CN109367462B - Dumper stability safety control system and method - Google Patents
Dumper stability safety control system and method Download PDFInfo
- Publication number
- CN109367462B CN109367462B CN201811109685.8A CN201811109685A CN109367462B CN 109367462 B CN109367462 B CN 109367462B CN 201811109685 A CN201811109685 A CN 201811109685A CN 109367462 B CN109367462 B CN 109367462B
- Authority
- CN
- China
- Prior art keywords
- inclination angle
- value
- threshold value
- coupling
- double
- 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.)
- Active
Links
Images
Classifications
-
- 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
- B60P1/045—Levelling or stabilising systems for tippers
-
- 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
Abstract
The invention discloses a stability safety control system of a dump truck, which comprises a stability control module, a double-shaft angle sensor, a display and an alarm device, wherein the double-shaft angle sensor comprises a double-shaft angle sensor I and a double-shaft angle sensor II, the stability control module is respectively connected with the display and the alarm device, and the stability control module is respectively connected with the double-shaft angle sensor I and the double-shaft angle sensor II and is used for receiving an X-direction inclination angle value and a Y-direction inclination angle value of a chassis, an X-direction inclination angle value and a Y-direction inclination angle value of a carriage and calculating the X-direction inclination angle coupling value and the Y-direction inclination angle coupling value, so that the stability of the dump truck in the lifting process is comprehensively monitored, the risks of transverse tipping, longitudinal tipping and the like during the lifting operation of the dump truck can be reduced, and the safety.
Description
Technical Field
The invention belongs to the technical field of dumper trucks, and particularly relates to a dumper stability safety control system and a dumper stability safety control method.
Background
At present, when a driver lifts a container of a dump truck, the driver is influenced by factors such as environment and perception, cannot visually know the stability state of the vehicle, cannot make correct analysis and judgment on the operation safety of the whole lifting process of the vehicle, easily causes dangerous conditions such as vehicle side-to-side dumping and cylinder pulling towards the container, causes safety accidents, and causes great personnel and property loss.
Disclosure of Invention
In order to overcome the technical problems in the prior art, the invention aims to provide a stability and safety control system and method for a dump truck, so that the occurrence of risks of transverse tipping, longitudinal tipping and the like during lifting operation of the dump truck is reduced, and the safety of a vehicle and a driver is guaranteed.
The invention provides a stability safety control system of a dump truck, which is used for ensuring the stability of the dump truck in the lifting process and comprises a stability control module, a double-shaft angle sensor, a display and an alarm device, wherein the double-shaft angle sensor comprises a double-shaft angle sensor I and a double-shaft angle sensor II;
the double-shaft angle sensor I is arranged on the central line of the chassis frame and used for detecting the inclination angle values of the chassis in the X direction and the Y direction;
the double-shaft angle sensor II is arranged on a central line of the bottom of the carriage and is used for detecting inclination angle values of the carriage in the X direction and the Y direction;
the stability control module is respectively connected with the double-shaft angle sensor I and the double-shaft angle sensor II and is used for receiving an X-direction inclination angle value and a Y-direction inclination angle value of the chassis, and an X-direction inclination angle value and a Y-direction inclination angle value of the carriage;
the stability control module is used for calculating an X-direction inclination angle coupling value and a Y-direction inclination angle coupling value, judging whether the X-direction inclination angle coupling value exceeds the X-direction first threshold value or the X-direction second threshold value, judging whether the Y-direction inclination angle coupling value exceeds the Y-direction first threshold value or the Y-direction second threshold value, and sending a corresponding control signal according to a judgment result; the control signal includes: when the coupling value of the X-direction inclination angle is smaller than the X-direction first threshold value and the coupling value of the Y-direction inclination angle is smaller than the Y-direction first threshold value, a green signal is prompted by the display to indicate that the display is in a safe state; when the coupling value of the X-direction inclination angle is larger than or equal to the X-direction first threshold value or the coupling value of the Y-direction inclination angle is larger than or equal to the Y-direction first threshold value, the display prompts a yellow signal, the alarm device sends an alarm signal, and an operator is prompted to adjust the posture of the whole vehicle; when the coupling value of the X-direction inclination angle is larger than or equal to the X-direction second threshold value or the coupling value of the Y-direction inclination angle is larger than or equal to the Y-direction second threshold value, the display prompts a red signal, the alarm device sends an alarm signal, and the dump truck is forbidden to lift.
Further, the first threshold value in the X direction is smaller than the second threshold value in the X direction, and the first threshold value in the Y direction is smaller than the second threshold value in the Y direction.
Further, the stable control module is connected with a lifting reversing valve of the hydraulic lifting system, and when the coupling value of the X-direction inclination angle is larger than or equal to a second X-direction threshold value or the coupling value of the Y-direction inclination angle is larger than or equal to a second Y-direction threshold value, the stable control module transmits a control signal to forcibly switch the lifting reversing valve to a middle stop position, and the dump truck is prohibited from lifting.
Further, the formula for calculating the coupling value of the X-direction inclination angle is as follows:
wherein
Is the coupling value of the X-direction inclined angle,
is the inclination angle value of the chassis in the X direction detected by the double-shaft angle sensor I,
the inclination angle value of the carriage X direction detected by the double-shaft angle sensor II is shown as A, a chassis X direction lateral contribution coefficient and B, a carriage X direction lateral contribution coefficient; the calculation formula of the Y-direction inclination angle coupling value is as follows:
wherein
Is the coupling value of the Y-direction inclined angle,
is the inclination angle value of the chassis in the Y direction detected by the double-shaft angle sensor I,
and C is a lateral contribution coefficient of the chassis Y, and D is a lateral contribution coefficient of the carriage Y.
Furthermore, the stability control module comprises a receiving unit, a storage unit, a data analysis unit and a control unit;
the receiving unit is connected with the double-shaft angle sensor I and the double-shaft angle sensor II and is used for receiving the inclination angle values of the chassis in the X direction and the Y direction and the inclination angle values of the carriage in the X direction and the Y direction;
the storage unit is connected with the receiving unit and used for storing the inclination angle values of the chassis in the X direction and the Y direction and the inclination angle values of the carriage in the X direction and the Y direction, and the storage unit stores a first threshold value in the X direction, a second threshold value in the X direction, a first threshold value in the Y direction and a second threshold value in the Y direction;
the data analysis unit is connected with the storage unit and used for calculating an X-direction inclination angle coupling value and a Y-direction inclination angle coupling value, analyzing and judging whether the X-direction inclination angle coupling value exceeds an X-direction first threshold value or an X-direction second threshold value, and whether the Y-direction inclination angle coupling value exceeds a Y-direction first threshold value or a Y-direction second threshold value;
the control unit is connected with the data analysis unit, the display, the alarm device and the lifting reversing valve, and is used for sending a control signal according to the judgment result of the data analysis unit.
Furthermore, the double-shaft angle sensor I and the double-shaft angle sensor II are respectively provided with at least 1, and the double-shaft angle sensor II is arranged at the position, close to the front end of the carriage, of the bottom of the carriage.
The invention provides a safety control method for the stability of a dump truck, which comprises the following steps:
(1) stopping the operation of the dump truck, lifting the carriage of the dump truck, and detecting the X-direction inclination angle value of the chassis by a double-shaft angle sensor I
And the Y-direction inclination angle value of the chassis
The double-shaft angle sensor II detects the X-direction inclination angle value of the carriage
And the value of the Y-direction inclination angle of the carriage
And transmitting to a stability control module;
(2) the stability control module is based on a formula
And
respectively calculating the coupling values of the X-direction inclination angles
And Y-direction tilt angle coupling value
；
(3) The stability control module judges the coupling value of the X-direction inclination angle
Whether the coupling value exceeds the first X-direction threshold value or the second X-direction threshold value and the coupling value of the Y-direction inclination angle
Whether the Y-direction first threshold value or the Y-direction second threshold value is exceeded or not, and sending a control signal according to a judgment result, wherein the control signal comprises: when the coupling value of the X-direction inclination angle is satisfied at the same time
Is smaller than the first threshold value in the X direction and the coupling value of the inclination angle in the Y direction
When the threshold value is smaller than the first threshold value in the Y direction, a green signal is prompted by the display, and the dump truck is arbitrarily lifted; when the coupling value of the X-direction inclination angle
Greater than or equal to the first threshold value in the X direction or the coupling value of the inclination angle in the Y direction
When the Y direction is larger than or equal to the first threshold value, the display prompts a yellow signal, the alarm device sends an alarm signal to prompt an operator to adjust the posture of the whole vehicle and lift the vehicle; when the coupling value of the X-direction inclination angle
Greater than or equal to the second threshold value in the X direction or the coupling value of the inclination angle in the Y direction
When the value is larger than or equal to the Y-direction second threshold value, the display prompts a red signal, the alarm device sends out an alarm signal, and the dumper is forbidden to lift.
The invention provides a dumper stability safety control system and a dumper stability safety control method, which have the advantages that (1) a driver can acquire the dumper body state from a display in time through the safety and stability control system and adjust the dumper body state in time according to prompt information; (2) the double-shaft angle sensor is used for detecting the inclination angle values of the chassis in the X direction and the Y direction and the inclination angle values of the carriage in the X direction and the Y direction, so that the inclination states of the X direction and the Y direction can be monitored simultaneously, the body state of the dump truck can be comprehensively known, the dump truck can be more comprehensively and accurately adjusted, and the stability in the lifting process can be ensured; (3) the occurrence of risks such as transverse tipping, longitudinal tipping and the like during the lifting operation of the dump truck is reduced, and the safety of vehicles and drivers is ensured.
Drawings
Fig. 1 is a schematic structural view of a dumper stability and safety control system in the installation position of the dumper according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a dumper stability and safety control system according to an embodiment of the invention;
fig. 3 is a flowchart of a dump truck stability and safety control method according to an embodiment of the present invention.
The figure is marked with:
1. a display; 2. a double-shaft angle sensor II; 3. a carriage; 4. a hydraulic lifting system; 5. a double-shaft angle sensor I; 6. a chassis; 7. a stability control module; 8. a receiving unit; 9. a storage unit; 10. a data analysis unit; 11. a control unit; 12. an alarm device; 13. and lifting the reversing valve.
Detailed Description
The following describes a dumper stability safety control system and method provided by an embodiment of the invention in detail with reference to the accompanying drawings.
Examples
Referring to fig. 1-3, the stability safety control system of the dump truck of the embodiment includes a stability control module 7, a dual-axis angle sensor, a display 1 and an alarm device 12, wherein the dual-axis angle sensor includes a dual-axis angle sensor i 5 and a dual-axis angle sensor ii 2, and the stability control module 7 is respectively connected with the display 1 and the alarm device 12; the double-shaft angle sensor I5 is arranged on the central line of the chassis 6 and is used for detecting the inclination angle values of the chassis 6 in the X direction and the Y direction; the biaxial angle sensor ii 2 is disposed on the bottom center line of the carriage 3, and is used to detect the inclination angle values of the carriage 3 in the X direction and the Y direction.
In order to comprehensively analyze and judge the body state of the dump truck, the stability control module 7 is respectively connected with the double-shaft angle sensor I5 and the double-shaft angle sensor II 2 and is used for receiving the inclination angle values of the chassis 6 in the X direction and the Y direction and the inclination angle values of the carriage 3 in the X direction and the Y direction and respectively calculating the coupling value of the inclination angle in the X direction and the coupling value of the inclination angle in the Y direction according to a formula.
The calculation formula of the X-direction inclination angle coupling value is as follows:
，
is the coupling value of the X-direction inclined angle,
the value of the inclination angle of the chassis 6 in the X direction detected by the two-axis angle sensor I5,
the value of the inclination angle of the carriage 3 in the X direction detected by the double-shaft angle sensor II 2 is shown as A, the coefficient of the lateral contribution of the chassis 6 in the X direction is shown as B, and the coefficient of the lateral contribution of the carriage 3 in the X direction is shown as B; the calculation formula of the Y-direction inclination angle coupling value is as follows:
，
is the coupling value of the Y-direction inclined angle,
the value of the inclination angle of the chassis 6 in the Y direction detected by the biaxial angle sensor I5,
the value of the inclination angle in the Y direction of the vehicle body 3 detected by the biaxial angle sensor ii 2 is C, the lateral contribution coefficient in the Y direction of the chassis 6, and D, the lateral contribution coefficient in the Y direction of the vehicle body 3. The coefficient A, B, C, D is a lateral contribution coefficient proposed according to the technical stability characteristics of different vehicles, and the lateral contribution coefficient is obtained through multiple tests and by combining the technical stability characteristics of the vehicles, so as to ensure that the stability safety states of the vehicles in the X direction and the Y direction are accurately judged.
In addition, the stability control module 7 stores an X-direction first threshold, an X-direction second threshold, a Y-direction first threshold and a Y-direction second threshold, wherein the X-direction first threshold is smaller than the X-direction second threshold, and the Y-direction first threshold is smaller than the Y-direction second threshold. The stability control module 7 is used for determining whether the coupling value of the X-direction inclination angle exceeds a first X-direction threshold or a second X-direction threshold and determining whether the coupling value of the Y-direction inclination angle exceeds a first Y-direction threshold or a second Y-direction threshold, and when the coupling value of the X-direction inclination angle is met simultaneously
Is smaller than the first threshold value in the X direction and the coupling value of the inclination angle in the Y direction
When the signal is smaller than the Y-direction first threshold value, the display prompts a green signal to indicate that the safety state is achieved; when the coupling value of the X-direction inclination angle occurs
Greater than or equal to the first threshold value in the X direction or the coupling value of the inclination angle in the Y direction
When the Y direction is larger than or equal to the first threshold value, the display prompts a yellow signal, the alarm device sends an alarm signal to prompt an operator to adjust the posture of the whole vehicle; when the coupling value of the X-direction inclination angle occurs
Greater than or equal to the second threshold value in the X direction or the coupling value of the inclination angle in the Y direction
When the value is larger than or equal to the Y-direction second threshold value, the display prompts a red signal, the alarm device sends out an alarm signal, and the lifting of the dump truck is forbidden.
To achieve X-direction tilt angle coupling value
Greater than or equal to the second threshold value in the X direction or the coupling value of the inclination angle in the Y direction
When the value is larger than or equal to the Y-direction second threshold value, the dump truck can stop lifting in time, the stable control module 7 is connected with the lifting reversing valve 13 of the hydraulic lifting system 4, the stable control module 7 transmits a control signal to forcibly switch the lifting reversing valve 13 to the middle stop position, and the dump truck is forbidden to lift.
In the safety stability control system for the dump truck provided by this embodiment, the stability control module 7 is a PLC controller, and includes a receiving unit 8, a storage unit 9, a data analyzing unit 10 and a control unit 11, the receiving unit 8 is a communication interface and has a function of collecting signals, the storage unit 9 is a RAM, ROM storage device or other devices and has writing, reading and storing functions, the data analyzing unit 10 is a logic controller and has functions of logic operation, sequence control, arithmetic operation and the like, and the control unit 11 is a control module and outputs corresponding control signals. The receiving unit 8 is connected with the double-shaft angle sensor I5 and the double-shaft angle sensor II 2 through electric wires and is used for receiving the inclination angle values of the chassis 6 in the X direction and the Y direction and the inclination angle values of the carriage 3 in the X direction and the Y direction; the storage unit 9 is connected with the receiving unit 8 and used for storing the X-direction and Y-direction inclination angle values of the chassis 6 and the X-direction and Y-direction inclination angle values of the carriage 3, and the storage unit 9 stores a first X-direction threshold value, a second X-direction threshold value, a first Y-direction threshold value and a second Y-direction threshold value; the data analysis unit 10 is connected with the storage unit 9 and is used for calculating an X-direction inclination angle coupling value and a Y-direction inclination angle coupling value, analyzing and judging whether the X-direction inclination angle coupling value exceeds an X-direction first threshold value or an X-direction second threshold value, and whether the Y-direction inclination angle coupling value exceeds a Y-direction first threshold value or a Y-direction second threshold value; the control unit 11 is respectively connected with the display 1, the alarm device 12 and the lifting reversing valve 13 through electric wires, the control unit 11 is used for sending control signals according to the judgment result of the data analysis unit 10, the display 1, the alarm device 12 and the lifting reversing valve 13 execute corresponding control signals, the control unit 11 also sends the inclination angle values of the X direction and the Y direction of the chassis 6, the inclination angle values of the X direction and the Y direction of the carriage 3, the X direction inclination angle coupling value and the Y direction inclination angle coupling value to the display 11, a driver can timely master the body state of the dump truck from the screen of the display 11, and corresponding green, yellow and red prompt signals are displayed according to the control signals sent by the control unit.
In order to facilitate the operator to obtain the corresponding prompt information in time, the display 11 and the alarm device 12 are arranged in the cab.
For guaranteeing that each angle value that tipper stability safety control system gathered is accurate reliable, biax angle sensor I5 and biax angle sensor II 2 can set up 1 or a plurality ofly respectively, when biax angle sensor I5 and biax angle sensor II 2 set up 1 respectively, biax angle sensor I5 must be installed on 6 frame central lines in chassis, biax angle sensor II 2 must be installed on 3 bottom central lines in carriage, and be close to 3 anterior portions in carriage better more.
The embodiment also provides a dumper stability safety control method, which comprises the following steps:
(1) stopping the operation of the dump truck, lifting the carriage of the dump truck, and detecting the X-direction inclination angle value of the chassis by the double-shaft angle sensor I
And the Y-direction inclination angle value of the chassis
The double-shaft angle sensor II detects the X-direction inclination angle value of the carriage
And the value of the Y-direction inclination angle of the carriage
And transmitting to a stability control module;
(2) the stability control module is based on a formula
And
respectively calculating the coupling values of the X-direction inclination angles
And Y-direction tilt angle coupling value
；
(3) The stability control module judges the coupling value of the X-direction inclination angle
Whether the coupling value exceeds the first X-direction threshold value or the second X-direction threshold value and the coupling value of the Y-direction inclination angle
Whether the Y-direction first threshold value or the Y-direction second threshold value is exceeded or not, and sending a control signal according to a judgment result, wherein the control signal comprises: when the coupling value of the X-direction inclination angle is satisfied at the same time
Is smaller than the first threshold value in the X direction and the coupling value of the inclination angle in the Y direction
When the threshold value is smaller than the first threshold value in the Y direction, a green signal is prompted by the display, and the dump truck is arbitrarily lifted; when the coupling value of the X-direction inclination angle
Greater than or equal to the first threshold value in the X direction or the coupling value of the inclination angle in the Y direction
When the Y direction is larger than or equal to the first threshold value, the display prompts a yellow signal, the alarm device sends an alarm signal to prompt an operator to adjust the posture of the whole vehicle and lift the vehicle; when the coupling value of the X-direction inclination angle
Greater than or equal to the second threshold value in the X direction or the coupling value of the inclination angle in the Y direction
When the value is larger than or equal to the Y-direction second threshold value, the display prompts a red signal, the alarm device sends out an alarm signal, and the dumper is forbidden to lift.
The detailed working process comprises the following steps:
(1) stopping the operation of the dump truck, lifting the carriage of the dump truck, and detecting the X-direction inclination angle value of the chassis by a double-shaft angle sensor I
And the Y-direction inclination angle value of the chassis
The double-shaft angle sensor II detects the X-direction inclination angle value of the carriage
And the value of the Y-direction inclination angle of the carriage
；
(2) The receiving unit receives the X-direction inclination angle value of the chassis
And the Y-direction inclination angle value of the chassis
The value of the X-direction inclination angle of the carriage
And the value of the Y-direction inclination angle of the carriage
And inclining the chassis X-direction by the angle value
Y-direction inclination angle value of chassis
The value of the X-direction inclination angle of the carriage
And the value of the Y-direction inclination angle of the carriage
Sending the data to a storage unit; and the storage unit stores the X-direction inclination angle value of the chassis
X-direction inclination angle value of chassis
X-direction first threshold value, X-direction second threshold value and Y-direction inclination angle value of chassis
Y-direction inclination angle value of carriage
A first threshold value in the Y direction and a second threshold value in the Y direction;
(3) the data analysis unit receives the data stored in the storage unit and passes through the formula
Calculating the coupling value of the X-direction inclination angle
And determining the coupling value of the X-direction inclination angle
Whether the X-direction first threshold value or the X-direction second threshold value is exceeded; by the formula
Calculating the coupling value of the Y-direction inclination angle
And determining the coupling value of the Y-direction inclination angle
Whether the first threshold value of the Y direction is exceeded or not or the second threshold value of the Y direction is exceeded;
(4) the control unit sends control signals according to the judgment result of the data analysis unit, and the display, the alarm device and the lifting reversing valve execute corresponding control signals when the coupling value of the X-direction inclination angle is met
Is smaller than the first threshold value in the X direction and the Y directionCoupling value of inclination angle
When the threshold value is smaller than the Y-direction first threshold value, the display prompts a green signal to indicate that the dumper is in a safe state and is free to lift; when the coupling value to the inclined angle occurs
Greater than or equal to the first threshold value in the X direction or the coupling value of the inclination angle in the Y direction
When the Y direction is larger than or equal to the first threshold value, the display prompts a yellow signal, the alarm device sends an alarm signal to prompt an operator to adjust the posture of the whole vehicle and then continue lifting; when the coupling value to the inclined angle occurs
Greater than or equal to the second threshold value in the X direction or the coupling value of the inclination angle in the Y direction
When the value is larger than or equal to the Y-direction second threshold value, the display prompts a red signal, the alarm device sends an alarm signal, the lifting reversing valve is forcibly switched to the middle stop position, and the lifting of the dump truck is forbidden.
Claims (5)
1. A dumper stability safety control system is characterized by comprising a stability control module, a double-shaft angle sensor, a display and an alarm device, wherein the double-shaft angle sensor comprises a double-shaft angle sensor I and a double-shaft angle sensor II, and the stability control module is respectively connected with the display and the alarm device;
the double-shaft angle sensor I is arranged on the central line of the chassis frame and used for detecting the inclination angle values of the chassis in the X direction and the Y direction;
the double-shaft angle sensor II is arranged on a central line of the bottom of the carriage and is used for detecting inclination angle values of the carriage in the X direction and the Y direction;
the stability control module is respectively connected with the double-shaft angle sensor I and the double-shaft angle sensor II and is used for receiving an X-direction inclination angle value and a Y-direction inclination angle value of the chassis, and an X-direction inclination angle value and a Y-direction inclination angle value of the carriage;
the stability control module stores an X-direction first threshold value, an X-direction second threshold value, a Y-direction first threshold value and a Y-direction second threshold value, the stability control module is used for calculating an X-direction inclination angle coupling value and a Y-direction inclination angle coupling value, judging whether the X-direction inclination angle coupling value exceeds the X-direction first threshold value or the X-direction second threshold value, judging whether the Y-direction inclination angle coupling value exceeds the Y-direction first threshold value or the Y-direction second threshold value, and sending a control signal according to a judgment result, wherein the control signal comprises: when the coupling value of the X-direction inclination angle is smaller than the X-direction first threshold value and the coupling value of the Y-direction inclination angle is smaller than the Y-direction first threshold value, a green signal is prompted by the display; when the coupling value of the X-direction inclination angle is larger than or equal to the first X-direction threshold value or the coupling value of the Y-direction inclination angle is larger than or equal to the first Y-direction threshold value, the display prompts a yellow signal, and the alarm device sends an alarm signal; when the coupling value of the X-direction inclination angle is larger than or equal to the X-direction second threshold value or the coupling value of the Y-direction inclination angle is larger than or equal to the Y-direction second threshold value, the display prompts a red signal, the alarm device sends an alarm signal, and the dump truck is prohibited from lifting;
the calculation formula of the X-direction inclination angle coupling value is as follows:
wherein
Is the coupling value of the X-direction inclined angle,
is the inclination angle value of the chassis in the X direction detected by the double-shaft angle sensor I,
carriage X-direction inclination angle detected by double-shaft angle sensor IIThe value A is the lateral contribution coefficient of the chassis X, and the value B is the lateral contribution coefficient of the carriage X;
the calculation formula of the Y-direction inclination angle coupling value is as follows:
wherein
Is the coupling value of the Y-direction inclined angle,
is the inclination angle value of the chassis in the Y direction detected by the double-shaft angle sensor I,
and C is a lateral contribution coefficient of the chassis Y, and D is a lateral contribution coefficient of the carriage Y.
2. The dump truck stability and safety control system according to claim 1, wherein the first threshold in the X direction is smaller than the second threshold in the X direction, and the first threshold in the Y direction is smaller than the second threshold in the Y direction.
3. The dump truck stability and safety control system according to claim 1, wherein the stability control module is connected to a lift reversing valve of a hydraulic lift system, and when the coupling value of the X-direction inclination angle is greater than or equal to an X-direction second threshold value or the coupling value of the Y-direction inclination angle is greater than or equal to a Y-direction second threshold value, the stability control module transmits a control signal to forcibly switch the lift reversing valve to a middle parking position, and the dump truck is prohibited from lifting.
4. The dump truck stability and safety control system according to claim 3, wherein the stability control module comprises a receiving unit, a storage unit, a data analysis unit and a control unit;
the receiving unit is connected with the double-shaft angle sensor I and the double-shaft angle sensor II and is used for receiving the inclination angle values of the chassis in the X direction and the Y direction and the inclination angle values of the carriage in the X direction and the Y direction;
the storage unit is connected with the receiving unit and used for storing the inclination angle values of the chassis in the X direction and the Y direction and the inclination angle values of the carriage in the X direction and the Y direction, and the storage unit stores a first threshold value in the X direction, a second threshold value in the X direction, a first threshold value in the Y direction and a second threshold value in the Y direction;
the data analysis unit is connected with the storage unit and used for calculating an X-direction inclination angle coupling value and a Y-direction inclination angle coupling value, analyzing and judging whether the X-direction inclination angle coupling value exceeds an X-direction first threshold value or an X-direction second threshold value, and whether the Y-direction inclination angle coupling value exceeds a Y-direction first threshold value or a Y-direction second threshold value;
the control unit is connected with the data analysis unit, the display, the alarm device and the lifting reversing valve, and is used for sending a control signal according to the judgment result of the data analysis unit.
5. A safety control method for the stability of a dump truck is characterized by comprising the following steps:
(1) stopping the operation of the dump truck, lifting the carriage of the dump truck, and detecting the X-direction inclination angle value of the chassis by a double-shaft angle sensor I
And the Y-direction inclination angle value of the chassis
The double-shaft angle sensor II detects the X-direction inclination angle value of the carriage
And the value of the Y-direction inclination angle of the carriage
And is combined withTransmitting the data to a stable control module;
(2) the stability control module is based on a formula
And
respectively calculating the coupling values of the X-direction inclination angles
And Y-direction tilt angle coupling value
；
(3) The stability control module judges the coupling value of the X-direction inclination angle
Whether the coupling value exceeds the first X-direction threshold value or the second X-direction threshold value and the coupling value of the Y-direction inclination angle
Whether the Y-direction first threshold value or the Y-direction second threshold value is exceeded or not, and sending a control signal according to a judgment result, wherein the control signal comprises: when the coupling value of the X-direction inclination angle is satisfied at the same time
Is smaller than the first threshold value in the X direction and the coupling value of the inclination angle in the Y direction
When the threshold value is smaller than the first threshold value in the Y direction, a green signal is prompted by the display, and the dump truck is arbitrarily lifted; when the coupling value of the X-direction inclination angle
Greater than or equal to the first threshold value in the X direction or the coupling value of the inclination angle in the Y direction
When the Y direction is larger than or equal to the first threshold value, the display prompts a yellow signal, the alarm device sends an alarm signal to prompt an operator to adjust the posture of the whole vehicle and lift the vehicle; when the coupling value of the X-direction inclination angle
Greater than or equal to the second threshold value in the X direction or the coupling value of the inclination angle in the Y direction
When the value is larger than or equal to the Y-direction second threshold value, the display prompts a red signal, the alarm device sends out an alarm signal, and the dumper is forbidden to lift.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811109685.8A CN109367462B (en) | 2018-09-21 | 2018-09-21 | Dumper stability safety control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811109685.8A CN109367462B (en) | 2018-09-21 | 2018-09-21 | Dumper stability safety control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109367462A CN109367462A (en) | 2019-02-22 |
| CN109367462B true CN109367462B (en) | 2021-06-18 |
Family
ID=65401560
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811109685.8A Active CN109367462B (en) | 2018-09-21 | 2018-09-21 | Dumper stability safety control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109367462B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038355A (en) * | 2019-12-31 | 2020-04-21 | 长沙安保行科技有限公司 | Carriage anti-interference monitoring system and method and dumper |
| CN111422122B (en) * | 2020-04-24 | 2024-04-09 | 东风商用车有限公司 | Vehicle electric control lifting control system matched with manual gearbox and method thereof |
| CN113859082A (en) * | 2020-06-30 | 2021-12-31 | 丁禹 | Tilting prevention system of dump truck and dump truck |
| AT17335U1 (en) * | 2021-04-20 | 2021-12-15 | Wacker Neuson Linz Gmbh | dumper |
| CN113085692B (en) * | 2021-04-28 | 2022-05-03 | 三一汽车制造有限公司 | Dumper rollover prevention system and method |
| CN114476897A (en) * | 2022-02-25 | 2022-05-13 | 四川中陆嘉诚科技有限公司 | Lifting device |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5825284A (en) * | 1996-12-10 | 1998-10-20 | Rollover Operations, Llc | System and method for the detection of vehicle rollover conditions |
| AU2006213783B2 (en) * | 2005-02-11 | 2009-06-11 | Jlg Industries, Inc. | Coordinated boom lift and carriage transfer |
| CN101350137A (en) * | 2008-09-04 | 2009-01-21 | 清华大学 | Dynamic detection method for preventing wagon from turning towards one side on bending road and pre-warning apparatus |
| DE102013102790A1 (en) * | 2013-03-19 | 2014-09-25 | Schmitz Cargobull Gotha GmbH | Device for monitoring the stability of a dump semi-trailer |
| CN203727270U (en) * | 2014-03-11 | 2014-07-23 | 陕西汽车集团有限责任公司 | Anti-rollover alarm system of dumper |
| JP6235507B2 (en) * | 2015-03-12 | 2017-11-22 | 日立建機株式会社 | Unloading work judgment device for transport vehicles |
| CN106740363B (en) * | 2016-11-16 | 2019-04-05 | 湖南汽车制造有限责任公司 | Dumper rollover prevention system, method and dumper |
| CN106882117A (en) * | 2017-03-21 | 2017-06-23 | 汽解放柳州特种汽车有限公司 | A kind of Tipper Lifting operation rollover prior-warning device based on slant angle sensor |
| CN206623721U (en) * | 2017-04-20 | 2017-11-10 | 中国重汽集团青岛重工有限公司 | A kind of rod-pulling type closing device |
| 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 |
| CN108437871A (en) * | 2018-03-28 | 2018-08-24 | 中国重汽集团青岛重工有限公司 | A kind of bottom-dump semi-trailer tipping vehicle |
-
2018
- 2018-09-21 CN CN201811109685.8A patent/CN109367462B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109367462A (en) | 2019-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109367462B (en) | Dumper stability safety control system and method | |
| CN107134128B (en) | Tank car operating platform monitoring and vehicle guiding and positioning system and using method thereof | |
| US9862242B2 (en) | Coupling system | |
| CN106740363B (en) | Dumper rollover prevention system, method and dumper | |
| CN106882117A (en) | A kind of Tipper Lifting operation rollover prior-warning device based on slant angle sensor | |
| US9841312B2 (en) | System and method for estimating quantity of payload | |
| GB2543388A (en) | Towing stability | |
| DE102009003372A1 (en) | Method and system for an impact avoidance system | |
| CN105883622A (en) | Rollover control method and system and lorry-mounted crane | |
| CN205468787U (en) | Tipper initiative safety precaution and control system | |
| US9180845B2 (en) | Passenger car transport | |
| CN104937384B (en) | For the method and apparatus of the load and/or axle load that show vehicle | |
| DE102011088156A1 (en) | Method and device for reporting a loading anomaly of a tipper trailer | |
| CN201762063U (en) | Forklift rollover-protection sensing and early-warning device and forklift utilizing same | |
| CN206856546U (en) | Tipper Lifting protects system | |
| CN212890106U (en) | Self-discharging vehicle container lifting anti-side-turning system | |
| CN209940391U (en) | Forklift truck carrying posture detection system | |
| CN208218342U (en) | A kind of control system preventing fork of forklift truck high position maloperation | |
| CN105730331B (en) | The condition monitoring system and method for boxcar | |
| CN205344688U (en) | Boxcar's condition monitoring system | |
| US11235692B2 (en) | Working unit, a working equipment, and a method in relation to a working unit | |
| CN107235007A (en) | A kind of lorry overload protective device | |
| CN113859082A (en) | Tilting prevention system of dump truck and dump truck | |
| CN111170216A (en) | Lifting forklift | |
| CN220742950U (en) | Intelligent monitoring control system for horizontal stability of dump truck |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |