicle position of centre of gravity of the engineering machinery is calculated according to equalising torque, and
It is determined that in side of tumbling, the line of the Support Position of the side for the adjacent supporting leg of any two of tumbling, with the vehicle
The minimum line of position of centre of gravity distance；According to the torque of the vehicle chassis center of gravity of engineering machinery to side of tumbling and the vehicle center of gravity
The safety coefficient of engineering machinery is obtained to the corresponding relation between the torque on side of tumbling, is more than setting in the safety coefficient of acquisition
During the maximum of value range, engineering machinery safety is determined, during the minimum value for the value range for being less than setting in the safety coefficient of acquisition,
Determine that engineering machinery has rollover risk, and lock engineering machinery.
In such scheme, by vehicle chassis center of gravity to tumble while torque and vehicle center of gravity to torque when tumbling it
Between corresponding relation obtain safety coefficient, and whether can by safety coefficient and the multilevel iudge engineering machinery of value range of setting
There is the danger tumbled, so as to real-time work machine, and can also sentence when supporting leg is not opened completely
Break and whether engineering machinery occurs the danger tumbled, improve the security of engineering machinery.
It is preferred that, the data processing module is additionally operable to when vehicle is not operating, and the position of the vehicle center of gravity of acquisition occurs
Change, sends the alarm for surface collapse occur.Improve the security of engineering machinery.
It is preferred that, the data processing module be additionally operable in arm support any joint arm frame along direction initialization rotate when, detection
Safety coefficient, when safety coefficient is less than the value range of setting, limits the joint arm frame and is rotated along the direction initialization.Improve engineering
The security of machinery.
It is preferred that, the data processing module is additionally operable to：The first setting for including arranging in descending order in the value range of setting
Value, the second setting value and the 3rd setting value, the control method that the preventing engineering machinery is tumbled be additionally included in the safety coefficient between
When between the first setting value and the second setting value, limit engineering machinery and enter slow notch speed degree；In the safety coefficient between second
When setting value and three setting values, engineering machinery is forbidden to carry out the action of reduction safety coefficient；It is less than the in the safety coefficient
During three setting values, engineering machinery is locked.Improve the security of engineering machinery.
The invention provides a kind of engineering machinery, the engineering machinery includes：
It is arranged at the sensor on each supporting leg；
Control device, is connected with each sensor signal, is obtained according to the support force of each supporting leg propping works machinery
The vehicle gravity of the engineering machinery；The vehicle position of centre of gravity of the engineering machinery is calculated according to equalising torque, and determines to incline
In flange, the line of the Support Position of the side for the adjacent supporting leg of any two of tumbling, with vehicle center of gravity position
Put the minimum line of distance；According to the torque of the vehicle chassis center of gravity of engineering machinery to side of tumbling and the vehicle center of gravity to tumbling
Corresponding relation between the torque on side obtains the safety coefficient of engineering machinery, is more than the value range of setting in the safety coefficient of acquisition
Maximum when, determine engineering machinery safety, acquisition safety coefficient be less than setting value range minimum value when, determine work
Journey machinery has rollover risk, and locks engineering machinery.
In such scheme, by vehicle chassis to tumble while torque and vehicle center of gravity between torque when tumbling
Corresponding relation obtains safety coefficient, and whether the multilevel iudge engineering machinery of the value range by safety coefficient with setting occurs
The danger tumbled, so as to real-time work machine, and can also judge when supporting leg is not opened completely
Whether engineering machinery occurs the danger tumbled, and improves the security of engineering machinery.
It is preferred that, the control device is any of the above-described kind of control device.So as to improve the security of engineering machinery.
Brief description of the drawings
Fig. 1 is the flow chart for the control method that preventing engineering machinery provided in an embodiment of the present invention is tumbled；
Fig. 2 is the top view of engineering machinery provided in an embodiment of the present invention.
Embodiment
The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that described herein
Embodiment be merely to illustrate and explain the present invention, be not intended to limit the invention.
The embodiments of the invention provide the control that the control method that a kind of preventing engineering machinery is tumbled, the preventing engineering machinery are tumbled
Method includes：
When engineering machinery is supported by supporting leg, the Support Position information and propping works machine of each supporting leg are gathered
The support force of tool；
The vehicle gravity of engineering machinery is obtained according to the support force of each supporting leg propping works machinery；
The vehicle position of centre of gravity of engineering machinery is calculated according to equalising torque, and determines side of tumbling, side of tumbling is any two
In the line of the Support Position of individual adjacent supporting leg, one side of minimum line with vehicle position of centre of gravity distance；
According to the vehicle chassis center of gravity of engineering machinery to tumble while torque and vehicle center of gravity between torque when tumbling
Corresponding relation obtain engineering machinery safety coefficient, acquisition safety coefficient be more than setting value range maximum when,
Engineering machinery safety is determined, during the minimum value for the value range for being less than setting in the safety coefficient of acquisition, determines that engineering machinery has and inclines
Danger is turned over, and locks engineering machinery.
In the above-mentioned methods, by vehicle chassis to tumble while torque and vehicle center of gravity between torque when tumbling
Corresponding relation obtains safety coefficient, and whether the multilevel iudge engineering machinery of the value range by safety coefficient with setting occurs
The danger tumbled, so as to real-time work machine, and can also judge when supporting leg is not opened completely
Whether engineering machinery occurs the danger tumbled, and improves the security of engineering machinery.
1 pair of above-mentioned method of tumbling of putting is described in detail below in conjunction with the accompanying drawings.
Step 101, when engineering machinery is supported by supporting leg, gather the Support Position information and branch of each supporting leg
Support the support force of engineering machinery；
Specifically, detecting the support force of each supporting leg by pressure sensor, and obtain each by position sensor
The information of the Support Position of supporting leg；Wherein, the support force of the supporting leg of acquisition is specially：F=P1S1-P2S2+ f, F are support
Power, P1And P2Respectively the rodless cavity pressure and rod chamber pressure of the support cylinder of supporting leg, S1And S2The respectively appearance of rodless cavity
The cross-sectional area of the cross-sectional area of chamber and the cavity volume of rod chamber, f is friciton compensation power, and the friciton compensation power is the work of support cylinder
When plug is moved in support cylinder, the frictional force between piston and support cylinder.Make it possible to obtain more by friciton compensation power
Accurate support force, so as to obtain more accurately vehicle gravity, improves the accuracy of detection.
Step 102, judge obtain supporting leg support force whether exceed supporting leg setting support force, without departing from branch
Step 103 is performed during the setting support force of support leg, if the support force obtained exceeds the setting support force of supporting leg, lock arm
Frame.
Specifically, when detecting the support force of supporting leg by pressure sensor, by the support of each supporting leg of acquisition
The setting support force contrast of power and supporting leg, when the setting support force beyond supporting leg, the oil cylinder of supporting leg reaches that the upper limit is faced
There is distortion in dividing value, the data of collection, now, lock arm support, and adjust the support situation of supporting leg, it is to avoid the number gathered occur
According to distortion, the authenticity of the data obtained in later step is had influence on.
Step 103, the vehicle gravity according to the mechanical support force acquisition engineering machinery of each supporting leg propping works；
Specifically, according to simple mechanical balance：Gtotal=F1+F2+F3+F4, obtains the gravity of vehicle, wherein, Gtotal
For the vehicle gravity of engineering machinery, F1, F2, F3, F4 are respectively the support force of four supporting leg propping works machinery.
Step 104, the vehicle position of centre of gravity for calculating according to equalising torque engineering machinery；
Specifically, calculating for convenience, coordinate system is set up as reference planes using plane where the end of supporting leg；And obtain
The coordinate of the end of each supporting leg, specifically, the end of each supporting leg is detected by position sensor, to obtain each branch
The ending coordinates of support leg；When obtaining vehicle center of gravity, determined by the principle of equalising torque, specifically, with any three branch
The line of adjacent supporting leg is reference line in support leg；Vehicle center of gravity is calculated respectively to two references by equalising torque afterwards
The distance of line, determines the position of vehicle center of gravity.Understand for convenience, with reference to Fig. 2, wherein, 1 is front right supporting leg, and 2 be rear right branch
Leg, 3 be rear left branch leg, and 4 be preceding left branch leg, and Q is vehicle position of centre of gravity, and 6 be vehicle safety work face, and E, F, G, H are supporting leg
End is to the intersection point of safe edge, and I, J are intersection point of the vehicle center of gravity to safe edge, and O is the origin of coordinates (arm support rotation center of gravity), and P is
Vehicle chassis center of gravity, A, B, C, D are supporting leg end.By taking front right supporting leg 1, preceding left branch leg 4, rear right supporting leg 2 as an example, its line is AD
And AB, when using AD as reference edge, it can be seen from equalising torque, the torque and vehicle of rear right supporting leg 2 and rear left branch leg 3 to AD sides
Gravity to AD torque are identical, i.e. Gtotal* QJ=F1*FE+F2*CG, wherein, F1 is the support force of rear right supporting leg 2, and FE is rear right
Supporting leg 2 arrives AD vertical range, and F2 is the support force of rear left branch leg 3, and CG is the vertical range that rear left branch leg 3 arrives AD, and QJ is whole
The car weight heart can calculate OJ size to AD distance by above-mentioned torque formula, similarly, using AB as reference edge, pass through power
Square balance can calculate distance of the vehicle center of gravity to QI size, i.e. vehicle center of gravity to AB sides for QI, and the distance to AD sides is
QJ, is the coordinate Q that can obtain vehicle center of gravity by simple mathematical computations.
Step 105, determination are tumbled side, in line of the side for the Support Position of the adjacent supporting leg of any two of tumbling, with
The minimum line of vehicle position of centre of gravity distance；
Specifically, after vehicle center of gravity is determined, calculating vehicle center of gravity and connecting to the adjacent supporting leg end of any two
The distance of line, the distance can be obtained by principle of moment balance, can also be obtained, determined according to simple mathematical formulae
Vehicle center of gravity to the size after the distance of each line, judged between each distance, wherein, minimum with vehicle centroidal distance two
Individual adjacent support legs line is side of tumbling.As shown in Fig. 2 wherein OI distance is minimum, you can AB is while to tumble.
Step 106, the torque according to the vehicle chassis center of gravity of engineering machinery to side of tumbling and the vehicle center of gravity are to tumbling
Corresponding relation between the torque on side obtains the safety coefficient of engineering machinery, is more than the value range of setting in the safety coefficient of acquisition
Maximum when, determine engineering machinery safety, acquisition safety coefficient be less than setting value range minimum value when, determine work
Journey machinery has rollover risk, and locks engineering machinery；
Specifically, vehicle chassis to tumble while torque and vehicle center of gravity to the corresponding relation between torque when tumbling
For：
Wherein, ksafeFor the safety coefficient of engineering machinery, GtruckFor vehicle
The gravity on chassis, DisP is vehicle chassis center of gravity to the distance on side of tumbling, GtotalFor vehicle gravity, DisQ is vehicle center of gravity to inclining
The distance of flange.By by ksafeContrasted with the value range of setting, in ksafeLess than setting value range when, engineering machinery
In the presence of the danger tumbled, engineering machinery is locked, it is to avoid tumble.
Step 107, it is determined that vehicle safety coefficient not less than setting value range minimum value, do not moved in engineering machinery
When making, interval setting time obtains the position of vehicle center of gravity and contrasted, and becomes in the vehicle position of centre of gravity of acquisition
During change, the alarm for surface collapse occur is sent.
Specifically, when engineering machinery is not operating, the position of centre of gravity of vehicle should be changeless, be obtained when calculating
When vehicle center of gravity changes, then illustrate that the position of supporting leg changes, i.e., supporting leg sink, this occurs
When, alarm is sent, operating personnel's sinking of ground is reminded, engineering machinery has the danger tumbled.
Step 108, when step 107 does not send alarm, i.e., when whole vehicle center does not change, it is allowed to the arm support of engineering machinery
Start action, in the arm support of engineering machinery any joint arm frame along direction initialization rotate when, detect safety coefficient, in safety coefficient
Less than the value range of setting maximum and more than setting value range minimum value when, limit the joint arm frame along the direction initialization
Rotate.
Specifically, each arm support angle, θ i is measured with angular transducer, with reference to the structures such as each arm support length Li, quality mi ginseng
Number, the posture that boom system is obtained per joint arm centroid position length L ' i is obtained by every joint arm structure attribute, determine each arm support to
Go up or move downward the influence to boom system gravity center shift：
Calculate each arm support tail end coordinate (xi,yi) and structure barycenter coordinate (x 'i,y′i)
If operating the i-th joint arm, then it is considered as a total system from the i-th joint arm to last arm support, by member's arm support center-of-mass coordinate
Calculate the center-of-mass coordinate (x of total systemiB,yiB):
Angle [alpha] i is calculated by total system center-of-mass coordinate, angle reduces just to represent the upward movement arm booster square of the i-th joint arm
So as to which vehicle center of gravity is reclaimed, belong to safety operation；Angle is negative, then it represents that the i-th joint arm moves downward vehicle center of gravity deviation safety.
By above-mentioned calculating judge arm support along direction initialization rotate when influence to vehicle center of gravity, if the change of vehicle center of gravity
Change and improve safety coefficient, then allow the action of arm support, if the change reduction safety coefficient of vehicle center of gravity, by safety coefficient with setting
Fixed value range is compared, and when safety coefficient is less than the value range of setting, limits motion of the arm support in the direction.
More preferably, in order to the change of more precise control vehicle, wherein, the value range of setting includes arranging in descending order
The first setting value, the second setting value and the 3rd setting value, the control method that the preventing engineering machinery is tumbled is additionally included in safe system
When number is between the first setting value and the second setting value, limits engineering machinery and enter slow notch speed degree；In safety coefficient between
When two setting values and three setting values, engineering machinery is forbidden to carry out the action of reduction safety coefficient；It is less than the 3rd in safety coefficient
During setting value, engineering machinery is locked.Specifically, when safety coefficient is less than 1, overturn accident occurs in vehicle, whole in order to ensure
Car does not overturn, and safety coefficient should be greater than 1, the degree of danger tumbled according to vehicle, corresponding first setting value a (1.14), second
Setting value b (1.09), the 3rd safety coefficients of setting value c (1.05) three, wherein a>b>C, is divided into tri- harmful grades of a, b, c,
Safety coefficient is smaller, and rollover risk degree is bigger, and the dangerous journey of the difference tumbled of vehicle is represented with the safety coefficient of different stage
Degree.If safety coefficient is less than a and is more than or equal to b, belong to a grades of danger, will be controlled in director demon：Hammerlock frame
Fast shelves, into slow shelves pattern, the motion in hammerlock section increase arm support torque direction are judged according to total system barycenter angle, lock is dangerous
One side arm support revolution in direction；If safety coefficient is less than b and is more than or equal to c, belong to b grades of danger, the action of hammerlock frame is held
Continue some seconds, alternatively, hammerlock frame is acted 5 seconds, the fast shelves of hammerlock frame, into slow shelves pattern, hammerlock section increase arm support torque direction
Motion, one side revolution in the dangerous direction of lock；If safety coefficient is less than c, belongs to c grades of dangerous, hammerlock frame actions, lock operation
Action.Pass through grading control, it is ensured that the safety of vehicle, when the dangerous tendency of vehicle, the dangerous direction arm support action of limitation can be with
Ensure to make the safe return of vehicle in safe direction motion arm frame, when the danger of vehicle is dangerous to highest level, limitation is all
Possible dangerous vehicle action, it is ensured that the safe condition of vehicle.Under emergency conditions, can also be by switch to artificial emergent branch
Hold mode formula, the institute for releasing intelligent support and control system to vehicle is restricted.
The controlling party that the preventing engineering machinery that can be seen that the present embodiment offer by above-mentioned specific method and step is tumbled
Method, can detect engineering machinery safety when which kind of state no matter supporting leg be opened into, it is to avoid engineering machinery is tumbled, together
When, in the arm support action of engineering machinery, by the change of the safety coefficient of real-time work machine come supervision control engineering machinery
Safety, improve the security of engineering machinery when in use.
The embodiment of the present invention additionally provides a kind of control device, and the control device includes：
Receiving module, position and support force for receiving the supporting leg detected；
Data processing module, is connected with receiving module signal, is obtained according to the support force of each supporting leg propping works machinery
Take the vehicle gravity of engineering machinery；The vehicle position of centre of gravity of engineering machinery is calculated according to equalising torque, and determines side of tumbling, to incline
In line of the flange for the Support Position of the adjacent supporting leg of any two, the minimum line with vehicle position of centre of gravity distance；Root
According to engineering machinery vehicle chassis center of gravity to tumble while torque and vehicle center of gravity to the corresponding relation between torque when tumbling
The safety coefficient of engineering machinery is obtained, during the maximum for the value range for being more than setting in the safety coefficient of acquisition, engineering machine is determined
Tool safety, during the minimum value for the value range for being less than setting in the safety coefficient of acquisition, determines that engineering machinery has rollover risk, and lock
Determine engineering machinery.
Control device in above-described embodiment be applied to engineering machinery it is anti-tipping in, when in use, pass through receiving module
Position and the support force of the supporting leg of sensor detection are received, and passes through position of the data processing module according to the supporting leg of reception
Put and support force calculates the safety coefficient of engineering machinery according to principle of moment balance, and by safety coefficient and the scope of setting
Value is contrasted, and when safety coefficient is less than the value range of setting, is sent alarm, so as to remind operating personnel, is improved engineering
The security of machinery.
As a kind of preferred scheme, data processing module is additionally operable to when engineering machinery is not operating, and interval setting time is obtained
Round the position of the car weight heart and contrasted, when the vehicle position of centre of gravity of acquisition changes, send and ground occur and collapse
Sunken alarm.So as to improve the safety of engineering machinery when in use, it is to avoid the engineering machine not enough caused due to ground supports power
Tool is tumbled.Data processing module be additionally operable in the arm support of engineering machinery any joint arm frame along direction initialization rotate when, detection peace
Overall coefficient, when safety coefficient is located in the value range of setting, limits the joint arm frame and is rotated along the direction initialization.So as to avoid arm
The motion of frame causes engineering machinery to tumble, more preferably, and data processing module is additionally operable to：Include arranging in descending order in the value range of setting
When the first setting value, the second setting value and three setting values that arrange, data processing module is additionally operable to, in safety coefficient between first
When between setting value and the second setting value, limit engineering machinery and enter slow notch speed degree；Safety coefficient between the second setting value and
During three setting values, engineering machinery is forbidden to carry out the action of reduction safety coefficient；When safety coefficient is less than three setting values, lock
Determine engineering machinery.By the control of different stage, the security of engineering machinery when in use is further improved.
The embodiments of the invention provide a kind of engineering machinery, the engineering machinery includes：
It is arranged at the sensor on each supporting leg；
Control device, is connected with each sensor signal, is obtained according to the support force of each supporting leg propping works machinery
The vehicle gravity of engineering machinery；The vehicle position of centre of gravity of engineering machinery is calculated according to equalising torque, and determines side of tumbling, to tumble
In line of the side for the Support Position of the adjacent supporting leg of any two, the minimum line with vehicle position of centre of gravity distance；According to
The vehicle chassis center of gravity of engineering machinery to tumble while torque and vehicle center of gravity obtained to the corresponding relation between torque when tumbling
The safety coefficient of engineering machinery is taken, during the maximum for the value range for being more than setting in the safety coefficient of acquisition, engineering machinery is determined
Safety, during the minimum value for the value range for being less than setting in the safety coefficient of acquisition, determines that engineering machinery has rollover risk, and lock
Engineering machinery.
In the above-described embodiments, Support Position and the support force of supporting leg are detected by sensor, and according to acquisition
Above- mentioned information calculates the safety coefficient of engineering machinery, and supporting leg can be detected when no matter being opened into which kind of state in real time
The safety coefficient of engineering machinery, and safety coefficient and the value range of setting are compared, when safety coefficient is less than the model of setting
When enclosing value, alarm is sent, so as to improve the security of engineering machinery, it is to avoid engineering machinery is tumbled.
It is preferred that, control device is any of the above-described kind of control device., can also be in work by the use of above-mentioned control device
During the arm support action of journey machinery, the change of the safety coefficient of real-time work machine carrys out the safety of supervision control engineering machinery, improves
The security of engineering machinery when in use.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (13)
1. the control method that a kind of preventing engineering machinery is tumbled, including：When the engineering machinery is supported by supporting leg, collection is each
The Support Position information of individual supporting leg, it is characterised in that further comprising the steps of：
When gathering the Support Position information of each supporting leg, the support force of the collection support engineering machinery；
The support force of the engineering machinery is supported to obtain the vehicle gravity of the engineering machinery according to each supporting leg；
The vehicle position of centre of gravity of the engineering machinery is calculated according to equalising torque, and determines side of tumbling, it is described to tumble side to appoint
In the line of the Support Position of two adjacent supporting legs of meaning, the minimum line with vehicle position of centre of gravity distance；
According to the vehicle chassis center of gravity of engineering machinery tumbled described in while torque and the vehicle center of gravity tumbled described in while
Corresponding relation between torque obtains the safety coefficient of engineering machinery, is more than the value range of setting most in the safety coefficient of acquisition
During big value, engineering machinery safety is determined, during the minimum value for the value range for being less than setting in the safety coefficient of acquisition, engineering machine is determined
Tool has rollover risk, and locks engineering machinery；
Vehicle chassis center of gravity to tumble while torque and the vehicle center of gravity to the corresponding relation between torque when tumbling
For：
Wherein, ksafeFor the safety coefficient of engineering machinery, GtruckFor the vehicle
The gravity on chassis, DisP is vehicle chassis center of gravity to the distance on side of tumbling, GtotalFor the vehicle gravity, DisQ is described
Distance of the vehicle center of gravity to side of tumbling.
2. the control method that preventing engineering machinery as claimed in claim 1 is tumbled, it is characterised in that described according to equalising torque meter
The vehicle position of centre of gravity for calculating engineering machinery is specially：
Coordinate system is set up as reference planes using plane where the end of supporting leg；
Obtain coordinate of the Support Position in coordinate system of each supporting leg；
The line of the coordinate of the Support Position of adjacent supporting leg is reference line using in any three supporting legs；
Vehicle center of gravity is calculated respectively to the distance of two reference lines by equalising torque, the position of vehicle center of gravity is determined.
3. the control method that preventing engineering machinery as claimed in claim 1 is tumbled, it is characterised in that each supporting leg of the collection
Propping works machinery support force be specially：
F=P1S1-P2S2+ f, wherein, F is support force, P1And P2The rodless cavity pressure of the support cylinder of respectively described supporting leg
With rod chamber pressure, S1And S2The respectively cross-sectional area of the cavity volume of the cross-sectional area of the cavity volume of rodless cavity and rod chamber, f is rubs
Wipe balancing force.
4. the control method that the preventing engineering machinery as described in any one of claims 1 to 3 is tumbled, it is characterised in that also include,
When the engineering machinery is not operating, the position that interval setting time obtains the vehicle center of gravity is simultaneously contrasted, in acquisition
Vehicle position of centre of gravity when changing, send the alarm for surface collapse occur.
5. the control method that preventing engineering machinery as claimed in claim 4 is tumbled, it is characterised in that also include：In the branch of acquisition
When support leg supports the support force of the engineering machinery, if the support force obtained exceeds the setting support force of supporting leg, lock arm
Frame.
6. the control method that preventing engineering machinery as claimed in claim 4 is tumbled, it is characterised in that be additionally included in engineering machinery
In arm support any joint arm frame along direction initialization rotate when, detect safety coefficient, the safety coefficient be less than setting value range
Maximum and more than setting value range minimum value when, limit the joint arm frame along the direction initialization rotate.
7. the control method that preventing engineering machinery as claimed in claim 6 is tumbled, it is characterised in that the value range bag of the setting
The first setting value arranged in descending order, the second setting value and the 3rd setting value are included, the control method that the preventing engineering machinery is tumbled is also
When being included in the safety coefficient between the first setting value and the second setting value, limit engineering machinery and enter slow notch speed degree；
When the safety coefficient is between the second setting value and three setting values, engineering machinery is forbidden to carry out the dynamic of reduction safety coefficient
Make；When the safety coefficient is less than three setting values, engineering machinery is locked.
8. a kind of control device for being used to prevent that engineering machinery from tumbling, it is characterised in that including：
Receiving module, position and support force for receiving the supporting leg detected；
Data processing module, is connected with the receiving module signal, is obtained according to the support force of each supporting leg propping works machinery
Take the vehicle gravity of the engineering machinery；The vehicle position of centre of gravity of the engineering machinery is calculated according to equalising torque, and is determined
Tumble side, in the line of the Support Position of the side for the adjacent supporting leg of any two of tumbling, with the vehicle position of centre of gravity
The minimum line of distance；According to the vehicle chassis center of gravity of engineering machinery to tumble while torque and the vehicle center of gravity to when tumbling
Torque between corresponding relation obtain the safety coefficient of engineering machinery, be more than the value range of setting in the safety coefficient of acquisition
During maximum, engineering machinery safety is determined, during the minimum value for the value range for being less than setting in the safety coefficient of acquisition, engineering is determined
Machinery has rollover risk, and locks engineering machinery；
Vehicle chassis center of gravity to tumble while torque and the vehicle center of gravity to the corresponding relation between torque when tumbling
For：
Wherein, ksafeFor the safety coefficient of engineering machinery, GtruckFor the vehicle
The gravity on chassis, DisP is vehicle chassis center of gravity to the distance on side of tumbling, GtotalFor the vehicle gravity, DisQ is described
Distance of the vehicle center of gravity to side of tumbling.
9. control device as claimed in claim 8, it is characterised in that the data processing module is additionally operable to, in the engineering
When machinery is not operating, interval setting time obtains the position of the vehicle center of gravity and contrasted, in the vehicle weight of acquisition
When heart position changes, the alarm for surface collapse occur is sent.
10. control device as claimed in claim 9, it is characterised in that the data processing module is additionally operable to, in engineering machinery
Arm support in any joint arm frame along direction initialization rotate when, detect safety coefficient, be located at the setting in the safety coefficient
When in value range, limit the joint arm frame and rotated along the direction initialization.
11. control device as claimed in claim 10, it is characterised in that include arranging in descending order in the value range of the setting
The first setting value, the second setting value and during three setting values, the data processing module is additionally operable to, and is situated between in the safety coefficient
When between the first setting value and the second setting value, limit engineering machinery and enter slow notch speed degree；In the safety coefficient between
When two setting values and three setting values, engineering machinery is forbidden to carry out the action of reduction safety coefficient；It is less than in the safety coefficient
During three setting values, engineering machinery is locked.
12. a kind of engineering machinery, it is characterised in that including：
It is arranged at the sensor on each supporting leg；
Control device, is connected with each sensor signal, according to being obtained the support force of each supporting leg propping works machinery
The vehicle gravity of engineering machinery；Calculate the vehicle position of centre of gravity of the engineering machinery according to equalising torque, and determine side of tumbling,
It is minimum with vehicle position of centre of gravity distance in the line of the Support Position of the side for the adjacent supporting leg of any two of tumbling
Line；According to the vehicle chassis center of gravity of engineering machinery to tumble while torque and the vehicle center of gravity to torque when tumbling it
Between corresponding relation obtain engineering machinery safety coefficient, acquisition safety coefficient be more than setting value range maximum
When, engineering machinery safety is determined, during the minimum value for the value range for being less than setting in the safety coefficient of acquisition, determines that engineering machinery has
Rollover risk, and lock engineering machinery；
Vehicle chassis center of gravity to tumble while torque and the vehicle center of gravity to the corresponding relation between torque when tumbling
For：
Wherein, ksafeFor the safety coefficient of engineering machinery, GtruckFor the vehicle
The gravity on chassis, DisP is vehicle chassis center of gravity to the distance on side of tumbling, GtotalFor the vehicle gravity, DisQ is described
Distance of the vehicle center of gravity to side of tumbling.
13. engineering machinery as claimed in claim 12, it is characterised in that the control device is that claim 8~11 is any
Control device described in.
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| CN109305144B (en) * | 2018-09-18 | 2023-07-14 | 华东交通大学 | Quick steering auxiliary device for vehicle |
| CN109437030A (en) * | 2018-12-10 | 2019-03-08 | 中联重科股份有限公司 | Engineering machinery anti-tipping control method, device and engineering machinery |
| CN109826908A (en) * | 2018-12-31 | 2019-05-31 | 武汉理工大学 | High-altitude operation vehicle counterweight determines method and determining device |
| CN110673653B (en) * | 2019-09-12 | 2020-07-17 | 中联重科股份有限公司 | Anti-tipping control method and device for engineering machinery and engineering machinery |
| CN111608392B (en) * | 2020-05-08 | 2022-04-12 | 中联重科股份有限公司 | Anti-tipping control method and system for concrete equipment and concrete equipment |
| CN111721561B (en) * | 2020-05-28 | 2022-02-22 | 中联重科股份有限公司 | Method and device for judging stability of rotation operation and engineering machinery |
| CN112441511B (en) * | 2020-11-17 | 2021-08-24 | 中联重科股份有限公司 | Engineering machine and support control method, device, system and medium thereof |
| CN112723201B (en) * | 2021-01-08 | 2022-03-04 | 中联重科股份有限公司 | Method and device for acquiring support position, engineering machine and readable storage medium |
| CN114821373B (en) * | 2022-05-13 | 2023-07-21 | 山西协诚建设工程项目管理有限公司 | Intelligent supervision, monitoring, analysis and early warning system for safety of construction site of foundation project engineering |
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