CN106744400B - One kind rescue obstacles removing car arm overload method for early warning - Google Patents

One kind rescue obstacles removing car arm overload method for early warning Download PDF

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Publication number
CN106744400B
CN106744400B CN201611077523.1A CN201611077523A CN106744400B CN 106744400 B CN106744400 B CN 106744400B CN 201611077523 A CN201611077523 A CN 201611077523A CN 106744400 B CN106744400 B CN 106744400B
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rope
rescue
wrecker
suspension arm
formula
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CN106744400A (en
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李旭
蔡志祥
曹继文
徐启敏
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Southeast University
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Southeast University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/30—Circuit design
    • G06F30/36—Circuit design at the analogue level
    • G06F30/367—Design verification, e.g. using simulation, simulation program with integrated circuit emphasis [SPICE], direct methods or relaxation methods
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The present invention discloses a kind of rescue obstacles removing car arm overload method for early warning, removed obstacles bassinet structure and work characteristics with reference to rescue, the angle of pitch of obstacles removing car arm and the inclination angle of rope are rescued by two low cost acceleration meter measurements, the length of arm is measured by linear transducer, pulling force of the rope to rescue obstacles removing car is measured by pulling force sensor, then using Kalman filtering algorithm estimate in real time rope to rescue obstacles removing car in the horizontal direction with the pulling force on vertical direction, danger of the rescue obstacles removing car with the presence or absence of arm overload is analyzed finally by principle of moment balance, given warning in advance if dangerous.The present invention has the characteristics that precision is high, applied widely, and reliable arm overload monitoring and early warning comprehensively can be provided for rescue obstacles removing car.

Description

Overload early warning method for suspension arm of rescue wrecker
Technical Field
The invention belongs to the field of safety early warning of rescue wreckers, and particularly relates to an overload early warning method for a crane jib of a rescue wrecker.
Background
In recent years, the road traffic accident wrecker rescue industry in China is rapidly developed, and meanwhile, the phenomenon that the wrecker per se has accidents in the operation process is more serious. The suspension arm is one of the most critical components in the whole rescue obstacle removing vehicle system, plays an important role in rescue obstacle removing operation, and can be used for lifting heavy objects, righting accident vehicles and the like. When the hoisted object is too heavy and overloaded, the boom is easily broken or the wrecker is easy to turn over. The reason is that besides subjective factors such as illegal operation of operators, insufficient experience, poor management and the like, the monitoring technology of the wrecker is not complete, and accurate early warning information cannot be provided for operators in real time.
The utility model discloses a (the patent name: early warning device that rescue obstacles removing car davit overloads, application number: 201020632634.6) discloses an early warning device that rescue obstacles removing car davit overloads, and the device has filled the blank in the internal davit overload early warning field, has advantages such as with low costs, the real-time is good, but the utility model patent only carries out the early warning when breaking accident to the davit.
With the continuous optimization and upgrade of the manufacturing process and the material of the boom of the rescue wrecker, the strength of the boom is greatly improved, the breakage accident of the boom is greatly reduced, but the rollover accident of the rescue wrecker caused by the overload of the boom still happens occasionally. If the moment of the suspension arm rope on the rescue wrecker can be analyzed in real time in the hoisting process of the rescue wrecker, the accident that the wrecker turns over due to the fact that the accident vehicle is not hoisted can be effectively avoided.
In addition, the general suspension arm overload early warning device only considers the working condition that the suspension arm is vertically lifted. In the actual operation process, when the rescue wrecker is used for righting the accident vehicle, the suspension arm rope is inclined at a certain angle. Compared with the vertical hoisting working condition, the gravity center of the rescue wrecker is easier to shift when the rope inclines, so that the rollover accident in the operation process is caused. At present, no method or technology for early warning the overload of the suspension arm under the rope inclination working condition is provided.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art, provides an overload early warning method for a boom of a wrecker, and provides a comprehensive and reliable overload early warning scheme for the boom of the wrecker.
The technical scheme is as follows: the invention relates to an overload early warning method for a suspension arm of a rescue wrecker, which comprises the following steps:
(1) Installing a required sensor assembly: two sides of the wrecker are respectively provided with a supporting leg which can be supported on the ground, the top of the wrecker is provided with a suspension arm, the other end of the suspension arm is provided with a rope through a pulley, and the tail end of the rope is fixed with a lifting hook used for pulling up the accident vehicle; acceleration sensors are arranged on the side surface of the suspension arm along the extension direction of the suspension arm and at the joint of the tail end of the rope and the lifting hook along the rope direction; the suspension arm is also provided with a length sensor, and the direction of the length sensor is consistent with the extending direction of the suspension arm; a tension sensor is arranged at the joint of the rope and the lifting hook;
(2) Calculating the attitude information of the suspension arm and the rope: the pitch angle of a suspension arm of the rescue wrecker and the inclination angle of a rope are respectively measured through two acceleration sensors, the length L of the suspension arm is measured through a length sensor, and the tension F of the rope on the rescue wrecker is measured through a tension sensor;
(3) According to the suspension arm and rope attitude information obtained in the step (2), estimating the tension of a rope on the rescue wrecker in the horizontal direction and the vertical direction in real time through a Kalman filtering algorithm;
(4) Analyzing whether the rescue wrecker has the danger of boom overload or not according to the moment balance principle, and carrying out boom overload early warning;
in the step (1), the acceleration sensor is an MEMS acceleration sensor;
the specific process of calculating the attitude information of the suspension arm and the rope in the step (2) is as follows:
since the boom is moving slowly, i.e. is seen as stationary for a short time, the pitch angle α of the boom is determined by the boom acceleration information a collected by the acceleration sensor A And resolving, wherein a specific formula is as follows:
wherein 0 DEG < alpha < 90 DEG; g is gravity acceleration;
and because the rope and the lifting hook are in a slow motion state in the operation process, namely the speed of the rope and the speed of the lifting hook are both considered to be zero, the inclination angle beta of the rope is also through the rope acceleration information a acquired by the acceleration sensor B And resolving, wherein a specific formula is as follows:
wherein, 0 degree < beta is less than or equal to 90 degrees, when the suspension arm is at the vertical hoisting position, the beta =90 degrees
The specific process of the step (3) is as follows:
when the rescue wrecker lifts a heavy object or corrects an accident vehicle, the movement of the suspension arm, the pulley at the tail end of the suspension arm and the rope is slow and is regarded as static in a short time, so that the suspension arm system and the rescue wrecker body are regarded as a whole, namely the tension F on the rope is the acting force on the whole rescue wrecker, and the acting point is the pulley at the tail end of the suspension arm;
respectively calculating the horizontal and vertical pulling forces of the rope on the rescue wrecker according to the rope inclination angle beta and the pulling force F of the rope on the rescue wrecker obtained in the step (2), wherein the specific calculation formula is as follows:
in the formula (3), F x For the rope to pull the wrecker in the horizontal direction, F y The pull force of the rope on the wrecker in the vertical direction is provided;
establishing a state equation of Kalman filtering;
the matrix form of the state equation of the discretized Kalman filter is expressed as follows:
in the formula (4), k represents a discretization time; the system state vector is X = [ F = x F y ]', superscript' denotes transposing the matrix; w (k-1) represents a zero-mean systematic gaussian white noise vector and W = [ W = 1 w 2 ]', wherein w 1 、w 2 Respectively representing two system white Gaussian noise components, wherein a system noise covariance matrix Q (k-1) corresponding to W (k-1) is as follows:whereinRespectively represent the system Gaussian white noise w 1 、w 2 The corresponding variance; the state transition matrix isThe pull force F of the rope on the rescue wrecker in the horizontal direction in the operation process of hoisting heavy objects and righting accident vehicles x And a tensile force F in the vertical direction y The tension value at the last sampling moment is regarded as being equal to the tension value at the next sampling moment;
the matrix form of the discretized kalman filter observation equation is:
Z(k)＝H(k)·X(k)+V(k) (5)
in the formula (5), Z is an observation vector, H is an observation array, V represents a zero-mean observation white noise vector irrelevant to W, and V (k) represents a zero-mean observation white noise vector irrelevant to W at the moment k; because the observation vector and the state vector are the pull forces of the rope on the rescue wrecker in the horizontal direction and the vertical direction, the rescue wrecker can be driven by the rope to move in the horizontal direction and the vertical directionWherein F x_m (k) And F y_m (k) Respectively represents the pulling force values of a rope pair rescue wrecker in the horizontal direction and the vertical direction which are directly calculated by the measured value of the sensor, and the pulling force values are shown in the formula (3)
In the formula (6), F m Representing the rope tension, a, of the rescue wrecker in the rope direction measured by the tension sensor B_m Representing the acceleration in the rope stretching direction measured with an acceleration sensor;represents the observation noise of the rope obtained by the calculation of the formula (6) on the tension of the rescue wrecker in the horizontal direction, andis a mean of 0 and a variance ofWhite gaussian noise;represents the observation noise of the rope obtained by the calculation of the formula (6) on the pull force of the rescue wrecker in the vertical direction, andis a mean of 0 and a variance ofWhite gaussian noise of (1); v the corresponding observed noise variance matrix R is expressed as
For the system state equation and the measurement equation described by the equation (4) and the equation (5), the following standard filtering recursion process is established by using the kalman filtering theory, the recursion process comprises time updating and measurement updating, the first two steps of the following recursion process are time updating, and the remaining three steps are measurement updating:
and (3) time updating:
and (3) measurement updating:
K(k)＝P(k,k-1)·Η′(k)[H(k)·P(k,k-1)·H′(k)+R(k)] -1 (9)
P(k)＝[I-K(k)·H(k)]·P(k,k-1) (11)
in the formula (7), the reaction mixture is,for the result of the state one-step prediction, P (K, K-1) in equation (8) is a one-step prediction error variance matrix, K (K) in equation (9) represents a filter gain matrix, R (K) represents an observation noise variance matrix corresponding to the K time, and equation (10)Represents the result of state estimation, P (k) in equation (11) represents the result of error variance matrix estimation, and I represents an identity matrix; after the recursive calculation, the tension F of the rope on the rescue wrecker in the horizontal direction is accurately estimated in real time x And a tensile force F in the vertical direction y ；
The specific process of the step (4) is as follows:
rescue obstacles removing car lifts by crane and rights the operation in-process at the reality, heavy object or accident vehicle generally are located the side of rescue obstacles removing car, and davit and rope place plane perpendicular to automobile body side plane, and to the critical condition that rescue obstacles removing car is to a side turn on one's side, the contact point on this collateral branch leg and ground will become the fulcrum that rescue obstacles removing car turned on one's side, and the landing leg length of rescue obstacles removing car both sides equals, and this fulcrum of definition is B, and under the critical condition that rescue obstacles removing car will turn on one's side, the moment that fulcrum B received has: moment M of gravity of rescue wrecker to fulcrum B G 、F x Moment to fulcrum BAnd F y Moment to fulcrum BAccording to the moment balance principle, in order to prevent the rescue wrecker from turning over, the fulcrum B must satisfy the following conditions:
namely:
wherein G is the gravity of the wrecker, d G Is the horizontal distance from the fulcrum B to the gravity center position of the wrecker,is the vertical distance between the pivot B and the pulley at the tail end of the suspension arm;the horizontal distance between the pivot B and the pulley at the tail end of the suspension arm is set when the pulley at the tail end of the suspension arm is at the right upper part of the pivot BWhen the pulley at the tail end of the suspension arm is right and above the supporting point BIs negative;
obtained by calculating height parameters H of a turntable of a suspension arm of the rescue wrecker, a pitch angle alpha of the suspension arm and the length L of the suspension arm, namely
Since F has been obtained in step (3) x And F y Accurate estimation of value, thereforeObtained in real time by calculation, and M G Is also obtained in advance by calculation; when in useTo reach M G And sending out an overload early warning signal of the suspension arm when the load is 90 percent.
Has the beneficial effects that: compared with the prior art, the invention has the following advantages:
(1) The invention reasonably assumes and simplifies the stress model of the wrecker based on the moment balance principle, fully considers the working condition when the rope inclines, can provide comprehensive overload warning for the suspension arm of the wrecker, and has the advantages of high precision, wide application range and good real-time property;
(2) According to the invention, the Kalman filtering algorithm is adopted when the tension of the rope on the rescue wrecker in the horizontal direction and the vertical direction is estimated, so that F is increased x And F y The estimation accuracy of (2); the precision and the real-time performance required by the integral early warning are also ensured.
In conclusion, the invention not only solves the overload warning problem of the suspension arm under the rope inclination working condition, but also is suitable for vertical hoisting, has wide application range, high prediction precision, safety and reliability, and protects driving and navigation for the safe work of the rescue wrecker.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic structural diagram of the present invention under a righting condition;
FIG. 3 is a stress diagram of the present invention under a righting condition.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
The invention is suitable for the straight arm type rescue wrecker 1 operating on the horizontal road, does not consider the influence of special weather conditions such as strong wind, rainfall and the like on the rescue wrecker 1, and ignores the rotation of the earth. And make the following reasonable assumptions: during the operation of the boom 3 of the wrecker 1, the rope 5 is straight, the plane of the rope 5 and the boom 3 is vertical to the horizontal plane, the movement of the boom 3, the rope 5 and the hook 8 is slow and can be regarded as static in a short time.
As shown in FIG. 1, the overload warning method for the boom of the rescue wrecker comprises the following steps:
(1) As shown in fig. 2, the required sensor assembly is installed: according to the structure and the working characteristics of the rescue wrecker 1, two sides of the rescue wrecker 1 are provided with supporting legs 4 which can be supported on the ground, the top of the rescue wrecker 1 is provided with a suspension arm 3, the other end of the suspension arm 3 is provided with a rope 5 through a pulley 6, and the tail end of the rope 5 is fixed with a lifting hook 8 for pulling up an accident vehicle; acceleration sensors are arranged on the side surface of the suspension arm 3 along the extending direction of the suspension arm 3 and at the joint 7 of the tail end of the rope 5 and the lifting hook 8 along the direction of the rope 5; a length sensor is also arranged on the suspension arm 3, and the direction of the length sensor is consistent with the stretching direction of the suspension arm 3; a tension sensor is also arranged at the joint 7 of the rope 5 and the lifting hook 8;
(2) Calculating attitude information of the boom 3 and the rope 5: the pitch angle of a suspension arm 3 of the rescue wrecker 1 and the inclination angle of a rope 5 are respectively measured through two acceleration sensors, the length of the suspension arm 3 is measured through a length sensor, and the tension of the rope 5 on the rescue wrecker 1 is measured through a tension sensor;
(3) According to the attitude information of the suspension arm 3 and the rope 5 obtained in the step (2), the tension of the rope 5 on the wrecker 1 in the horizontal direction and the vertical direction is estimated in real time through a Kalman filtering algorithm;
(4) Whether the rescue wrecker 1 has the danger of overload of the suspension arm 3 is analyzed through the moment balance principle, and the overload warning of the suspension arm 3 is carried out, for example, the warning modes of sending out whistle alarm or vibration and the like can be adopted.
In the process, the pitch angle of the suspension arm 3 of the rescue wrecker 1 and the inclination angle of the rope 5 are measured through two low-cost accelerometers (MEMS acceleration sensors), the length of the suspension arm 3 is measured through a length sensor, the tension of the rope 5 on the rescue wrecker 1 is measured through a tension sensor, then the tension of the rope 5 on the rescue wrecker 1 in the horizontal direction and the vertical direction is estimated in real time through a Kalman filtering algorithm, finally whether the rescue wrecker 1 has the danger of overload of the suspension arm 3 is analyzed through the moment balance principle, and early warning is given in advance if the wrecker has the danger.
Step (2): calculating attitude information of the boom 3 and the rope 5
Since the boom 3 is slowly moved, i.e. can be regarded as stationary within a short time span, the pitch angle α (0 °) of the boom 3&Alpha is less than or equal to 90 DEG and acceleration information a acquired by an acceleration sensor A The specific formula is as follows:
similarly, the rope 5 has a tilt angle β (0 °) of the rope 5, since the rope 5 and the hook are in a state of slow movement during operation, i.e. the speed of the rope 5 and the hook can reasonably be regarded as zero&Beta is less than or equal to 90 degrees, and when the crane is vertically lifted, the beta =90 degrees can also be acquired through the acceleration information a acquired by the acceleration sensor B The specific formula is as follows:
besides, the length L of the boom 3 can be obtained by a length sensor mounted on the boom 3; the tension F on the rope 5 can be obtained by means of a tension sensor mounted at the connection of the rope 5 to the hook. The invention is illustrated in FIG. 2 by reference to α, β, L and F.
And (3): estimating the tension of the rope 5 on the wrecker 1 in the horizontal direction and the vertical direction
When the rescue wrecker 1 lifts a heavy object or straightens an accident vehicle 2, the movement of the suspension arm 3, the pulley 6 at the tail end of the suspension arm 3 and the rope 5 is slow and can be regarded as static in a short time, so that the suspension arm 3 system and the wrecker 1 body can be regarded as a whole, namely the tension F on the rope 5 can be regarded as acting force on the whole rescue wrecker 1, and the acting point is the pulley 6 at the tail end of the suspension arm 3.
With reference to fig. 3, from the inclination angle β of the rope 5 and the tension F of the rope 5 to the rescue obstacle-clearing vehicle 1 obtained in step (2), the tension of the rope 5 to the rescue obstacle-clearing vehicle 1 in the horizontal and vertical directions can be respectively calculated:
in formula (3), F x For the pull force of the rope 5 on the wrecker 1 in the horizontal direction, F y The pull force of the rope 5 on the wrecker 1 in the vertical direction is provided;
bringing formula (2) into formula (3) there are:
considering that the calculation precision of the pull force of the rescue wrecker 1 in the horizontal and vertical directions by the rope 5 can be influenced due to the larger random error of the data acquired by the MEMS sensor, the F is further improved by adopting the Kalman filtering algorithm in the invention x And F y The accuracy of the estimation of.
The Kalman filter is an optimal state estimation filter taking minimum mean square error as a criterion, past measurement values do not need to be stored, and estimation of real-time signals can be realized only by carrying out recursion calculation according to a current observation value and an estimation value at the previous moment. When the method is applied to dynamic estimation of the tension of the rope 5 in the horizontal direction and the vertical direction of the suspension arm 3, the estimation precision is effectively improved, and meanwhile, the real-time performance can be ensured. The state equations for kalman filtering are established below.
The matrix form of the state equation of the discretized kalman filter is expressed as:
in the formula (5), k represents a discretization time; the system state vector is X = [ F = [) x F y ]', the superscript' in the present invention denotes transposing the matrix; w (k-1) represents a zero-mean systematic gaussian white noise vector and W = [ W = 1 w 2 ]', wherein w 1 、w 2 Respectively representing two system Gaussian white noise components, wherein a system noise covariance matrix Q (k-1) corresponding to W (k-1) is as follows:whereinRespectively represent the system Gaussian white noise w 1 、w 2 A corresponding variance; the state transition matrix isThis is because the pull force F of the rope 5 on the rescue wrecker 1 in the horizontal direction in the operation process of hoisting heavy objects, righting the accident vehicle 2 and the like of the rescue wrecker 1 x And a tensile force F in the vertical direction y The tension value at the previous sampling moment is considered to be equal to the tension value at the next sampling moment;
the matrix form of the discretized kalman filter observation equation is:
Z(k)＝H(k)·X(k)+V(k) (6)
in the formula (6), Z is an observation vector, H is an observation array, and V represents a zero-mean observation white noise vector unrelated to W. Since the observation vector and the state vector are the tension of the rope 5 on the rescue wrecker 1 in the horizontal direction and the vertical direction, the observation vector and the state vector are the tension of the rope 5 on the rescue wrecker 1 in the horizontal direction and the vertical directionWherein F x_m (k) And F y_m (k) Respectively represents the horizontal and vertical pulling force values of the rescue wrecker 1 by the rope 5 directly calculated by the measured value of the sensor, and the pulling force values are shown according to the formula (4)
In the formula (7), F m Represents the tension of the rope 5 on the wrecker 1 along the direction of the rope 5 measured by a tension sensor, a B_m To representAcceleration in the direction of extension of the rope 5 measured with low-cost MEMS sensors;represents the observation noise of the rope 5 obtained by the calculation of the formula (7) on the pulling force of the rescue obstacle-removing vehicle 1 in the horizontal direction, andis a mean of 0 and a variance ofWhite gaussian noise;represents the observation noise of the rope 5 obtained by the calculation of the formula (7) on the pull force of the rescue obstacle-removing vehicle 1 in the vertical direction, andis a mean of 0 and a variance ofWhite gaussian noise; the observed noise variance matrix R corresponding to V may be expressed as
For the system state equation and the measurement equation described by the equation (5) and the equation (6), the following standard filter recursion process is established by using the kalman filter theory, the recursion process comprises time update and measurement update, the first two steps of the following recursion process are time update, and the remaining three steps are measurement update:
and (3) time updating:
one-step prediction equation of state:
one-step prediction error variance matrix:
and (3) measurement updating:
a filter gain matrix:
K(k)＝P(k,k-1)·Η′(k)[H(k)·P(k,k-1)·H′(k)+R(k)] -1 (10)
and (3) state estimation:
estimating an error variance matrix:
P(k)＝[I-K(k)·H(k)]·P(k,k-1) (12)
after the recursive calculation, the tension F of the rope 5 on the rescue wrecker 1 in the horizontal direction can be accurately estimated in real time x And a tensile force F in the vertical direction y 。
And (4): boom 3 overload warning
In the actual operation processes of lifting, righting and the like of the rescue wrecker 1, a heavy object or an accident vehicle 2 is generally positioned at the side edge of the rescue wrecker 1, and the plane of the lifting arm 3 and the rope 5 is vertical to the plane of the side edge of the wrecker body, so the invention only considers the working conditions. For the critical condition that the rescue wrecker 1 turns over to a certain side, the contact point of the side leg 4 and the ground becomes the fulcrum of the rescue wrecker 1. In practical situations, the side of the rescue wrecker 1 is generally provided with two support legs 4, for convenience of discussion, the two support legs 4 are considered to have the same extension length, and the rollover direction of the rescue wrecker 1 is perpendicular to the longitudinal axis of the rescue wrecker 1. As shown in fig. 2, a clockwise arrow indicates the rollover direction of the wrecker 1, and B is a fulcrum when the wrecker rolls over. The moment borne by the pivot B is as follows: moment M of gravity of rescue wrecker 1 to fulcrum B G 、F x Moment to the fulcrum BAnd F y To a fulcrum BMoment of forceTherefore, according to the moment balance principle, in order to prevent the wrecker 1 from rolling over, the fulcrum B must satisfy:
namely:
g is the gravity of the wrecker 1 and can be obtained by looking up a manual of the wrecker 1; d G The horizontal distance from the fulcrum B to the gravity center position of the rescue wrecker 1 can be obtained by looking up a design manual of the rescue wrecker 1 or manually measuring;is the vertical distance between the fulcrum B and the pulley 6 at the tail end of the suspension arm 3;the horizontal distance between the pivot B and the pulley 6 at the tail end of the suspension arm 3 is set, when the pulley 6 at the tail end of the suspension arm 3 is at the upper right of the pivot BIs positive, when the pulley 6 at the tail end of the suspension arm 3 is positioned at the upper left of the pivot point BIs negative.Can be obtained by calculating the height parameter H (measured in advance or consulted a design manual) of the rotary table of the suspension arm 3 of the rescue wrecker 1, the pitch angle alpha of the suspension arm 3 and the length L of the suspension arm 3, namely
Pair d in FIG. 3 G 、Are separately labeled.
Since F is obtained by Kalman filtering in the third step x And F y Accurate estimation of value, thereforeCan be obtained in real time by calculation, and M G Or may be obtained in advance by calculation. In the invention whenTo reach M G And sending out an overload early warning signal of the suspension arm 3 when the load reaches 90 percent.

Claims (1)

1. An overload early warning method for a suspension arm of a rescue wrecker is characterized by comprising the following steps: the method comprises the following steps:
(1) Installing a required sensor assembly: supporting legs capable of being supported on the ground are arranged on two sides of the wrecker, a suspension arm is arranged at the top of the wrecker, a rope is arranged at the other end of the suspension arm through a pulley, and a lifting hook for pulling up an accident vehicle is fixed at the tail end of the rope; acceleration sensors are arranged on the side surface of the suspension arm along the extension direction of the suspension arm and on the joint of the tail end of the rope and the lifting hook along the direction of the rope; the suspension arm is also provided with a length sensor, and the direction of the length sensor is consistent with the stretching direction of the suspension arm; a tension sensor is arranged at the joint of the rope and the lifting hook;
(2) Calculating the attitude information of the suspension arm and the rope: the pitch angle of a suspension arm of the rescue wrecker and the inclination angle of a rope are respectively measured through two acceleration sensors, the length L of the suspension arm is measured through a length sensor, and the tension F of the rope on the rescue wrecker is measured through a tension sensor;
(3) According to the attitude information of the suspension arm and the rope obtained in the step (2), the tension of the rope on the rescue wrecker in the horizontal direction and the vertical direction is estimated in real time through a Kalman filtering algorithm;
(4) Analyzing whether the rescue wrecker has the danger of boom overload or not according to the moment balance principle, and carrying out boom overload early warning;
in the step (1), the acceleration sensor is an MEMS acceleration sensor;
the specific process of calculating the attitude information of the suspension arm and the rope in the step (2) comprises the following steps:
since the boom is moving slowly, i.e. considered stationary for a short time, the pitch angle α of the boom is determined from the boom acceleration information a acquired by the acceleration sensor A And resolving, wherein a specific formula is as follows:
wherein 0 DEG < alpha < 90 DEG; g is gravity acceleration;
and because the rope and the lifting hook are in a slow motion state in the operation process, namely the speed of the rope and the speed of the lifting hook are both considered to be zero, the inclination angle beta of the rope is also through the rope acceleration information a acquired by the acceleration sensor B And resolving, wherein a specific formula is as follows:
wherein 0 DEG < beta < 90 DEG, when the jib is in the vertical hoisting position, beta =90 DEG
The specific process of the step (3) is as follows:
when the rescue wrecker lifts a heavy object or corrects an accident vehicle, the movement of the suspension arm, the pulley at the tail end of the suspension arm and the rope is slow and is regarded as static in a short time, so that the suspension arm system and the rescue wrecker body are regarded as a whole, namely the tension F on the rope is the acting force on the whole rescue wrecker, and the acting point is the pulley at the tail end of the suspension arm;
respectively calculating the horizontal and vertical pulling forces of the rope on the rescue wrecker according to the rope inclination angle beta and the pulling force F of the rope on the rescue wrecker obtained in the step (2), wherein the specific calculation formula is as follows:
in the formula (3), F x For pulling the rope in the horizontal direction on the wrecker, F y The pull force of the rope on the wrecker in the vertical direction is provided;
establishing a state equation of Kalman filtering;
the matrix form of the state equation of the discretized kalman filter is expressed as:
in the formula (4), k represents a discretization time; the system state vector is X = [ F = [) x F y ]', superscript' denotes transposing the matrix; w (k-1) represents a zero-mean systematic gaussian white noise vector and W = [ W = 1 w 2 ]', wherein w 1 、w 2 Respectively representing two system Gaussian white noise components, wherein a system noise covariance matrix Q (k-1) corresponding to W (k-1) is as follows:whereinRespectively represent the system Gaussian white noise w 1 、w 2 A corresponding variance; the state transition matrix isThe pull force F of the rope on the rescue wrecker in the horizontal direction in the operation process of hoisting heavy objects and righting accident vehicles x And a tensile force F in the vertical direction y Is a slow changeThe pulling force value at the previous sampling moment is regarded as being equal to the pulling force value at the next sampling moment;
the matrix form of the discretized kalman filter observation equation is:
Z(k)＝H(k)·X(k)+V(k) (5)
in the formula (5), Z is an observation vector, H is an observation array, V represents a zero-mean observation white noise vector irrelevant to W, and V (k) represents a zero-mean observation white noise vector irrelevant to W at the moment k; because the observation vector and the state vector are the pull forces of the rope on the rescue wrecker in the horizontal direction and the vertical direction, the rescue wrecker can be driven by the rope to move in the horizontal direction and the vertical directionWherein F x_m (k) And F y_m (k) Respectively represents the pulling force values of a rope obtained by direct calculation through the measured value of the sensor in the horizontal and vertical directions, and the pulling force values are obtained according to the formula (3)
In the formula (6), F m Representing the rope tension, a, of the rescue wrecker in the rope direction measured by the tension sensor B_m Representing the acceleration in the rope stretching direction measured with an acceleration sensor;represents the observation noise of the rope obtained by the calculation of the formula (6) on the tensile force of the rescue wrecker in the horizontal direction, andis a mean of 0 and a variance ofWhite gaussian noise of (1);represents the observation noise of the rope obtained by the calculation of the formula (6) on the pull force of the rescue wrecker in the vertical direction, andis a mean of 0 and a variance ofWhite gaussian noise; v represents the corresponding observed noise variance matrix R as
For the system state equation and the measurement equation described by the formula (4) and the formula (5), the following standard filtering recursion process is established by applying the kalman filtering theory, the recursion process comprises time updating and measurement updating, the first two steps of the following recursion process are time updating, and the remaining three steps are measurement updating:
and (3) time updating:
and (3) measurement updating:
K(k)＝P(k,k-1)·Η′(k)[H(k)·P(k,k-1)·H′(k)+R(k)] -1 (9)
P(k)＝[I-K(k)·H(k)]·P(k,k-1) (11)
in the formula (7), the reaction mixture is,p (k, k-1) in equation (8) as a result of the one-step prediction of the state) For the one-step prediction error variance matrix, K (K) in formula (9) represents a filter gain matrix, R (K) represents an observation noise variance matrix corresponding to K time, and formula (10) representsRepresents the result of state estimation, P (k) in equation (11) represents the result of error variance matrix estimation, and I represents an identity matrix; after the recursive calculation, the tension F of the rope on the rescue wrecker in the horizontal direction is accurately estimated in real time x And a tensile force F in the vertical direction y ；
The specific process of the step (4) is as follows:
rescue obstacles removing car lifts by crane and rights the operation in-process at the reality, heavy object or accident vehicle generally are located the side of rescue obstacles removing car, and davit and rope place plane perpendicular to automobile body side plane, and to the critical condition that rescue obstacles removing car is to a side turn on one's side, the contact point on this collateral branch leg and ground will become the fulcrum that rescue obstacles removing car turned on one's side, and the landing leg length of rescue obstacles removing car both sides equals, and this fulcrum of definition is B, and under the critical condition that rescue obstacles removing car will turn on one's side, the moment that fulcrum B received has: moment M of self gravity of rescue wrecker to fulcrum B G 、F x Moment to fulcrum BAnd F y Moment to the fulcrum BAccording to the moment balance principle, in order to prevent the rescue wrecker from rollover, the fulcrum B must meet the following requirements:
namely:
wherein G is the gravity of the wrecker, d G Is the horizontal distance from the fulcrum B to the gravity center position of the wrecker,is the vertical distance between the pivot B and the pulley at the tail end of the suspension arm;the horizontal distance between the pivot B and the pulley at the tail end of the suspension arm is set, and when the pulley at the tail end of the suspension arm is at the upper right of the pivot BWhen the pulley at the tail end of the suspension arm is right and above the left of the pivot point BIs negative;
obtained by calculating height parameters H of a turntable of a suspension arm of the rescue wrecker, a pitch angle alpha of the suspension arm and the length L of the suspension arm, namely
Since F is obtained in step (3) x And F y Accurate estimation of value, thereforeObtained in real time by calculation, and M G Is also obtained in advance by calculation; when in useTo reach M G And sending out an overload early warning signal of the suspension arm when the load is 90 percent.
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