CN106882117A - A kind of Tipper Lifting operation rollover prior-warning device based on slant angle sensor - Google Patents
A kind of Tipper Lifting operation rollover prior-warning device based on slant angle sensor Download PDFInfo
- Publication number
- CN106882117A CN106882117A CN201710171088.7A CN201710171088A CN106882117A CN 106882117 A CN106882117 A CN 106882117A CN 201710171088 A CN201710171088 A CN 201710171088A CN 106882117 A CN106882117 A CN 106882117A
- Authority
- CN
- China
- Prior art keywords
- angle sensor
- slant angle
- alarm
- controller
- dumper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of Tipper Lifting operation rollover prior-warning device based on slant angle sensor, is related to dumper anti-rollover prior-warning device technical field.Present invention rollover prior-warning device, including rear axle slant angle sensor, vehicle frame slant angle sensor, railway carriage slant angle sensor, controller and alarm；Rear axle slant angle sensor, vehicle frame slant angle sensor, railway carriage slant angle sensor and alarm are respectively connected with controller；Controller is used to receiving each signal that rear axle slant angle sensor, vehicle frame slant angle sensor, railway carriage slant angle sensor transmit process and obtains real-time tilting value α, then α is analyzed with rollover inclination angle threshold value beta built-in in controller, according to analysis result, controller sends alarm or the order do not alarmed to the alarm.The present invention can accurately early warning dumper unsafe condition for turning on one's side in operation is lifted, it is ensured that the safety of dumper and human pilot.
Description
【Technical field】
The present invention relates to dumper anti-rollover prior-warning device technical field, and in particular to a kind of based on slant angle sensor
Tipper Lifting operation rollover prior-warning device.
【Background technology】
Vehicle side turning is to cause the major motor vehicle security incident of life and property loss.Dumper refers to by hydraulic pressure or machinery
Lifting and voluntarily unload the vehicle of goods, used as a kind of special purpose vehicle, dumper determines self-unloading due to the structural factor of itself
The features such as car vehicle has higher centroid position, quality and volume are relatively large, wheelspan overloads relatively, in its tipping bucket by load lifting cylinder
Easily there is rollover event in lifting, the dangerous of its unstability also will height compared with general vehicle when toppling over loaded article.In rollover thing
Therefore when occurring, the generation of the nearly all imperceptible rollover of driver.According to statistics, vehicle side turning accident has become and is only second to just
The serious motor-vehicle accident of face collision, and dumping heavy vehicle determines that its vehicle height of center of mass compares one due to the structural factor of itself
As lorry will height, its rollover it is dangerous also bigger, in particularly lifting operation process, due to dumper bearing capacity drastically
Change, increases the possibility of rollover.
Operation rollover unstability when the failure mode that dumper is special, harm is maximum is unloading.Because dumper is usual
Structure and open type railway carriage that vehicle frame and railway carriage are separated are used, cause rigidity of the tipper carriage in unloading weaker,
Physics and chemical property, weather, road along with delivery goods, the influence of work-yard, dumper are carrying out lifting unloading
It is more easy to laterally rollover phenomenon occur during operation, serious accident occurs.In recent years, with transport service to large-tonnage, grow tall compartment
The increase of dumper demand, the railway carriage of heavy-duty tipper manufacturer does bigger and bigger.Although heavy vehicle chassis factory and upper dress are produced
Enterprise is the bearing capacity for improving each production part, and vehicle frame, suspension, vehicle bridge, subframe, compartment equivalent-load part are carried out respectively
Strengthen design, but due to the increase of dumper entirety height of center of mass, reduce the stability of dumper unloading operation.
The design of early warning system of being turned on one's side for dumper, domestic and foreign scholars have many researchs.Nineteen ninety, Rekheja etc. are opened
Send a set of early warning system (Rekheja S.and Piche for heavy vehicle directional stability
A..Development of Directional Stability Criteria for an Early Warning Safety
Device.SAE Paper No.902265,1990.), this system is accelerated by relatively more lateral under conditions of static state is turned to
Whether whether degree judge vehicle in rollover precarious position more than the threshold value of setting, and sends alarm signal to driver,
But the method is excessively simple, early warning Performance comparision is poor.Additionally, the dumper rollover early warning system designed with the method, can only
Rollover unsafe condition under monitoring self-unloading vehicle travelling state, it is impossible to the rollover danger shape under Tipper Lifting unloading operation operating mode
Condition carries out early warning.2011, Huaiyingong College summer Jingjing designed a set of self-unloading according to the structure and its operating feature of dumper
(summer Jingjing, Hu Xiaoming, Chen Jie dump trucks rollover prior-warning device designs [J] .2011,7 to car rollover prior-warning device：25-27.),
This system is real-time to estimate dumper by the numerical value measured by dumper left and right sides load transducer and inclination angle transducer
Height of center of mass, reads the side tilt angle by testing the dumper for the obtaining rollover limit, by this side according to different height of center of mass
Degree of tilt is set to the threshold value at dump truck side inclination angle, if the real-time angle of heel of dumper is more than threshold value now, system sends report
It is alert.Although this set system is dangerous for monitoring the rollover under the lifting unloading operation under dumper static state, because system is logical
Cross left and right sides load transducer and roll angle transducer and show that vehicle centroid is inaccurate, cause systematic error larger.Additionally, left
Right both sides load transducer is not easy to be installed on dumper, and after installation, due to the severe original of dumper traveling operating environment
Cause, left and right sides load transducer is fragile, and sensor accuracy can also be reduced, and causes the accurate pre-alerting ability of system and reduces.
In sum, dumper is due to itself having higher centroid position, quality and volume is relatively large, wheelspan is with respect to mistake
The features such as load, stability is poor, especially is more easy to turn on one's side in operation process is lifted.In currently available technology, dumper is lifted
Lack a kind of accurate prior-warning device of pre-alerting ability during rising.
【The content of the invention】
Goal of the invention of the invention is：For problem present in background technology, there is provided a kind of based on inclination angle sensing
The Tipper Lifting operation rollover prior-warning device of device, prior-warning device of the present invention can accurately early warning Tipper Lifting Job Operations
During, the unsafe condition that dumper is turned on one's side reminds the careful operation of driver in time, effectively prevents Tipper Lifting from making
Turned on one's side during industry, it is ensured that the safety of dumper and human pilot.
To achieve these goals, the technical solution adopted by the present invention is as follows：
A kind of Tipper Lifting operation rollover prior-warning device based on slant angle sensor, including rear axle inclination angle sensing
Device, vehicle frame slant angle sensor, railway carriage slant angle sensor, controller and alarm；The rear axle slant angle sensor, vehicle frame
Slant angle sensor, railway carriage slant angle sensor and alarm are respectively connected with the controller；
The rear axle slant angle sensor is used to gather after dumper shaft declivity and is converted into rear axle and inclines electric signal passing
Pass the controller；The vehicle frame slant angle sensor is used to gather dumper frame gradient and be converted into vehicle frame to incline electricity
Signal transmission gives the controller；The railway carriage slant angle sensor is used to gather tipper carriage gradient and is converted into railway carriage
Incline electric signal and pass to the controller；
The controller is used to receive the rear axle inclination electric signal, vehicle frame inclination electric signal and railway carriage inclination electric signal simultaneously
Above-mentioned each signal process and obtains the real-time tilting value α of dumper, it is then that the real-time tilting value α is built-in with controller
Rollover inclination angle threshold value beta be analyzed and obtain analysis result, according to the analysis result, the controller is to the report
Alert device sends alarm or the order do not alarmed.
Optimization, the controller sends the order alarmed or do not alarm to the alarm and refers to：As the β of α ﹤ 0.7, alarm
Rank G=0, the controller sends not alarm command to the alarm；As α >=0.7 β, the controller is to the alarm
Device sends alarm command.α >=0.7 β controllers are sent alarm command by the present invention to the alarm, be by digital simulation and
Drawn after real vehicle checking, meet the custom in dumper operating process.Because dumper is by there is larger loading capacity, in lifting
In operation process, the movement of car can occur unavoidably, now the α values in controller can also fluctuate within the specific limits, and in α ﹤
During 0.7 β, this fluctuation belongs to normal range (NR), is not susceptible to rollover.If any value alarm, driver in the β of α ﹤ 0.7
Can stop lifting after readily hearing alarm, be unfavorable for unloading operation；And if during the β of α >=0.7, alarm is not alarmed, because people listens
To alarm to lifting operation is stopped, there is a reaction time, in the case where big load or road conditions are bad, easily turn on one's side.
Further optimize, the alarm command includes：As 0.7 β≤β of α ﹤ 0.8, alert levels are G=1, the control
Device sends primary alarm command to the alarm；Dang α≤0.8 β, alert levels are G=2, and the controller is to the alarm
Device sends senior alarm command.The present invention, the primary alarms of G=1 and the senior alarms of G=2 are divided into by alert levels hommization：
Driver can be facilitated to be judged when primary alarm sends according to experience and load any quantity and road conditions, if lifting can be continued
Operation, while prompting should now be operated with caution, constantly notices that car inclination conditions stop lifting operation at any time；When the senior reports of G=2
When alert, should stop lifting operation immediately, to prevent dump truck side from turning over.
Further optimize, the alarm includes visual alarm and voice guard；When alert levels are G=0,
Visual alarm is green, and voice guard is not alarmed；When alert levels are G=1, visual alarm is yellow and is flicker shape
State, voice guard sends the buzzer that alert frequency is 1Hz；When alert levels are G=2, visual alarm is for red and is
Flicker state, voice guard sends the buzzer that alert frequency is 2Hz.Alarm is entered to set up separately and is set to light report by the present invention
Alert device and voice guard, are easy to accomplish to observe alarm condition in time.Under some lifting operating environments, sound is larger, no
Voice guard easily is heard, then visual alarm can be observed conveniently.Similarly, under some lifting operating environments, light is brighter,
Then voice guard can conveniently be heard.And different alert frequencies are also the driver by after many suboptimization in voice guard
More it is easily accepted by, it is nervous suddenly and alarmed that too strong alarm song easily causes driver, is more easy to cause danger.
Further optimize, the rear axle slant angle sensor and vehicle frame slant angle sensor are single-axis tilt angle biography
Sensor, the single-axis tilt angle transducer is built-in with temperature compensation module and impact suppression module.By built-in in the present invention
Have temperature-compensating and impact suppression module, it is adaptable to the vehicle environment under different temperatures environment and different work situation, reduce because
Ambient temperature changes and/or impacts brings influence to sensor measurement, so as to influence measuring accuracy, it is ensured that the standard of measurement result
True property.
Further optimize, it is characterised in that the model BWK210 of the single-axis tilt angle transducer, output area
It is 0~5V, range is -90 °~90 °.
Further optimize, the railway carriage slant angle sensor is Two-axis obliquity sensor, the bi-axial tilt angle
Sensor is built-in with temperature compensation module and impact suppression module.Railway carriage lift operation process in, due to what is constantly raised
Railway carriage and may run-off the straight situation, while can in X-axis and Y-axis run-off the straight, select double-shaft sensor can preferably by
The constantly situation of railway carriage is monitored in lifting operation process, the degree of accuracy is improved；Can avoid that two single shafts biographies are installed simultaneously simultaneously
Sensor, it is cost-effective.By being built-in with temperature-compensating and impact suppression module in the present invention, it is adaptable to different temperatures environment and not
With the vehicle environment under job status, reduce and bring influence to sensor measurement because ambient temperature changes and/or impacts, so that shadow
Ring measuring accuracy, it is ensured that the accuracy of measurement result.
Further optimize, the model BWK216 of the Two-axis obliquity sensor, output area is 0~5V, amount
Journey is -90 °~90 °.
Further optimize, the controller is selected from MC9S12XS128 single-chip microcomputers.
Further optimize, the acquisition methods of rollover inclination angle threshold value beta are as follows：Line number is entered using MATLAB first
Learning modeling Simlink carries out design of Simulation, sets up car rear axle inclination angle, vehicle frame inclination angle and the railway carriage inclination angle of dumper not
With the data group that inclination angle and dumper rollover relation in operation process are lifted under the conditions of loading capacity and/or road conditions, then with reality
Car obtains inclination angle threshold value beta of turning on one's side after verifying and improving the data group, finally that the write-in of rollover inclination angle threshold value beta is described
In controller.
Operation principle of the present invention is as follows：
Dumper rollover prior-warning device of the present invention, in Tipper Lifting operation process, is inclined by the rear axle in the present apparatus
Angled sensors, vehicle frame slant angle sensor and railway carriage slant angle sensor constantly respectively by the rear shaft declivity of dumper,
Vehicle frame gradient and railway carriage gradient are converted into corresponding rear axle and incline electric signal, vehicle frame inclination electric signal and railway carriage inclination telecommunications
Number, then it is respectively transmitted to controller, controller to each signal process and obtains the real-time tilting value α of dumper, then by institute
State built-in rollover inclination angle threshold value beta in real-time tilting value α and controller and be analyzed and obtain analysis result, according to described
Analysis result, the controller sends alarm or the order do not alarmed to the alarm.
The acquisition methods of inclination angle threshold value beta of turning on one's side are as follows：Mathematical modeling Simlink is carried out using MATLAB first to be imitated
True design, sets up car rear axle inclination angle, vehicle frame inclination angle and the railway carriage inclination angle of dumper in different loading capacity and/or road conditions bar
Inclination angle and the data group of dumper rollover relation in operation process are lifted under part, the data are then verified and improved with real vehicle
Inclination angle threshold value beta of turning on one's side is obtained after group, finally by the rollover inclination angle threshold value beta write-in controller.
Real-time tilting value α and rollover inclination angle threshold value beta closer to when, that turns on one's side is dangerous higher.Alarm is not reported
It is alert, it was demonstrated that lifting job safety, lifting operation can proceed；When alarm equipment alarm, driver is pointed out to have rollover dangerous.
In sum, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1st, prior-warning device of the present invention is by determining the inclination feelings of car rear axle, vehicle frame and railway carriage in operation process is lifted simultaneously
Condition, can lift the unsafe condition of rollover, if rollover trend in lifting operation process under accurately early warning dumper is static
When, in time remind the careful operation of driver, effectively prevent from being turned on one's side during Tipper Lifting operation, it is ensured that dumper with drive
Sail the safety of personnel.
2nd, the foundation and calculating that the present invention passes through Mathematical Modeling of turning on one's side to dumper, and with having been corrected after system service testing
The kind dump truck side tipping oblique angle threshold value beta for obtaining, and will in rollover inclination angle threshold value beta writing system single-chip microcomputer, be system to from
Rollover early warning of unloading provides reliable foundation.It is compared with rollover inclination angle threshold value beta by real-time tilting value α, controller
Alarm or the order do not alarmed are sent to the alarm.Can the accurately static lower danger for lifting rollover of early warning dumper
Situation, the generation for effectively preventing dumper from turning on one's side, it is ensured that the safety of dumper and human pilot.
3rd, the present invention chosen by repeatedly research, after comparative analysis rear axle slant angle sensor, vehicle frame slant angle sensor,
Railway carriage slant angle sensor in real time by constantly monitoring Tipper Lifting operation process in car rear axle inclination angle, vehicle frame inclination angle and
Railway carriage inclination angle because the inclination conditions for reflecting dumper that car rear axle, vehicle frame and railway carriage can most prepare comprehensively, with it is single or
The sensor being positioned over elsewhere is compared, and, closer to the actual conditions of car, accuracy rate is up to 95% for gradient measurement accuracy rate
More than.While three's data are monitored, the real-time tilting value α obtained after calculation process is more accurate.
4th, slant angle sensor price used in the present invention is relatively low, and system production cost reduction, the inclination angle of selection passes
Sensor is built-in with temperature-compensating and impact suppression module, improves certainty of measurement, additionally, slant angle sensor is easy for installation, can
It is high by property.
5th, alarm device of the invention is light emitting diode and the buzzing of the three kinds of colors controlled by an integrated circuit
Device, can at a glance remind driver according to the corresponding light emitting diode of the different driving of alert levels.
【Brief description of the drawings】
Fig. 1 Tipper Lifting operation rollover prior-warning device structural representations of the present invention；
Fig. 2 Tipper Lifting operation rollover prior-warning device scheme of installations of the present invention；
Fig. 3 is for Fig. 2 along A to rear axle schematic views；
Fig. 4 is Fig. 2 along C-C ' line vehicle frame schematic views；
In accompanying drawing, 1- rear axles slant angle sensor, 2- vehicle frames slant angle sensor, 3- railway carriages slant angle sensor, 4- controls
Device processed, 5- alarms, 11- dumpers rear axle, 21- dumper frames, 31- tipper carriages；
【Specific embodiment】
To make the purpose, technical scheme and advantage of present invention implementation clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from start to finish or class
As label represent same or similar element or the element with same or like function.Described embodiment is the present invention
A part of embodiment, rather than whole embodiments.Embodiment below with reference to Description of Drawings is exemplary, it is intended to used
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, belongs to below the scope of protection of the invention
Embodiments of the invention are described in detail with reference to accompanying drawing.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward " are based on accompanying drawing institute
The orientation or position relationship for showing, are for only for ease of the description present invention and simplify description, rather than the dress for indicating or implying meaning
Put or element with specific orientation, with specific azimuth configuration and operation, therefore it is not intended that must be protected to the present invention
The limitation of scope.
Embodiment 1
Refer to Fig. 1, Fig. 2, Fig. 3 and Fig. 4.
A kind of Tipper Lifting operation rollover prior-warning device based on slant angle sensor, including rear axle slant angle sensor
1st, vehicle frame slant angle sensor 2, railway carriage slant angle sensor 3, controller 4 and alarm 5；The rear axle slant angle sensor 1,
Vehicle frame slant angle sensor 2, railway carriage slant angle sensor 3 and alarm 5 are respectively connected with the controller 4；
The rear axle slant angle sensor 1 is used to gather the gradient of dumper rear axle 11 and be converted into rear axle to incline electric signal
Pass to the controller 4；The vehicle frame slant angle sensor 2 is used to gather the gradient of dumper frame 21 and is converted into vehicle frame
Incline electric signal and pass to the controller 4；The railway carriage slant angle sensor 3 is used to gather the gradient of tipper carriage 31 simultaneously
It is converted into railway carriage inclination electric signal and passes to the controller 4；
The controller 4 is used to receive the rear axle inclination electric signal, vehicle frame inclination electric signal and railway carriage inclination electric signal
And by above-mentioned each signal process and obtain the real-time tilting value α of dumper, it is then that the real-time tilting value α is interior with controller
The rollover inclination angle threshold value beta put is analyzed and obtains analysis result, and according to the analysis result, the controller 4 is to institute
State alarm 5 and send alarm or the order do not alarmed.
Wherein, the controller sends the order alarmed or do not alarm to the alarm and refers to：As the β of α ﹤ 0.7, level of alarming
Other G=0, the controller sends not alarm command to the alarm；As α >=0.7 β, the controller is to the alarm
Send alarm command.Further refinement, the alarm command is further subdivided into：As 0.7 β≤β of α ﹤ 0.8, alert levels are G=
1, the controller sends primary alarm command to the alarm；Dang α≤0.8 β, alert levels are G=2, the controller
Senior alarm command is sent to the alarm.
The alarm 5 includes visual alarm (not shown) and voice guard (not shown)；When alert levels are G=
0, visual alarm is green, and voice guard is not alarmed；When alert levels are G=1, visual alarm is yellow and is flicker
State, voice guard sends the buzzer that alert frequency is 1Hz；When alert levels are G=2, visual alarm for it is red simultaneously
It is flicker state, voice guard sends the buzzer that alert frequency is 2Hz.
The rear axle slant angle sensor 1 and vehicle frame slant angle sensor 2 are single-axis tilt angle transducer, the single shaft
Slant angle sensor is built-in with temperature compensation module and impact suppression module.The model of the single-axis tilt angle transducer
BWK210, output area is 0~5V, and range is -90 °~90 °.Rear axle slant angle sensor 1 is horizontally arranged at dumper rear axle
On 11, and rear axle slant angle sensor 1 ± X-axis parallel to dumper rear axle 11 central axis.Vehicle frame slant angle sensor 2
On the vehicle frame 21 of dumper, and vehicle frame slant angle sensor 2 ± X-axis parallel to dumper frame 21 transverse direction side
To.
The railway carriage slant angle sensor 3 is Two-axis obliquity sensor, and the Two-axis obliquity sensor is built-in with
Temperature compensation module and impact suppression module.The Two-axis obliquity sensor is given birth to selected from Ningbo Mai Si Electronic Science and Technology Co., Ltd.s
The model BWK216 products of product, output area is 0~5V, and range is -90 °~90 °.The level of railway carriage slant angle sensor 3 is pacified
Mounted in the lower surface of tipper carriage 31, the position of optimization senses in the lower surface of railway carriage 31 near headstock side, and railway carriage inclination angle
Horizontal direction of ± the X-axis of device 3 parallel to tipper carriage 31.
The controller is selected from MC9S12XS128 single-chip microcomputers, selected from the product of Freescale company production.
The acquisition methods of rollover inclination angle threshold value beta are as follows：Mathematical modeling Simlink is carried out using MATLAB first to enter
Row design of Simulation, sets up car rear axle inclination angle, vehicle frame inclination angle and the railway carriage inclination angle of dumper on different loading capacity and/or road
Inclination angle and the data group of dumper rollover relation in operation process are lifted under the conditions of condition, i.e., is measured under differing tilt angles situation
Rear axle inclination angle, vehicle frame inclination angle, railway carriage inclination angle, rear axle inclination angle and vehicle frame inclination angle, rear axle inclination angle and railway carriage are inclined
Angle, vehicle frame inclination angle and railway carriage inclination angle, railway carriage inclination angle and rear axle inclination angle and railway carriage inclination angle, in the case of any of the above
The number of inclination angle and dumper rollover relation in carrying out lifting operation process under the conditions of different loading capacity and/or different road conditions
According to these numerous data summarizations obtain data group.Then with real vehicle, loading lifts operation checking and improves institute under these conditions
Inclination angle threshold value beta of turning on one's side is obtained after stating data group, finally by the rollover inclination angle threshold value beta write-in controller 4.
As optimization, single-axis tilt angle transducer selection Ningbo Mai Si Electronic Science and Technology Co., Ltd.s BWK210 in the present invention
Model, Two-axis obliquity sensor selection Ningbo Mai Si Electronic Science and Technology Co., Ltd.s BWK216 models；It is appreciated that in the present invention
Single-axis tilt angle transducer is also an option that other manufacturing enterprises and/or other models, and Two-axis obliquity sensor can also be selected
Other enterprises and/or other models are selected, simply the difference in terms of use habit or certainty of measurement, has no effect on function of the present invention
Realize.
Controller 4 in the present embodiment can also select other type products of other manufacturing enterprises, can realize this hair
Bright function.
It is appreciated that railway carriage slant angle sensor 3 can also be installed on the lower surface of tipper carriage 31 in the present invention
Appointing on any position, or be installed on any position on the upper surface of railway carriage 31, or the railway carriage 31 such as side on railway carriage 31
What position；Preferably, and railway carriage slant angle sensor 3 ± X-axis parallel to tipper carriage 31 horizontal direction, lead to
Crossing data correction can also be not parallel to the horizontal direction of tipper carriage 31；The precision or easy to use for simply measuring above
Difference, has no effect on the realization of the object of the invention.
Similarly, it will be understood that dumper typically has two rear axles, and rear axle slant angle sensor 1 can pacify in the present invention
Any position on any rear axle 11 of dumper；± X-axis parallel to dumper rear axle 11 central axis, by data
Amendment can also not parallel dumper rear axle 11 central axis；The above is the difference of certainty of measurement, has no effect on this
The realization of goal of the invention.
Similarly, it will be understood that vehicle frame slant angle sensor 2 may be mounted at appointing on the vehicle frame 21 of dumper in the present invention
One position；± X-axis, can also be not parallel by data correction parallel to the horizontal direction of dumper frame 21；The above is only
It is the difference of certainty of measurement, has no effect on the realization of the object of the invention.
Described above is directed to the detailed description of preferably possible embodiments of the invention, but embodiment is not limited to this hair
Bright patent claim, the equal change completed under the technical spirit suggested by all present invention or modification change, all should belong to
Cover the scope of the claims in the present invention.
Claims (10)
1. it is a kind of based on slant angle sensor Tipper Lifting operation rollover prior-warning device, it is characterised in that incline including rear axle
Angled sensors, vehicle frame slant angle sensor, railway carriage slant angle sensor, controller and alarm；The rear axle inclination angle passes
Sensor, vehicle frame slant angle sensor, railway carriage slant angle sensor and alarm are respectively connected with the controller；
The rear axle slant angle sensor is used to gather after dumper shaft declivity and is converted into rear axle and inclines electric signal passing to
The controller；The vehicle frame slant angle sensor is used to gather dumper frame gradient and be converted into vehicle frame to incline electric signal
Pass to the controller；The railway carriage slant angle sensor is used to gather tipper carriage gradient and is converted into railway carriage inclination
Electric signal passes to the controller；
The controller be used to receiving the rear axle incline electric signal, vehicle frame incline electric signal and railway carriage incline electric signal and by
State each signal and process and obtain the real-time tilting value α of dumper, then by side built-in in the real-time tilting value α and controller
Tipping oblique angle threshold value beta is analyzed and obtains analysis result, and according to the analysis result, the controller is to the alarm
Send alarm or the order do not alarmed.
2. it is according to claim 1 it is a kind of based on slant angle sensor Tipper Lifting operation rollover prior-warning device, its
It is characterised by, the controller sends the order alarmed or do not alarm to the alarm and refers to：As the β of α ﹤ 0.7, alert levels G
=0, the controller sends not alarm command to the alarm；As α >=0.7 β, the controller sends to the alarm
Alarm command.
3. it is according to claim 2 it is a kind of based on slant angle sensor Tipper Lifting operation rollover prior-warning device, its
It is characterised by, the alarm command includes：As 0.7 β≤β of α ﹤ 0.8, alert levels are G=1, and the controller is to the alarm
Device sends primary alarm command；Dang α≤0.8 β, alert levels are G=2, and the controller sends senior report to the alarm
Alert instruction.
4. it is according to claim 3 it is a kind of based on slant angle sensor Tipper Lifting operation rollover prior-warning device, its
It is characterised by, the alarm includes visual alarm and voice guard；When alert levels are G=0, visual alarm is green
Color, voice guard is not alarmed；When alert levels are G=1, visual alarm is yellow and is flicker state, voice guard
Send the buzzer that alert frequency is 1Hz；When alert levels are G=2, visual alarm is red and is flicker state, sound
Alarm sends the buzzer that alert frequency is 2Hz.
5. it is according to claim 1 it is a kind of based on slant angle sensor Tipper Lifting operation rollover prior-warning device, its
It is characterised by, the rear axle slant angle sensor and vehicle frame slant angle sensor are single-axis tilt angle transducer, the single shaft
Slant angle sensor is built-in with temperature compensation module and impact suppression module.
6. it is according to claim 5 it is a kind of based on slant angle sensor Tipper Lifting operation rollover prior-warning device, its
It is characterised by, the model BWK210 of the single-axis tilt angle transducer, output area is 0~5V, range is -90 °~90 °.
7. it is according to claim 1 it is a kind of based on slant angle sensor Tipper Lifting operation rollover prior-warning device, its
It is characterised by, the railway carriage slant angle sensor is Two-axis obliquity sensor, the Two-axis obliquity sensor is built-in with
Temperature compensation module and impact suppression module.
8. it is according to claim 7 it is a kind of based on slant angle sensor Tipper Lifting operation rollover prior-warning device, its
It is characterised by, the model BWK216 of the Two-axis obliquity sensor, output area is 0~5V, range is -90 °~90 °.
9. it is according to claim 1 it is a kind of based on slant angle sensor Tipper Lifting operation rollover prior-warning device, its
It is characterised by, the controller is selected from MC9S12XS128 single-chip microcomputers.
10. it is according to claim 1 it is a kind of based on slant angle sensor Tipper Lifting operation rollover prior-warning device, its
It is characterised by, the acquisition methods of rollover inclination angle threshold value beta are as follows：Mathematical modeling Simlink is carried out using MATLAB first
Carry out design of Simulation, set up car rear axle inclination angle, vehicle frame inclination angle and the railway carriage inclination angle of dumper in different loading capacity and/or
Inclination angle and the data group of dumper rollover relation in operation process are lifted under the conditions of road conditions, institute is then verified and improved with real vehicle
Inclination angle threshold value beta of turning on one's side is obtained after stating data group, finally by the rollover inclination angle threshold value beta write-in controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710171088.7A CN106882117A (en) | 2017-03-21 | 2017-03-21 | A kind of Tipper Lifting operation rollover prior-warning device based on slant angle sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710171088.7A CN106882117A (en) | 2017-03-21 | 2017-03-21 | A kind of Tipper Lifting operation rollover prior-warning device based on slant angle sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106882117A true CN106882117A (en) | 2017-06-23 |
Family
ID=59180842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710171088.7A Pending CN106882117A (en) | 2017-03-21 | 2017-03-21 | A kind of Tipper Lifting operation rollover prior-warning device based on slant angle sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106882117A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107422750A (en) * | 2017-07-13 | 2017-12-01 | 武汉理工大学 | Unmanned boat calibrates erecting bed with automatic horizontal |
| CN108248480A (en) * | 2018-02-09 | 2018-07-06 | 长沙智能驾驶研究院有限公司 | Dumper and its control method, computer readable storage medium |
| CN108248481A (en) * | 2018-02-09 | 2018-07-06 | 长沙智能驾驶研究院有限公司 | Dumper and its control method, computer readable storage medium |
| CN109131005A (en) * | 2018-08-30 | 2019-01-04 | 浙江鸿泉电子科技有限公司 | Vehicle lifts state identification method, system, electronic equipment and storage medium |
| CN109367462A (en) * | 2018-09-21 | 2019-02-22 | 中国重汽集团青岛重工有限公司 | Dumper stability safety control system and method |
| CN109367390A (en) * | 2018-09-21 | 2019-02-22 | 中国重汽集团青岛重工有限公司 | Safety control system of power takeoff of dump truck and method |
| CN109624845A (en) * | 2019-01-07 | 2019-04-16 | 西安正昌电子股份有限公司 | A kind of Tipper Lifting safety monitoring device and method |
| CN110562139A (en) * | 2019-08-08 | 2019-12-13 | 湖南成鑫专用汽车有限公司 | Novel multifunctional intelligent visual system for semitrailer |
| CN111452699A (en) * | 2020-04-24 | 2020-07-28 | 东风商用车有限公司 | Electronic control lifting control system and method for dump truck |
| CN112572623A (en) * | 2020-12-28 | 2021-03-30 | 安徽思诺物流装备有限公司 | Rollover alarm system and rollover alarm method for front-top dump semitrailer |
| CN113085692A (en) * | 2021-04-28 | 2021-07-09 | 三一汽车制造有限公司 | Dumper rollover prevention system and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101612927A (en) * | 2008-09-04 | 2009-12-30 | 清华大学 | Dynamic detection method for preventing wagon from turning towards one side on bending road and prior-warning device |
| CN201637475U (en) * | 2010-03-03 | 2010-11-17 | 淮阴工学院 | Construction traffic side-tilting early-warning device |
| DE102009024107A1 (en) * | 2009-06-06 | 2011-02-24 | Manfred Bermes | Tractor |
| CN103434428A (en) * | 2013-09-11 | 2013-12-11 | 重庆望江工业有限公司 | Rollover-preventing system of self-discharging motor truck |
| CN104228739A (en) * | 2013-06-08 | 2014-12-24 | 北汽福田汽车股份有限公司 | Dump truck side turning preventing method and device |
-
2017
- 2017-03-21 CN CN201710171088.7A patent/CN106882117A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101612927A (en) * | 2008-09-04 | 2009-12-30 | 清华大学 | Dynamic detection method for preventing wagon from turning towards one side on bending road and prior-warning device |
| DE102009024107A1 (en) * | 2009-06-06 | 2011-02-24 | Manfred Bermes | Tractor |
| CN201637475U (en) * | 2010-03-03 | 2010-11-17 | 淮阴工学院 | Construction traffic side-tilting early-warning device |
| CN104228739A (en) * | 2013-06-08 | 2014-12-24 | 北汽福田汽车股份有限公司 | Dump truck side turning preventing method and device |
| CN103434428A (en) * | 2013-09-11 | 2013-12-11 | 重庆望江工业有限公司 | Rollover-preventing system of self-discharging motor truck |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107422750A (en) * | 2017-07-13 | 2017-12-01 | 武汉理工大学 | Unmanned boat calibrates erecting bed with automatic horizontal |
| CN108248480A (en) * | 2018-02-09 | 2018-07-06 | 长沙智能驾驶研究院有限公司 | Dumper and its control method, computer readable storage medium |
| CN108248481A (en) * | 2018-02-09 | 2018-07-06 | 长沙智能驾驶研究院有限公司 | Dumper and its control method, computer readable storage medium |
| CN108248480B (en) * | 2018-02-09 | 2024-01-02 | 长沙智能驾驶研究院有限公司 | Dump truck, control method thereof and computer readable storage medium |
| CN108248481B (en) * | 2018-02-09 | 2023-09-22 | 长沙智能驾驶研究院有限公司 | Dump truck, control method thereof and computer readable storage medium |
| CN109131005A (en) * | 2018-08-30 | 2019-01-04 | 浙江鸿泉电子科技有限公司 | Vehicle lifts state identification method, system, electronic equipment and storage medium |
| CN109367390B (en) * | 2018-09-21 | 2021-07-16 | 中国重汽集团青岛重工有限公司 | Safety control system and method for power takeoff of dump truck |
| CN109367462A (en) * | 2018-09-21 | 2019-02-22 | 中国重汽集团青岛重工有限公司 | Dumper stability safety control system and method |
| CN109367390A (en) * | 2018-09-21 | 2019-02-22 | 中国重汽集团青岛重工有限公司 | Safety control system of power takeoff of dump truck and method |
| CN109624845A (en) * | 2019-01-07 | 2019-04-16 | 西安正昌电子股份有限公司 | A kind of Tipper Lifting safety monitoring device and method |
| CN110562139A (en) * | 2019-08-08 | 2019-12-13 | 湖南成鑫专用汽车有限公司 | Novel multifunctional intelligent visual system for semitrailer |
| CN111452699A (en) * | 2020-04-24 | 2020-07-28 | 东风商用车有限公司 | Electronic control lifting control system and method for dump truck |
| CN112572623A (en) * | 2020-12-28 | 2021-03-30 | 安徽思诺物流装备有限公司 | Rollover alarm system and rollover alarm method for front-top dump semitrailer |
| CN113085692A (en) * | 2021-04-28 | 2021-07-09 | 三一汽车制造有限公司 | Dumper rollover prevention system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106882117A (en) | A kind of Tipper Lifting operation rollover prior-warning device based on slant angle sensor | |
| CN106926805B (en) | Tipper lifts operation early warning device that turns on one's side based on tire pressure monitoring | |
| CN109624845A (en) | A kind of Tipper Lifting safety monitoring device and method | |
| CN109977500B (en) | Semi-trailer tank car multi-source information fusion rollover early warning method based on DS evidence theory | |
| KR20150087338A (en) | Improved method for passenger car tire pressure monitoring system | |
| CN109367462B (en) | Dumper stability safety control system and method | |
| CN104085804B (en) | A kind of full Terrain Cranes and center of gravity control monitor unit thereof and method | |
| CN101612927A (en) | Dynamic detection method for preventing wagon from turning towards one side on bending road and prior-warning device | |
| CN109866570A (en) | A kind of integrated safety control system and control method for counterbalanced lift truck | |
| CN203698103U (en) | Engineering machinery and anti-rollover early warning system thereof | |
| CN112092762A (en) | Fire fighting truck rollover early warning system and method | |
| CN2781477Y (en) | Display alarm control device for vehicle body incline | |
| CN103253137A (en) | System and method for tilt early warning and control and dumper | |
| CN105883622B (en) | Control method of tumbling and system and lorry-mounted crane | |
| JP2020131865A (en) | Safety monitoring device and safety monitoring method | |
| CN103625360A (en) | Car rollover stability performance dynamic monitoring and alarming system | |
| CN1825084A (en) | Automatic monitor of truck load balance and controlling method thereof | |
| CN106938628A (en) | A kind of Tipper Lifting operation rollover prior-warning device based on displacement transducer | |
| CN202676263U (en) | Load weighing system for mining dumper | |
| CN102601862A (en) | Engineering vehicle and safe steering early warning device and method thereof | |
| US20240153322A1 (en) | Suspension system for a heavy vehicle | |
| CN201762063U (en) | Forklift rollover-protection sensing and early-warning device and forklift utilizing same | |
| JP2017044706A (en) | Vehicle driving support device | |
| CN206856546U (en) | Tipper Lifting protects system | |
| CN102431410A (en) | Suspension grouping control system and suspension grouping control method for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lin Beiqing Inventor after: Li Xiaojian Inventor after: Liu Guibo Inventor after: Liang Chenghuan Inventor after: Tang Yanjie Inventor after: Liu Jun Inventor after: Cui Liang Inventor after: Liu Zhehong Inventor after: Li Hanjie Inventor before: Lin Beiqing Inventor before: Li Xiaojian Inventor before: Liu Guibo Inventor before: Liang Chenghuan Inventor before: Tang Yanjie Inventor before: Liu Jun Inventor before: Cui Liang |
|
| CB03 | Change of inventor or designer information | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180314 Address after: 130000 Dongfeng Street, Changchun automobile economic and Technological Development Zone, Changchun, Changchun, Jilin Applicant after: FAW Jiefang Automotive Co., Ltd. Address before: No. 26, Yufeng District, Liuzhou, the Guangxi Zhuang Autonomous Region, the Guangxi Zhuang Autonomous Region Applicant before: Faw Jiefang Liuzhou Special Automobile Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170623 |
|
| RJ01 | Rejection of invention patent application after publication |