CN105883622A

CN105883622A - Rollover control method and system and lorry-mounted crane

Info

Publication number: CN105883622A
Application number: CN201510035571.3A
Authority: CN
Inventors: 赵云亮; 马超; 陆永能
Original assignee: Construction Machinery Branch of XCMG
Current assignee: Construction Machinery Branch of XCMG
Priority date: 2015-01-26
Filing date: 2015-01-26
Publication date: 2016-08-24
Anticipated expiration: 2035-01-26
Also published as: CN105883622B

Abstract

The invention discloses a rollover control method and system and a lorry-mounted crane. The rollover control method comprises the steps that the current suspension system length is collected by displacement sensors, and the current supporting leg pressure is collected by pressure sensors; and a controller controls an alarm device to send out a corresponding indication signal according to the current suspension system length and the current supporting leg pressure. According to the rollover control method and system and the lorry-mounted crane, a driver can be timely and effectively reminded to drive carefully according to the current suspension system length and the current supporting leg pressure which are collected by the sensors, and thus the possibility of lorry-mounted crane rollover accidents is reduced; and operation is easy, control is reliable, and the driver can grasp the supporting state of a vehicle in real time, perceive the vehicle better and thus control the vehicle better, so that risks are avoided.

Description

Control method of tumbling and system and lorry-mounted crane

Technical field

The present invention relates to engineering machinery field, particularly to one tumble control method and system and Lorry-mounted crane.

Background technology

Lorry-mounted crane uses engineering machinery flexible, convenient as one, be widely used in station, The places such as warehouse, harbour, building site, field rescue.

During lorry-mounted crane work, supporting leg and tire shared get on the bus and the load of lift heavy, Support point is more, there is the hard and soft problem combining support simultaneously, and gross combination weight and position of centre of gravity meeting Change according to vehicle cargo situation, therefore, be more difficult to get its concrete tumbling from theoretical side Stability.But lorry-mounted crane typically requires and carries out long-armed operating mode operation, when lift heavy is bigger, If operator lift by crane simply, then lorry-mounted crane is likely to beyond its safe condition range.

But, relevant restriction do not taked by existing lorry-mounted crane for slide-out, i.e. There is no each strong point and always support condition prompting, being not equipped with roll-over protection device yet, depend on completely Experience by driver judges the duty of vehicle.When long-armed operating mode and lift heavy are bigger, by In not having hommization to remind and current holding state signal, operator can not be fully understood by current vehicle Support situation, careless slightly during operation, it may occur that overturning situation.

Existing lorry-mounted crane control program of tumbling mainly is sensed by mounted angle on vehicle Device, judges the duty that vehicle is current.After jib angle is beyond limit value, stop lifting Operation, it is to avoid the generation of accident.

It is current with the angle of horizontal plane that obliquity sensor simply understands vehicle, and can not fully obtain ought The holding state of front each strong point, meanwhile, the dangerous working condition basis for estimation of this technology is vehicle angles Transfinite, but the determination of concrete limit value size there be difficulties involved when.

Summary of the invention

In view of above technical problem, the invention provides one tumble control method and system and with Car crane, can remind driver's careful driving timely and effectively, reduces lorry-mounted crane and tumbles thing Therefore the probability occurred.

According to an aspect of the present invention, it is provided that one is tumbled control method, including:

Front suspension system length is worked as in displacement transducer collection, and front leg strut pressure is worked as in pressure transducer collection Power；

Controller, according to when front suspension system length and current pressure of support leg, controls alarm device and sends out Go out corresponding indication signal.

In one embodiment of the invention, in displacement transducer collection when front suspension system length, After pressure transducer gathers current pressure of support leg, described method also includes:

Wave filter to gather when front suspension system length and current pressure of support leg be filtered place Reason, performs controller afterwards according to when front suspension system length and current pressure of support leg, control report Alarm device sends the step of corresponding indication signal.

In one embodiment of the invention, controller is according to when front suspension system length is with current Pressure of support leg, indicating alarm device sends the step of corresponding indication signal and includes:

Determine that present tire support force props up more than the first predetermined tire according to when front suspension system length Tire support point quantity m of support force；

Determine that current pressure of support leg is more than the first predetermined supporting leg support force according to current pressure of support leg Supporting leg number of support points n；

Judge that whether current strong point sum m+n is more than 3；

If current strong point sum m+n is more than 3, it indicates that alarm device sends the first instruction letter Number, to point out the current engineering machinery of driver working properly.

In one embodiment of the invention, described method also includes:

If current strong point sum m+n is less than 3, it indicates that alarm device sends the second instruction letter Number, and indicating control switch terminate engineering machinery current operation, with limit driver continue behaviour Make, prevent dangerous generation.

In one embodiment of the invention, described method also includes:

If current strong point sum m+n is equal to 3, it indicates that alarm device sends the 3rd instruction letter Number, to point out driver's current working dangerous, the state of getting on the bus need to be adjusted.

In one embodiment of the invention, present tire is determined according to when front suspension system length Support force includes more than the step of Tire support point quantity m of the first predetermined tire support force:

Determine that present tire support force props up more than the first predetermined tire according to when front suspension system length Tire support point quantity m of support force and present tire support force prop up more than the second predetermined tire Tire support point quantity m of support force₁, wherein, the second predetermined tire support force makes a reservation for more than first Tire support power；

Determine that current pressure of support leg is more than the first predetermined supporting leg support force according to current pressure of support leg The step of supporting leg number of support points n includes:

Determine that current pressure of support leg is more than the first predetermined supporting leg support force according to current pressure of support leg Supporting leg number of support points n and current pressure of support leg propping up more than the second predetermined supporting leg support force Lower limb number of support points n₁, wherein, the second predetermined supporting leg support force supports more than the first predetermined supporting leg Power；

When current strong point sum m+n is equal to 3, described method also includes:

Judge current number of support points m₁+n₁Whether equal to 3；

If current number of support points m₁+n₁Equal to 3, then perform indicating alarm device and send the 3rd Indication signal, to point out driver's current working dangerous, need to adjust the step of the state of getting on the bus；

If current number of support points m₁+n₁It is not equal to 3, then performs indicating alarm device and send the Two indication signals, and the current operation of indicating control switch termination engineering machinery, to limit driving Member continues operation, prevents the step of dangerous generation.

According to a further aspect in the invention, it is provided that a kind of rollover control system, including displacement transducer, Pressure transducer, controller and alarm device, wherein:

Displacement transducer, for gathering when front suspension system length；

Pressure transducer, is used for gathering current pressure of support leg；

Controller, for according to when front suspension system length and current pressure of support leg, controlling to report to the police Device sends corresponding indication signal；

Alarm device, for sending corresponding indication signal according to the control of controller.

In one embodiment of the invention, described system also includes wave filter, wherein:

Wave filter, for displacement transducer gather when front suspension system length and pressure sensing The current pressure of support leg of device collection is filtered processing, and instruction controller performs controller root afterwards According to when front suspension system length and current pressure of support leg, control alarm device sends and indicates letter accordingly Number operation.

In one embodiment of the invention, described system also includes alarm device, controller bag Include and first determine unit, second determine unit, the first recognition unit, control unit, wherein:

First determines unit, for determining present tire support force according to when front suspension system length Tire support point quantity m more than the first predetermined tire support force；

Second determines unit, for determining that current pressure of support leg is more than the according to current pressure of support leg Supporting leg number of support points n of one predetermined supporting leg support force；

First recognition unit, is used for judging that whether current strong point sum m+n is more than 3；

Control unit, for the judged result according to the first recognition unit, total at the current strong point When number m+n is more than 3, indicating alarm device sends the first indication signal, to point out driver to work as Front engineering machinery is working properly；

Alarm device is specifically for the instruction according to control unit, at current strong point sum m+n During more than 3, send the first indication signal, to point out the current engineering machinery of driver working properly.

In one embodiment of the invention, described system also includes controlling switch, wherein:

Control unit is additionally operable to the judged result according to the first recognition unit, total at the current strong point When number m+n is less than 3, indicating alarm device sends the second indication signal, and indicating control switch Terminate the current operation of engineering machinery, continue operation limiting driver, prevent dangerous generation；

Alarm device is additionally operable to the instruction according to control unit, little at current strong point sum m+n In 3 time, send the second indication signal；

Control switch, for the instruction according to control unit, little at current strong point sum m+n In 3 time, terminate engineering machinery current operation, with limit driver continue operation, prevent danger Danger occurs.

In one embodiment of the invention, control unit is additionally operable to according to the first recognition unit Judged result, when current strong point sum m+n is equal to 3, indicating alarm device sends the 3rd Indication signal, to point out driver's current working dangerous, need to adjust the state of getting on the bus；Report to the police and fill Put and be additionally operable to the instruction according to control unit, when current strong point sum m+n is equal to 3, send out Go out the 3rd indication signal, to point out driver's current working dangerous, the state of getting on the bus need to be adjusted.

In one embodiment of the invention, controller also includes the second recognition unit, wherein:

First determines unit to be additionally operable to according to when front suspension system length determines present tire support force Tire support point quantity m and present tire support force more than the first predetermined tire support force Tire support point quantity m more than the second predetermined tire support force₁, wherein, the second predetermined tire Support force is more than the first predetermined tire support force；

Second determines unit to be additionally operable to according to current pressure of support leg determines that current pressure of support leg is more than the Supporting leg number of support points n of one predetermined supporting leg support force and current pressure of support leg are more than second Supporting leg number of support points n of predetermined supporting leg support force₁, wherein, the second predetermined supporting leg support force is big In the first predetermined supporting leg support force；

Second recognition unit, for the judged result according to the first recognition unit, is working as front support When point sum m+n is equal to 3, it is judged that current number of support points m₁+n₁Whether equal to 3；

Control unit is additionally operable to the judged result according to the second recognition unit, counts current support Amount m₁+n₁During equal to 3, perform indicating alarm device and send the 3rd indication signal, drive with prompting The person's of sailing current working is dangerous, need to adjust the operation of the state of getting on the bus；In current number of support points m₁+ n₁When being not equal to 3, perform indicating alarm device and send the second indication signal, and indicate control to open Close the current operation terminating engineering machinery, continue operation limiting driver, prevent dangerous generation Operation；

Alarm device is additionally operable to the instruction according to control unit, in current number of support points m₁+n₁ During equal to 3, send the 3rd indication signal, to point out driver's current working dangerous, need to adjust Whole state of getting on the bus；In current number of support points m₁+n₁When being not equal to 3, send the second instruction letter Number；

Control switch and be additionally operable to the instruction according to control unit, in current number of support points m₁+n₁ When being not equal to 3, terminate the current operation of engineering machinery, continue operation limiting driver, anti- Only danger occurs.

According to a further aspect in the invention, it is provided that a kind of lorry-mounted crane, including any of the above-described enforcement Rollover control system described in example.

The present invention can according to sensor acquisition when front suspension system length and current pressure of support leg, Remind driver's careful driving timely and effectively, reduce the possibility that lorry-mounted crane overthrow accident occurs Property；Simple to operate, control reliable, and human pilot can grasp the holding state of vehicle, energy in real time Preferably perception vehicle, thus better control over vehicle, it is to avoid dangerous generation.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will The accompanying drawing used required in embodiment or description of the prior art is briefly described, it is clear that Ground, the accompanying drawing in describing below is only some embodiments of the present invention, skill common for this area From the point of view of art personnel, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings Obtain other accompanying drawing.

Fig. 1 is the schematic diagram of one embodiment of rollover control system of the present invention.

Fig. 2 is displacement transducer and the scheme of installation of pressure transducer in one embodiment of the invention.

Fig. 3 is the scheme of installation of displacement transducer in one embodiment of the invention.

Fig. 4 is the schematic diagram of another embodiment of rollover control system of the present invention.

Fig. 5 is the schematic diagram of one embodiment of the invention middle controller.

Fig. 6 is the first schematic diagram determining unit in one embodiment of the invention.

Fig. 7 is the second schematic diagram determining unit in one embodiment of the invention.

Fig. 8 is that the present invention tumbles the schematic diagram of one embodiment of control method.

Fig. 9 is that the present invention tumbles the schematic diagram of another embodiment of control method.

Figure 10 is the signal sending indication signal in one embodiment of the invention according to sensing data Figure.

Figure 11 is the signal sending indication signal in another embodiment of the present invention according to sensing data Figure.

Figure 12 is the schematic diagram determining Tire support point quantity in one embodiment of the invention.

Figure 13 is the schematic diagram determining supporting leg number of support points in one embodiment of the invention.

Figure 14 is the schematic diagram of the another embodiment of rollover control system of the present invention.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention It is clearly and completely described, it is clear that described embodiment is only that a part of the present invention is real Execute example rather than whole embodiments.Description at least one exemplary embodiment is actual below On be merely illustrative, never as to the present invention and application thereof or any restriction of use.Base Embodiment in the present invention, those of ordinary skill in the art are not making creative work premise Lower obtained every other embodiment, broadly falls into the scope of protection of the invention.

Unless specifically stated otherwise, the parts illustrated the most in these embodiments are relative with step Layout, numerical expression and numerical value do not limit the scope of the invention.

Simultaneously, it should be appreciated that for the ease of describing, the size of the various piece shown in accompanying drawing It is not to draw according to actual proportionate relationship.

May not make in detail for technology, method and apparatus known to person of ordinary skill in the relevant Discuss, but in the appropriate case, described technology, method and apparatus should be considered to authorize description A part.

Shown here with in all examples discussed, any occurrence should be construed as merely and show Example rather than as limit.Therefore, other example of exemplary embodiment can have not Same value.

It should also be noted that similar label and letter expression similar terms in following accompanying drawing, therefore, The most a certain Xiang Yi accompanying drawing is defined, then need not it is entered in accompanying drawing subsequently One step discussion.

Fig. 1 is the schematic diagram of one embodiment of rollover control system of the present invention.In the present invention one In embodiment, described rollover control system can apply in the engineering machinery such as lorry-mounted crane.

Shown in Fig. 1, described rollover control system, including displacement transducer 1, pressure transducer 2, Controller 3 and alarm device 4, wherein:

Displacement transducer 1, for gathering when front suspension system length.

In one concrete example of the present invention, as shown in Figures 2 and 3, displacement transducer 1 has 6 Individual, be respectively arranged in 6 × 2 chassis, without 6 tires of the lorry-mounted crane of rear support leg at, specifically For, displacement transducer 1 is installed at each wheel of lorry-mounted crane between vehicle frame and vehicle bridge, can adopt With pin type or stay-supported, for gathering the length of vehicle suspension system herein.

Pressure transducer 2, is used for gathering current pressure of support leg.

In one concrete example of the present invention, as in figure 2 it is shown, pressure transducer 2 has two, point Be not installed on 6 × 2 chassis, without 2 supporting legs of the lorry-mounted crane of rear support leg bottom, be used for gathering Pressure of support leg.

Controller 3, for according to when front suspension system length and current pressure of support leg, determine with The current holding state of the engineering machinery car loads such as car crane, and at engineering machines such as lorry-mounted cranes When tool reaches the dangerous working condition set, control alarm device 4 and send corresponding indication signal.

Alarm device 4, for sending corresponding indication signal according to the control of controller 3.

In one embodiment of the invention, alarm device 4 can include buzzer, display lamp, The instruction device such as display, for sending the indication signals such as the sound of different frequency, light, with prompting The current engineering machinery of user is in different grades of dangerous working condition.

The rollover control system provided based on the above embodiment of the present invention can be according to sensor acquisition When front suspension system length and current pressure of support leg, comprehensive descision lorry-mounted crane work as front support State, such that it is able to remind driver's careful driving timely and effectively, reduces the works such as lorry-mounted crane The probability that journey machinery overthrow accident occurs.

In embodiment shown in Fig. 2 and Fig. 3, the rollover control system described in Fig. 1 is applied to 6 × 2 chassis, lorry-mounted crane without rear support leg.

In one embodiment of the invention, the rollover control system described in Fig. 1 can also be applied In other form chassis and the lorry-mounted crane with rear support leg.

In one embodiment of the invention, it would however also be possible to employ forces associated sensor device replaces Fig. 1 Described in displacement transducer obtain the support force at off-the-road tyre.

Fig. 4 is the schematic diagram of another embodiment of rollover control system of the present invention.Implement with shown in Fig. 1 Example is compared, and in the embodiment shown in fig. 4, described system also includes wave filter 5, wherein:

Wave filter 5, for displacement transducer 1 gather when front suspension system length and pressure The current pressure of support leg that sensor 2 gathers is filtered processing, and instruction controller 3 performs afterwards Controller 3, according to when front suspension system length and current pressure of support leg, controls alarm device 4 Go out the operation of corresponding indication signal.

In the above embodiment of the present invention, wave filter can filter the data fluctuations that engine luggine produces, Thus eliminate and displacement transducer and pressure transducer can be collected by engine luggine during vehicle operation Data produce affect sensor acquisition data, so that whole system is more stable, reliable.

In one embodiment of the invention, described wave filter 5 can be integrated or be external in described Controller 3.

In one embodiment of the invention, as shown in Figure 4, described system also includes that control is opened Pass 6, wherein:

Control switch, for the instruction according to controller, reach in engineering machinery such as lorry-mounted cranes During to the dangerous working condition set, terminate the current operation of the engineering machinery such as lorry-mounted crane, with limit Driver processed continues operation, prevents dangerous generation.

In one embodiment of the invention, control switch 6 and can include hydraulic system electromagnetic valve, Wherein:

Hydraulic system electromagnetic valve, for the danger reaching to set in engineering machinery such as lorry-mounted cranes During operating mode, cut-out oil pump contacts with each actuator, and the most each actuator is locked, limits Driver continues operation, prevents dangerous generation.

In one embodiment of the invention, as shown in Figure 4, described system also includes that state refers to Showing device 7, wherein:

Controller 3, for according to when the comparison of front suspension system length Yu predetermined length value, with And current pressure of support leg and the comparison of scheduled pressure value, determine current each supporting leg and tire Hold state, and indicate state indicating device 7 to show current each supporting leg and the holding state of tire.

State indicating device 7, for according to the instruction of controller, show current each supporting leg and The holding state of tire.

In one embodiment of the invention, state indicating device 7 can include buzzer, refer to Show that lamp, display etc. indicate device, for sending the indication signals such as the sound of different frequency, light, With the different holding states at the prompting current each supporting leg of user and tire.

The above embodiment of the present invention is simple to operate, control is reliable, and human pilot can be grasped in real time The holding state of vehicle, can preferably perception vehicle, thus better control over vehicle, it is to avoid danger The generation of danger.

Fig. 5 is the schematic diagram of one embodiment of the invention middle controller.As it is shown in figure 5, Fig. 1 or Controller 3 in Fig. 4 includes first determining unit 31, second determining that unit 32, first identifies Unit 33, control unit 34, wherein:

First determines unit 31, for determining that present tire supports according to when front suspension system length Power F_iMore than the first predetermined tire support force F_biTire support point quantity m.

Second determines unit 32, for determining current pressure of support leg F according to current pressure of support leg_j More than the first predetermined supporting leg support force F_bjSupporting leg number of support points n.

First recognition unit 33, is used for judging that whether current strong point sum m+n is more than 3.

Control unit 34, for the judged result according to the first recognition unit 33, at current When support point sum m+n is more than 3, indicating alarm device 4 sends the first indication signal, with prompting The current engineering machinery of driver is working properly.

Alarm device 4 is specifically for the instruction according to control unit 34, at current strong point sum When m+n is more than 3, it is determined that current working is normal, sends the first indication signal, to point out driving The current engineering machinery of member is working properly.

In one embodiment of the invention, alarm device 4 can include green signaling lamp, its In: control unit 34, when current strong point sum m+n is more than 3, instruction green signal Lamp is luminous, to point out current lorry-mounted crane holding state normal.

In one embodiment of the invention, as it is shown in figure 5, control unit 34 is additionally operable to basis The judged result of the first recognition unit 33, when current strong point sum m+n is less than 3, sentences Determining current working is high-grade dangerous working condition, and indicating alarm device 4 sends the second indication signal, And indicating control switch 6 terminates the current operation of engineering machinery, with limit driver continue operation, Prevent dangerous generation.

Alarm device 4 is additionally operable to the instruction according to control unit 34, at current strong point sum When m+n is less than 3, send the second indication signal.

Control switch 6 is specifically for the instruction according to control unit 34, at current strong point sum M+n less than 3 time, terminate engineering machinery current operation, with limit driver continue operation, Prevent dangerous generation.

In one embodiment of the invention, alarm device 4 also includes red alarm lamp and first Buzzer, controls switch and includes hydraulic system battery valve, wherein:

Control unit is additionally operable to, when current strong point sum m+n is less than 3, indicate red alarm Lamp is luminous, and buzzer high frequency pipes, and instruction hydraulic system electromagnetic valve cuts off oil pump and respectively holds simultaneously The contact of row mechanism, the most each actuator is locked, limits driver and continues operation, prevents danger Danger occurs.

In one embodiment of the invention, as it is shown in figure 5, control unit 34 is additionally operable to basis The judged result of the first recognition unit 33, when current strong point sum m+n is equal to 3, sentences Determining current working is inferior grade dangerous working condition, and indicating alarm device 4 sends the 3rd indication signal, Dangerous with prompting driver's current working, the state of getting on the bus need to be adjusted；Alarm device 4 is additionally operable to According to the instruction of control unit 34, when current strong point sum m+n is equal to 3, send the Three indication signals, to point out driver's current working dangerous, need to adjust the state of getting on the bus.

In one embodiment of the invention, alarm device 4 also includes yellow alarm lamp and second Buzzer, wherein:

Control unit is additionally operable to, when current strong point sum m+n is equal to 3, indicate yellow alarm Lamp is luminous, indicates the second buzzer low frequency to pipe simultaneously, and prompting current working is relatively hazardous, drives The person of sailing need to adjust attitude of getting on the bus, and reduces lifting amplitude or lift heavy, stops revolution or on the contrary simultaneously Direction is turned round, alarm release after adjustment.

In one embodiment of the invention, as it is shown in figure 5, controller 3 also includes the second knowledge Other unit 35, wherein:

First determines that unit 31 is additionally operable to according to when front suspension system length L_iDetermine present tire Support force F_iMore than the first predetermined tire support force F_biTire support point quantity m and work as Front tyre support force is more than the second predetermined tire support force F_ciTire support point quantity m₁, its In, the second predetermined tire support force F_ciMore than the first predetermined tire support force F_bi。

Second determines that unit 32 is additionally operable to according to current pressure of support leg F_jDetermine current pressure of support leg More than the first predetermined supporting leg support force F_bjSupporting leg number of support points n and current pressure of support leg More than the second predetermined supporting leg support force F_cjSupporting leg number of support points n₁, wherein, second predetermined Lower limb support force F_cjMore than the first predetermined supporting leg support force F_bj。

Second recognition unit 35, for the judged result according to the first recognition unit 33, is working as When front support point sum m+n is equal to 3, it is judged that current number of support points m₁+n₁Whether equal to 3.

Control unit 34 is additionally operable to the judged result according to the second recognition unit 35, at current Support point quantity m₁+n₁During equal to 3, perform indicating alarm device 4 and send the 3rd indication signal, Dangerous with prompting driver's current working, the operation of the state of getting on the bus need to be adjusted；Working as front support Point quantity m₁+n₁When being not equal to 3, perform indicating alarm device 4 and send the second indication signal, And indicating control switch 6 terminates the current operation of engineering machinery, with limit driver continue operation, Prevent the operation of dangerous generation.

Alarm device 4 is additionally operable to the instruction according to control unit 34, in current number of support points m₁+n₁During equal to 3, send the 3rd indication signal, to point out driver's current working dangerous, The state of getting on the bus need to be adjusted；In current number of support points m₁+n₁When being not equal to 3, send the second finger Show signal.

Control switch 6 and be additionally operable to the instruction according to control unit 34, in current number of support points m₁+n₁When being not equal to 3, terminate engineering machinery current operation, with limit driver continue behaviour Make, prevent dangerous generation.

In one embodiment of the invention, described system can also include manual cancel switch, Wherein:

When manual cancel switch disconnects, the breaking controller control to hydraulic system electromagnetic valve, After each actuator pressurize is locked, driver can open manual cancel switch, hydraulic system electricity Opening after magnet valve power-off, driver's now adjustable is got on the bus attitude, closes hands after alarm release Dynamic cancel switch.

Fig. 6 is the first schematic diagram determining unit in one embodiment of the invention.As shown in Figure 6, In Fig. 5 embodiment first determine unit 31 can include predetermined length acquisition module 311, One comparison module the 312, first indicating module 313, first determine module 314, shown in Fig. 4 State indicating device 7 can include that tire condition indicates device, wherein:

Predetermined length acquisition module 311, for obtaining and the first predetermined tire support force F_bi, Two predetermined tire support force F_ciWith the 3rd predetermined tire support force F_aiThe first corresponding pre-fixed length Degree L_bi, the second predetermined length L_ciWith the 3rd predetermined length L_ai, wherein, F_ai<F_bi<F_ci, L_ai>L_bi>L_ci。

First comparison module 312, for by i-th tire when front suspension system length L_iWith First predetermined length L_bi, the second predetermined length L_ciWith the 3rd predetermined length L_aiCompare, its Middle i is natural number, and 1≤i≤M, M are that the tire of the engineering machinery of such as lorry-mounted crane is total Number.

First indicating module 313, is used for the comparative result according to the first comparison module 312, I-th tire when front suspension system length L_iMore than the 3rd predetermined length L_aiTime, it is determined that tire Holding power F_iLess than the 3rd predetermined tire support force F_ai, the state instruction dress of instruction i-th tire Put and send the first condition indicative signal (such as sending red instruction light), to point out user i-th The support force F of individual tire_iThe least, this tire has been out supporting role；At i-th tire When front suspension system length L_iLess than the 3rd predetermined length L_ai, and more than the first predetermined length L_bi Time, it is determined that tire holding power F_iMore than the 3rd predetermined tire support force F_ai, and less than first make a reservation for Tire support power F_bi, the state indicating device of instruction i-th tire sends the second state instruction letter Number (such as send yellow instruction light), to point out the support force F of user's i-th tire_iLess； And at i-th tire when front suspension system length L_iLess than the first predetermined length L_biTime, it is determined that Tire holding power F_iMore than the first predetermined tire support force F_bi, the state of instruction i-th tire refers to Showing device sends third state indication signal (such as sending green indicator light), to point out user The support force F of i-th tire_iNormally.

First determines module 314, is used for the comparative result according to the first comparison module 312, I-th tire when front suspension system length L_iLess than the first predetermined length L_bi, and more than second Predetermined length L_ciTime, it is determined that tire holding power F_iMore than the first predetermined tire support force F_bi, and Less than the second predetermined tire support force F_ci, by present tire support force F_iMore than the first predetermined tire Support force F_biTire support point quantity m add 1；And work as front suspension system at i-th tire Length L_iLess than the second predetermined length L_ciTime, it is determined that tire holding power F_iMore than the second predetermined wheel Tire support force F_ci, by present tire support force F_iMore than the first predetermined tire support force F_biWheel Tire number of support points m adds 1, and by present tire support force F_iMore than the second predetermined Tire support Power F_ciTire support point quantity m1 add 1.

Fig. 7 is the second schematic diagram determining unit in one embodiment of the invention.As it is shown in fig. 7, In Fig. 5 embodiment second determines that unit 32 includes that the second comparison module 321, second indicates mould Block 322, second determining module 323, the state indicating device 7 shown in Fig. 4 can include supporting leg State indicating device, wherein:

Second comparison module 321, for by jth supporting leg as front leg strut support force F_jWith One predetermined supporting leg support force F_bj, the second predetermined supporting leg support force F_cjSupport with the 3rd predetermined supporting leg Power F_ajCompare, wherein, F_aj<F_bj<F_cj, j is natural number, and 1≤j≤N, N are such as The supporting leg sum of the engineering machinery of lorry-mounted crane.

Second indicating module 322, is used for the comparative result according to the second comparison module 321, The current pressure of support leg F of jth supporting leg_jLess than the 3rd predetermined supporting leg support force F_ajTime, instruction the The supporting leg state indicating device of j supporting leg sends the first condition indicative signal and (such as sends redness Instruction light), to point out the support force F of user's jth supporting leg_jThe least, this supporting leg has been out Supporting role；Current pressure of support leg F at jth supporting leg_jMore than the 3rd predetermined supporting leg support force F_aj, and less than the first predetermined supporting leg support force F_bjTime, the supporting leg state of instruction jth supporting leg refers to Showing device sends the second condition indicative signal (such as sending yellow instruction light), to point out user The support force F of jth supporting leg_jLess；And at the current pressure of support leg F of jth supporting leg_jIt is more than First predetermined supporting leg support force F_bjTime, the supporting leg state indicating device of instruction jth supporting leg sends Third state indication signal (such as sends green indicator light), to point out user jth supporting leg Support force F_jNormally.

Second determines module 323, is used for the comparative result according to the second comparison module 321, The current pressure of support leg F of jth supporting leg_jMore than the first predetermined supporting leg support force F_bj, and less than the Two predetermined supporting leg support force F_cjTime, front leg strut support force F will be worked as_jProp up more than the first predetermined supporting leg Support force F_bjSupporting leg number of support points n add 1；And it is big at the current pressure of support leg of jth supporting leg In the second predetermined supporting leg support force F_cjTime, front leg strut support force F will be worked as_jMake a reservation for more than first prop up Lower limb support force F_bjSupporting leg number of support points n add 1, and front leg strut support force F will be worked as_jMore than Two predetermined tire support force F_cjSupporting leg number of support points n₁Add 1.

The above embodiment of the present invention can show the holding state of each supporting leg and tire in real time, And by judging car load strong point state, such that it is able to driver is reminded carefully to drive timely and effectively Sail, reduce the probability that lorry-mounted crane overthrow accident occurs.

In one embodiment of the invention, rollover control system described in any of the above-described embodiment can To be applied in the engineering machinery such as lorry-mounted crane, wherein said engineering machinery is supporting leg and/or wheel The engineering machinery of the supporting constructions such as tire.

The rollover control system provided based on the above embodiment of the present invention, can adopt according to sensor Collection when front suspension system length and current pressure of support leg, current of comprehensive descision lorry-mounted crane Support state, such that it is able to remind driver's careful driving timely and effectively, reduces lorry-mounted crane etc. The probability that engineering machinery overthrow accident occurs；And simple to operate, control reliable, human pilot The holding state of vehicle can be grasped in real time, can preferably perception vehicle, thus better control over car , it is to avoid dangerous generation.

Fig. 8 is that the present invention tumbles the schematic diagram of one embodiment of control method.Preferably, described reality Executing example to be performed by the rollover control system described in any of the above-described embodiment, described method includes:

Step 401, displacement transducer 1 gathers when front suspension system length, and pressure transducer 2 is adopted Collect current pressure of support leg.

Step 402, controller 3, according to when front suspension system length and current pressure of support leg, determines The current holding state of the engineering machinery car loads such as lorry-mounted crane, and in engineerings such as lorry-mounted cranes When machinery reaches the dangerous working condition set, control alarm device 4 and send corresponding indication signal.

The control method of tumbling provided based on the above embodiment of the present invention can be according to sensor acquisition When front suspension system length and current pressure of support leg, comprehensive descision lorry-mounted crane when front support shape State, thus remind driver's careful driving timely and effectively, reduce the engineering machinery such as lorry-mounted crane The probability that overthrow accident occurs.

Fig. 9 is that the present invention tumbles the schematic diagram of another embodiment of control method.Preferably, described Embodiment can be performed by the rollover control system described in Fig. 4, and described method includes:

Step 501, displacement transducer 1 gathers when front suspension system length, and pressure transducer 2 is adopted Collect current pressure of support leg.

Step 502, wave filter 5 is carried out when front suspension system length and current pressure of support leg gather Filtering Processing.

Step 503, controller 3, according to when front suspension system length and current pressure of support leg, determines The current holding state of the engineering machinery car loads such as lorry-mounted crane, and in engineerings such as lorry-mounted cranes When machinery reaches the dangerous working condition set, control alarm device 4 and send corresponding indication signal.

Figure 10 is the signal sending indication signal in one embodiment of the invention according to sensing data Figure.Preferably, the present embodiment can be performed by the controller described in Fig. 5.As shown in Figure 10, figure Step 402 in 8 or the step 503 in Fig. 9 may include that

Step 601, according to when front suspension system length L_iDetermine present tire support force F_iIt is more than First predetermined tire support force F_biTire support point quantity m.

Step 602, according to current pressure of support leg F_jDetermine current pressure of support leg F_jPre-more than first Determine supporting leg support force F_bjSupporting leg number of support points n.

Step 603, compares current strong point sum m+n and 3.If the current strong point Sum m+n more than 3, then performs step 606；If current strong point sum m+n is less than 3, Then perform step 604；If current strong point sum m+n is equal to 3, then perform step 605.

Step 604, it is determined that current working is high-grade dangerous working condition, indicating alarm device 4 Go out the second indication signal, and indicating control switch terminates the current operation of engineering machinery, to limit Driver continues operation, prevents dangerous generation；The most no longer perform other step of the present embodiment.

Step 605, it is determined that current working is inferior grade dangerous working condition, indicating alarm device 4 Go out the 3rd indication signal, to point out driver's current working dangerous, the state of getting on the bus need to be adjusted； The most no longer perform other step of the present embodiment.

Step 606, it is determined that current working is normal, indicating alarm device 4 sends the first instruction letter Number, to point out the current engineering machinery of driver working properly.

Figure 11 is the signal sending indication signal in another embodiment of the present invention according to sensing data Figure.Preferably, the present embodiment can be performed by the controller described in Fig. 5.As shown in Figure 10, figure Step 402 in 8 or the step 503 in Fig. 9 may include that

Step 701, according to when front suspension system length L_iDetermine present tire support force F_iIt is more than First predetermined tire support force F_biTire support point quantity m and present tire support force More than the second predetermined tire support force F_ciTire support point quantity m₁, wherein, second makes a reservation for Tire support power F_ciMore than the first predetermined tire support force F_bi。

Step 702, according to current pressure of support leg F_jDetermine current pressure of support leg F_jPre-more than first Determine supporting leg support force F_bjSupporting leg number of support points n and current pressure of support leg pre-more than second Determine supporting leg support force F_cjSupporting leg number of support points n₁, wherein, the second predetermined supporting leg support force F_cjMore than the first predetermined supporting leg support force F_bj。

Step 703, compares current strong point sum m+n and 3.If the current strong point Sum m+n more than 3, then performs step 707；If current strong point sum m+n is less than 3, Then perform step 705；If current strong point sum m+n is equal to 3, then perform step 704.

Step 704, it is judged that current number of support points m₁+n₁Whether equal to 3.If working as front support Point quantity m₁+n₁Equal to 3, then perform step 706；Otherwise, if current number of support points m₁+ n₁It is not equal to 3, then performs step 705.

Step 705, it is determined that current working is high-grade dangerous working condition, indicating alarm device 4 Go out the second indication signal, and indicating control switch terminates the current operation of engineering machinery, to limit Driver continues operation, prevents dangerous generation；The most no longer perform other step of the present embodiment.

Step 706, it is determined that current working is inferior grade dangerous working condition, indicating alarm device 4 Go out the 3rd indication signal, to point out driver's current working dangerous, the state of getting on the bus need to be adjusted； The most no longer perform other step of the present embodiment.

Step 707, it is determined that current working is normal, indicating alarm device 4 sends the first instruction letter Number, to point out the current engineering machinery of driver working properly.

Figure 12 is the schematic diagram determining Tire support point quantity in one embodiment of the invention.Preferably, By first described in Fig. 6, the present embodiment can determine that unit performs.As shown in figure 12, Tu11Zhong Step 701 may include that

Step 801, obtains and the first predetermined tire support force F_bi, the second predetermined tire support force F_ciWith the 3rd predetermined tire support force F_aiThe first corresponding predetermined length L_bi, the second pre-fixed length Degree L_ciWith the 3rd predetermined length L_ai, wherein, F_ai<F_bi<F_ci, L_ai>L_bi>L_ci。

Step 802, makes i=1.

Step 803, by i-th tire when front suspension system length L_iWith the first predetermined length L_bi, the second predetermined length L_ciWith the 3rd predetermined length L_aiComparing, wherein i is natural number, 1≤i≤M, M are the tire sum of the engineering machinery of such as lorry-mounted crane.If i-th is taken turns Tire when front suspension system length L_iMore than the 3rd predetermined length L_ai, then step 804 is performed；The I tire when front suspension system length L_iLess than the 3rd predetermined length L_ai, and more than first pre- Measured length L_bi, then step 805 is performed；I-th tire when front suspension system length L_iIt is less than First predetermined length L_bi, and more than the second predetermined length L_ci, then step 806 is performed；I-th Tire when front suspension system length L_iLess than the second predetermined length L_ci, then step 807 is performed.

Step 804, it is determined that tire holding power F_iLess than the 3rd predetermined tire support force F_ai, instruction The state indicating device of i-th tire sends the first condition indicative signal and (such as sends redness to refer to Show light), to point out the support force F of user's i-th tire_iThe least, this tire has been out propping up Support effect；Perform step 808 afterwards.

Step 805, it is determined that tire holding power F_iMore than the 3rd predetermined tire support force F_ai, and little In the first predetermined tire support force F_bi, the state indicating device of instruction i-th tire sends second Condition indicative signal (such as sends yellow instruction light), to point out propping up of user's i-th tire Support force F_iLess；Perform step 808 afterwards.

Step 806, it is determined that tire holding power F_iMore than the first predetermined tire support force F_bi, and little In the second predetermined tire support force F_ci, the state indicating device of instruction i-th tire sends the 3rd Condition indicative signal (such as sends green indicator light), to point out propping up of user's i-th tire Support force F_iNormally, and by present tire support force F_iMore than the first predetermined tire support force F_bi's Tire support point quantity m adds 1；Perform step 808 afterwards.

Step 807, it is determined that tire holding power F_iMore than the second predetermined tire support force F_ci, instruction The state indicating device of i-th tire sends third state indication signal and (such as sends green to refer to Show light), normal with the support force pointing out user's i-th tire；By present tire support force F_i More than the first predetermined tire support force F_biTire support point quantity m add 1；And front-wheel will be worked as Tire support force F_iMore than the second predetermined tire support force F_ciTire support point quantity m1 add 1.

Step 808, it is judged that whether i is equal to M.If i=M, then perform step 809；Otherwise, If i is not equal to M, then perform step 810.

Step 809, loop ends, obtain present tire support force F_iMore than the first predetermined tire Support force F_biTire support point quantity m and present tire support force F_iPre-more than second Fixed wheel tire support force F_ciTire support point quantity m₁；The most no longer perform its of the present embodiment Its step.

Step 810, makes i=i+1, performs step 803 afterwards.

The above embodiment of the present invention can realize judging the support force of all M tires, So that it is determined that present tire number of support points m and m₁。

Step 601 in embodiment described in Figure 10 can also use described in similar Figure 12 embodiment The method determining Tire support point quantity, determines present tire support force F_iMore than the first predetermined wheel Tire support force F_biTire support point quantity m.

Figure 13 is the schematic diagram determining supporting leg number of support points in one embodiment of the invention.Preferably, By second described in Fig. 7, the present embodiment can determine that unit performs.As shown in figure 13, Tu11Zhong Step 702 may include that

Step 901, makes j=1.

Step 902, by the current pressure of support leg F of jth supporting leg_jSupport with the first predetermined supporting leg Power F_bj, the second predetermined supporting leg support force F_cjWith the 3rd predetermined supporting leg support force F_ajCompare, Wherein, F_aj<F_bj<F_cj, j is natural number, and 1≤i≤N, N are the engineering of such as lorry-mounted crane The supporting leg sum of machinery.If the current pressure of support leg F of jth supporting leg_jLess than the 3rd predetermined supporting leg Support force F_aj, then step 903 is performed；If the current pressure of support leg F of jth supporting leg_jMore than Three predetermined supporting leg support force F_aj, and less than the first predetermined supporting leg support force F_bj, then step is performed 904；If the current pressure of support leg F of jth supporting leg_jMore than the first predetermined supporting leg support force F_bj、 And less than the second predetermined supporting leg support force F_cj, then step 905 is performed；If working as of jth supporting leg Front leg strut pressure is more than the second predetermined supporting leg support force F_cj, then step 906 is performed.

Step 903, the state indicating device of instruction jth supporting leg sends the first state instruction letter Number (such as send red instruction light), to point out the support force F of user's jth supporting leg_jIt is the least, This supporting leg has been out supporting role.

Step 904, the state indicating device of instruction jth supporting leg sends the second state instruction letter Number (such as send yellow instruction light), to point out the support force F of user's jth supporting leg_jLess.

Step 905, the state indicating device of instruction jth supporting leg sends third state instruction letter Number (such as sending green indicator light), to point out the support force F of user's jth supporting leg_jNormally； And front leg strut support force F will be worked as_jMore than the first predetermined supporting leg support force F_bjSupporting leg support count Amount n adds 1.

Step 906, the state indicating device of instruction jth supporting leg sends third state instruction letter Number (such as sending green indicator light), to point out the support force F of user's jth supporting leg_jNormally； Front leg strut support force F will be worked as_jMore than the first predetermined supporting leg support force F_bjSupporting leg number of support points n Add 1；And front leg strut support force F will be worked as_jMore than the second predetermined tire support force F_cjSupporting leg support Point quantity n₁Add 1.

Step 907, it is judged that whether j is equal to N.If j=N, then perform step 908；Otherwise, If j is not equal to N, then perform step 909.

Step 908, loop ends, obtain current pressure of support leg F_jDetermine that current pressure of support leg is big In the first predetermined supporting leg support force F_bjSupporting leg number of support points n and current pressure of support leg big In the second predetermined supporting leg support force F_cjSupporting leg number of support points n₁；The most no longer perform this enforcement Other step of example.

Step 909, makes j=j+1, performs step 902 afterwards.

The above embodiment of the present invention can realize judging the support force of all N number of supporting legs, So that it is determined that as front leg strut number of support points n and n₁。

Step 602 in embodiment described in Figure 10 can also use described in similar Figure 13 embodiment The method determining supporting leg number of support points, current pressure of support leg F_jDetermine that current pressure of support leg is more than First predetermined supporting leg support force F_bjSupporting leg number of support points n.

Below by concrete example, the present invention will be described:

Figure 14 is the schematic diagram of one specific embodiment of rollover control system of the present invention.The present embodiment Rollover control system is for 6 × 2 chassis, without the rollover control system of lorry-mounted crane of rear support leg.

As shown in figure 14, described rollover control system mainly by displacement transducer 1, pressure transducer 2, Controller 3 grade forms.Wherein:

In the present embodiment, the state indicating device 7 shown in Fig. 4 specifically includes tire condition instruction Device and supporting leg state indicating device, tire condition instruction device is specially the signal of Tire support state Lamp 7-1, supporting leg state indicating device is specially detecting supporting states of supporting legs signaling lamp 7-2.Shown in Fig. 4 Control switch 6 and be specially hydraulic system electromagnetic valve 11.Wave filter 5 shown in Fig. 4 specially filters mould Block 14.

In the present embodiment, the alarm device shown in Fig. 4 specifically can include one-level alarm device, Secondary alarm device and three grades of alarm devices, wherein: described one-level alarm device be relay 8-1, Green holding state signaling lamp 9-1, described secondary alarm device is relay 8-2, yellow alarm lamp 9-2 And buzzer 10-1, described 3rd alarm device is relay 8-3, manually adjusts switch 12, hydraulic pressure Electromagnetic valve 11, red alarm lamp 9-3 and buzzer 10-2.

In an embodiment of the invention, as shown in Figure 2 or Figure 3, displacement transducer 1 is installed on car At each wheel of crane between vehicle frame and vehicle bridge, pin type or stay-supported can be used, for gathering herein The length of vehicle suspension system.

In an embodiment of the invention, as in figure 2 it is shown, pressure transducer 2 is installed on bottom supporting leg, For gathering pressure of support leg.

As shown in figure 14, pressure, displacement transducer are connected to the input of controller 3 by wire, 1 to 6 passages of controller output end connect 1-6 Tire support state signaling lamp 7-1 respectively, and 7,8 Passage connection leg holding state signaling lamp 7-2.9 passages connect the first relay 8-1, are used for driving Green signaling lamp 9-1；10 passages connect the second relay 8-2, yellow alarm lamp 9-2 and buzzer 10-1 The prior-warning device of device composition；The PWM outfan of controller connects the 3rd relay 8-3, red report Warning lamp 9-3, buzzer 10-2, manually adjust switch 12, normally closed solenoid valve 11 composition early warning control Device processed, in order to control crane operator when dangerous working condition and make.

In an embodiment of the invention, described system also includes master control instrument, wherein: control Device 3, Tire support state signaling lamp 7-1, detecting supporting states of supporting legs signaling lamp 7-2, relay 8-1,8-2, 8-3, green signaling lamp 9-1, yellow alarm lamp 9-2, red alarm lamp 9-3-3, two buzzer 10-1, 10-2 and manually adjust switch and 12 be mounted in master control instrument, master control instrument is installed on vehicle At operating platform.

Lorry-mounted crane needs to carry out each suspension system test calibration before dispatching from the factory, and obtains and respectively takes turns with car At tire, support reaction size is respectively F_ai、F_bi、F_ciTime corresponding displacement transducer length value L_ai、L_bi、 L_ci, 1≤i≤6.F_ai、F_bi、F_ciIt is respectively the basis for estimation of tire difference holding state.Wherein, F_aiTypically take 1-2kN, F_biTypically take 2-4kN, F_ciTypically taking 5-10kN, specific size is by with car The deadweight of heavy-duty machine car load determines.

Meanwhile, predetermined support reaction size at each supporting leg of car is set as F_aj、F_bj、F_cj, 1≤i≤2. F_aj、F_bj、F_cjIt is respectively the basis for estimation of tire difference holding state.Wherein, F_ajTypically take 1-2kN, F_bjTypically take 2-4kN, F_cjTypically taking 5-10kN, specific size is come by the deadweight of lorry-mounted crane car load Determine.

During lorry-mounted crane work, supporting leg and tire shared carload, each suspension system of vehicle The length value of system is obtained by displacement transducer 1, it is assumed that for L_i, the counter-force size at supporting leg is by being installed on Pressure transducer 2 at supporting leg obtains, it is assumed that for F_j。

Before work, driver presses and manually adjusts switch 12 so that it is be in closure state.

First, Tire support state is judged, specific as follows:

Work as L_i<L_biTime, tire load is more than F_bi, corresponding Tire support state signaling lamp 7-1 shows For green, represent that the current holding state of this tire is normal；

Work as L_ai<L_i<L_biTime, Tire support power is in F_aiWith F_biBetween, corresponding Tire support state Signaling lamp 7-1 is shown as yellow, represents that the current support force of this tire is less；

Work as L_i>L_aiTime, tire load is less than F_ai, corresponding Tire support state signaling lamp 7-1 shows For redness, represent that present tire support force is the least, think that it has lost supporting role herein.

Secondly, detecting supporting states of supporting legs is judged, specific as follows:

Work as F_j>F_bjTime, corresponding detecting supporting states of supporting legs signaling lamp 7-2 is shown in green, represents this The current holding state of lower limb is normal；

Work as F_aj<F_j<F_bjTime, corresponding detecting supporting states of supporting legs signaling lamp 7-2 is shown as yellow, represents this The current support force of supporting leg is less；

Work as F_j<F_ajTime, corresponding detecting supporting states of supporting legs signaling lamp 7-2 is shown in red, represents this The current support force of lower limb is the least, thinks that it has lost supporting role herein.

Finally, the judgement to total holding state, specific as follows:

Assume that support force is more than F_biTire quantity be respectively m, support force more than F_bjNumber of legs For n, then m+n represents current lorry-mounted crane car load strong point sum.

Assume that support force is more than F_ciTire quantity be respectively m₁, support force is more than F_cjNumber of legs For n₁, then m₁+n₁Represent that current support force is more than F_c(F_ciOr F_cj) number of support points.

As m+n > 3 time, controller 3 responds, output give by first relay 8-1 drive green Color signaling lamp 9-1 is luminous, illustrates that current lorry-mounted crane holding state is normal.

When m+n < when 3, controller 3 responds, output to red alarm lamp 9-3 and buzzer 10-2, Red alarm lamp 9-3 is luminous, and buzzer 10-2 high frequency pipes, and output simultaneously is given by the 3rd relay 8-3 The hydraulic system electromagnetic valve 11 driven, cut-out oil pump contacts with each actuator, the most each execution Mechanism is locked, limits driver and continues operation, prevents dangerous generation.

As m+n=3, current lorry-mounted crane is in 3 holding states, when 3 strong point counter-forces It is all higher than F_cTime, i.e. m₁+n₁When=3, controller 3 responds, and output is given by the second relay 8-2 The yellow alarm lamp 9-2 driven and buzzer 10-1, yellow alarm lamp 9-2 are luminous, and buzzer 10-2 is low Frequency pipes, and prompting current working is relatively hazardous, and driver need to adjust attitude of getting on the bus, and reduces lifting width Degree or lift heavy, stop revolution simultaneously or turn round round about, alarm release after adjustment.

If driver is not adjusted, but proceed revolution or other dangerous plays, when One of them strong point support force is less than F_cTime, i.e. m₁+n₁< when 3, redness report is given in controller 3 output Warning lamp 9-3 and buzzer 10-2, red alarm lamp 9-3 are luminous, and buzzer 10-2 high frequency pipes, simultaneously The hydraulic system electromagnetic valve 11 driven by the 3rd relay 8-3 is given in output, cuts off oil pump and each execution machine The contact of structure, the most each actuator pressurize is locked, limits driver and continues operation, prevents danger Occur.

After each actuator pressurize is locked, driver can open manual cancel switch 12, disconnects control The device processed control to electromagnetic valve 11, opens after electromagnetic valve 11 power-off, and driver's now adjustable is got on the bus Attitude, closes manual cancel switch 12 after alarm release.

In an embodiment of the invention, described system also includes filtration module 14, for starting The data fluctuations that machine vibration produces filters, and during to eliminate vehicle operation, engine luggine can be to sensor 1, the impact that the data that 2 collect produce, so that whole system is more stable, reliable.

In an embodiment of the invention, described filtration module 14 can be integrated or be external in described control Device 3 processed.

The above embodiment of the present invention can according to sensor acquisition when front suspension system length and current Pressure of support leg, the current holding state of comprehensive descision lorry-mounted crane, such that it is able to timely and effectively Remind driver's careful driving, reduce the possibility that the engineering machinery overthrow accidents such as lorry-mounted crane occur Property；And simple to operate, control reliable, human pilot can grasp the holding state of vehicle, energy in real time Preferably perception vehicle, thus better control over vehicle, it is to avoid dangerous generation.

In an embodiment of the invention, when doube bridge driving such as 6 × 4,8 × 4 chassis after using, by Close together in doube bridge thereafter, and share same suspension system, to this end, can be by back axle side two-wheeled The tire strong point is considered as a bit, at two bridge intermediate arrangement displacement transducers.

So far, the present invention is described in detail.In order to avoid covering the design of the present invention, do not have Details more known in the field are described.Those skilled in the art as described above, completely It can be appreciated how implement technical scheme disclosed herein.

One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment Can be completed by hardware, it is also possible to instruct relevant hardware by program and complete, described Program can be stored in a kind of computer-readable recording medium, and storage medium mentioned above is permissible It is read only memory, disk or CD etc..

Description of the invention is given for the sake of example and description, and is not exhaustively Or it limit the invention to disclosed form.Many modifications and variations are for the common skill of this area It is obvious for art personnel.Selecting and describing embodiment is the principle in order to the present invention is more preferably described Apply with reality, and make those of ordinary skill in the art it will be appreciated that the present invention thus design is suitable The various embodiments with various amendments in special-purpose.

Claims

1. a control method of tumbling, it is characterised in that including:

Method the most according to claim 1, it is characterised in that in displacement transducer collection When front suspension system length, after pressure transducer gathers current pressure of support leg, described method is also Including:

Method the most according to claim 1 and 2, it is characterised in that controller is according to working as Front suspension system length and current pressure of support leg, indicating alarm device sends corresponding indication signal Step includes:

Judge that whether current strong point sum m+n is more than 3；

Method the most according to claim 3, it is characterised in that also include:

Method the most according to claim 4, it is characterised in that also include:

Method the most according to claim 5, it is characterised in that

Determine that present tire support force props up more than the first predetermined tire according to when front suspension system length The step of Tire support point quantity m of support force includes:

Judge current number of support points m₁+n₁Whether equal to 3；

7. a rollover control system, it is characterised in that include displacement transducer, pressure sensing Device, controller and alarm device, wherein:

Displacement transducer, for gathering when front suspension system length；

Pressure transducer, is used for gathering current pressure of support leg；

System the most according to claim 7, it is characterised in that also include wave filter, its In:

9. according to the system described in claim 7 or 8, it is characterised in that also include dress of reporting to the police Putting, controller includes first determining unit, second determining unit, the first recognition unit, control Unit, wherein:

System the most according to claim 9, it is characterised in that also include controlling switch, Wherein:

11. systems according to claim 10, it is characterised in that

Control unit is additionally operable to the judged result according to the first recognition unit, total at the current strong point When number m+n is equal to 3, indicating alarm device sends the 3rd indication signal, to point out driver to work as Front operating mode is dangerous, need to adjust the state of getting on the bus；

Alarm device is additionally operable to the instruction according to control unit, at current strong point sum m+n etc. In 3 time, send the 3rd indication signal, to point out driver's current working dangerous, need to adjust Get on the bus state.

12. systems according to claim 11, it is characterised in that controller also includes Two recognition units, wherein:

13. 1 kinds of lorry-mounted cranes, it is characterised in that include as appointed in claim 7 to 12 Anticipate a described rollover control system.