CN109552143B - Control method and control system for preventing carriage of dumper from being turned backwards - Google Patents
Control method and control system for preventing carriage of dumper from being turned backwards Download PDFInfo
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- CN109552143B CN109552143B CN201811632688.XA CN201811632688A CN109552143B CN 109552143 B CN109552143 B CN 109552143B CN 201811632688 A CN201811632688 A CN 201811632688A CN 109552143 B CN109552143 B CN 109552143B
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- 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
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Abstract
The invention discloses a control method and a control system for preventing a dumper from backward turning a wagon box, wherein the load rate of a front axle of the dumper and the difference value between the lifting moment of a hydraulic cylinder and the rotation moment of the wagon box are calculated, when the load rate of the front axle does not exceed a first threshold value and the difference value between the lifting moment of the hydraulic cylinder and the rotation moment of the wagon box does not exceed a second threshold value, an alarm gives an alarm, and a display device prompts a 'dangerous' word; and when the front axle load rate does not exceed the first threshold value and the difference value between the lifting moment of the hydraulic cylinder and the wagon box rotation moment exceeds a second threshold value, the dumper is prohibited from lifting. The control method and the control system can reduce the risk of cylinder pulling of the hydraulic cylinder and the risk of excessive backward turning of the carriage during lifting operation of the dump truck, prolong the service life of the hydraulic cylinder and ensure the safety of vehicles and drivers.
Description
Technical Field
The invention belongs to the technical field of dumper trucks, and particularly relates to a control method and a control system for preventing a dumper carriage from turning backwards.
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, and is easy to cause the hydraulic cylinder of the vehicle to pull out the cylinder, so that the service life of the hydraulic cylinder is shortened, the wagon box is excessively overturned backwards, and even the whole vehicle is overturned backwards, so that great personnel and property loss is caused.
Disclosure of Invention
In order to overcome the technical problems in the prior art, the invention aims to provide a control method and a control system for preventing a dumper carriage from turning backwards, which can reduce the risk of cylinder pulling of a hydraulic cylinder during lifting operation of the dumper carriage and the risk of excessive backward turning of the dumper carriage, prolong the service life of the hydraulic cylinder and ensure the safety of vehicles and drivers.
The invention provides a control method for preventing a dumper carriage from backward turning, wherein the dumper carriage is provided with a carriage which turns along a rotating shaft at the tail part of a chassis, the carriage rotates by taking a turning point as a center through the extension and retraction of a hydraulic cylinder, and an alarm and a display device are arranged in a dumper cab, and the control method comprises the following steps:
detecting the front axle load and the rear axle load of the dump truck, and calculating the front axle load rate of the dump truck;
judging whether the front axle load rate exceeds a first threshold value;
when the front axle load rate exceeds a first threshold value, the dump truck lifts; and when the front axle load rate does not exceed the first threshold value, the alarm gives an alarm, and the display device prompts the word of 'dangerous'.
Further, the control method for preventing the dumper from turning backwards comprises the following steps:
calculating the lifting moment of the hydraulic cylinder;
calculating the turning moment of the carriage;
calculating the difference value of the lifting moment of the hydraulic cylinder and the turning moment of the carriage;
judging whether the difference value of the lifting torque of the hydraulic cylinder and the turning torque of the carriage exceeds a second threshold value or not;
when the load rate of the front axle does not exceed the first threshold value but the difference value between the lifting moment of the hydraulic cylinder and the turning moment of the carriage does not exceed a second threshold value, the alarm gives an alarm, and the display device prompts a 'dangerous' word; and when the front axle load rate does not exceed the first threshold value and the difference value between the lifting moment of the hydraulic cylinder and the wagon box rotation moment exceeds a second threshold value, the dumper is prohibited from lifting.
The invention also provides a control system for preventing the carriage of the dump truck from turning backwards, wherein the dump truck comprises a cab, a chassis, a carriage and a hydraulic cylinder lifting system, and the control system comprises: the automatic loading device comprises a first detection device, an alarm device, a display device and a control module, wherein the alarm device, the display device and the control module are arranged in a cab, the first detection device is installed on the dumper and used for detecting a front axle load value and a rear axle load value, the control module is respectively connected with the first detection device, the alarm device and the display device and used for receiving the front axle load value and the rear axle load value and calculating a front axle load rate, when the front axle load rate exceeds a first threshold value, the dumper lifts freely, and when the front axle load rate does not exceed the first threshold value, the alarm gives an alarm, and the display device prompts a 'dangerous' word.
Further, the control system further comprises a second detection device, wherein the second detection device is mounted on the dumper and used for detecting the pressure value of the hydraulic cylinder; the control module is connected with the second detection device and the hydraulic cylinder lifting system and used for receiving detection data of the second detection device and calculating a difference value between the lifting moment of the hydraulic cylinder and the wagon box rotating moment, when the front axle load rate does not exceed the first threshold value and the difference value between the lifting moment of the hydraulic cylinder and the wagon box rotating moment does not exceed the second threshold value, the alarm gives an alarm, the display device prompts a dangerous word, and when the front axle load rate does not exceed the first threshold value and the difference value between the lifting moment of the hydraulic cylinder and the wagon box rotating moment exceeds the second threshold value, the dump truck is prohibited from lifting.
Further, the first detection device comprises a pressure sensor I, and the pressure sensor I is installed on a front axle and a rear axle of the dump truck.
Further, the second detection device comprises a pressure sensor II, and the pressure sensor II is installed at an oil inlet of an oil cylinder of the hydraulic cylinder.
Furthermore, the control module comprises a receiving unit, a storage unit, an analysis unit and a control unit;
the receiving unit is connected with the first detection device and the second detection device and used for receiving a hydraulic cylinder pressure value, a front axle load value and a rear axle load value;
the storage unit stores a first threshold and a second threshold;
the analysis unit is connected with the receiving unit and the storage unit and is used for calculating the difference value between the front axle load rate and the lifting moment of the hydraulic cylinder and the wagon box rotating moment and judging whether the front axle load rate exceeds a first threshold value or not and whether the difference value between the lifting moment of the hydraulic cylinder and the wagon box rotating moment exceeds a second threshold value or not;
the control unit is connected with the analysis unit, the alarm device, the display device and the hydraulic cylinder lifting system and used for sending corresponding control signals according to the judgment result of the analysis unit.
Further, the control unit is connected with a lifting reversing valve of the hydraulic cylinder lifting system.
The invention provides a control method and a control system for preventing a dumper carriage from turning backwards, which have the beneficial effects that: (1) the unloading condition of goods in the carriage and the lifting condition of the hydraulic cylinder in the lifting process of the dump truck are judged by monitoring the load rate change of the front axle, so that the hydraulic cylinder can be prevented from being excessively pulled out, and the service life of the hydraulic cylinder is prolonged; (2) by further monitoring the difference value between the lifting moment of the hydraulic cylinder and the rotating moment of the carriage, when the driver continues to lift without paying attention to the alarm prompt and the danger prompt of the display device, the dump truck is automatically controlled to stop lifting, the carriage can be further prevented from turning backwards, and the safety of the driver and the vehicle is guaranteed.
Drawings
Fig. 1 is a schematic structural diagram of a dump truck according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the calculation of the center of gravity of the vehicle body according to the present invention;
fig. 3 is a schematic structural diagram of a control system for preventing the rear tipping of the carriage of the dump truck in the embodiment 1 of the invention;
fig. 4 is a flowchart of a control method for preventing the dumper carriage from turning backwards in the embodiment 1 of the invention;
fig. 5 is a schematic structural view of a control system for preventing the rear tipping of the carriage of the dump truck in the embodiment 2 of the invention;
fig. 6 is a flowchart of a control method for preventing the rear tipping of the carriage of the dump truck in embodiment 2 of the invention.
The figure is marked with:
1. a cab; 2. a carriage; 3. a front axle; 4. a hydraulic cylinder lifting system; 5. a chassis; 6. a rear axle; 7. turning over points; 8. a first detection device; 9. a receiving unit; 10. a storage unit; 11. an analysis unit; 12. a control unit; 13. a display device; 14. an alarm device; 15. lifting the reversing valve; 16. and a second detection device.
Detailed Description
The following describes a control method and a control system for preventing a dumper from tipping backwards according to an embodiment of the invention in detail with reference to the accompanying drawings.
Example 1
Referring to fig. 1 to 4, a dump truck provided in this embodiment includes a cab 1, a chassis 5, a car body 2, and a hydraulic cylinder lifting system 4, and the dump truck is provided with a control system for preventing the car body from tipping backwards, where the control system includes: the automatic control system comprises a first detection device 8, an alarm device 14, a display device 13 and a control module, wherein the alarm device 14, the display device 13 and the control module are arranged in a cab 1, the first detection device 8 is arranged on the dumper, and the control module is respectively connected with the first detection device 8, the alarm device 14 and the display device 13. Specifically, the first detection device 8 includes a pressure sensor i, and the pressure sensor i is mounted on the front axle 3 and the rear axle 6 of the dump truck and is used for detecting a front axle load value and a rear axle load value.
In this embodiment, the control module includes a receiving unit 9, a storage unit 10, an analysis unit 11, and a control unit 12, the receiving unit 9 is connected to the first detecting device 8 and configured to receive a front axle load value and a rear axle load value, the storage unit 10 stores a first threshold, the analysis unit 11 is connected to the receiving unit 9 and the storage unit 10 and configured to calculate a front axle load ratio and determine whether the front axle load ratio exceeds the first threshold, the control unit 12 is connected to the analysis unit 11, an alarm device 14, a display device 13, and a hydraulic cylinder lifting system 4 and configured to send a corresponding control signal according to a determination result of the analysis unit 11, that is, when the front axle load ratio exceeds the first threshold, the dump truck is allowed to lift, and when the front axle load ratio does not exceed the first threshold, the alarm device 14 gives an alarm, the display device 13 presents the word "dangerous".
In addition, the embodiment also provides a control method for preventing the dumper from turning backwards, which comprises the following steps:
(1) detecting the front axle load and the rear axle load of the dump truck, and calculating the front axle load rate of the dump truck, wherein the calculation formula of the front axle load rate is that K is equal to F1/(F1+F2) In which F is1Is the front axle load value F of the dump truck2Is the rear axle load value;
(2) judging whether the front axle load rate exceeds a first threshold value;
(3) when the front axle load rate exceeds a first threshold value, the dump truck lifts; and when the front axle load rate does not exceed the first threshold value, the alarm device gives an alarm, and the display device prompts a dangerous word.
The unloading condition of goods in a carriage and the lifting condition of a hydraulic cylinder in the lifting process of the dump truck can be judged by monitoring the change of the front axle load rate of the dump truck, so that the hydraulic cylinder is prevented from being excessively pulled out, the service life of the hydraulic cylinder is prolonged, when the front axle load rate does not exceed a first threshold value, an alarm device gives an alarm, a display device prompts a 'dangerous' word, and a driver can continue to lift or stop lifting according to experience selection at the moment.
Example 2
Referring to fig. 1-3 and fig. 5-6, in this embodiment, a second detection device 16 is added on the basis of embodiment 1, and a control module is respectively connected with a first detection device 8, the second detection device 16, an alarm device 14, a display device 13, and a hydraulic cylinder lifting system 4. Specifically, the first detection device 8 comprises a pressure sensor I, and the pressure sensor I is mounted on a front axle 3 and a rear axle 6 of the dump truck and used for detecting a front axle load value and a rear axle load value; the second detection device 16 comprises a pressure sensor II, the pressure sensor II is arranged at an oil cylinder oil inlet of the hydraulic cylinder and is used for detecting the pressure value of the hydraulic cylinder,
in this embodiment, the control module includes a receiving unit 9, a storage unit 10, an analysis unit 11 and a control unit 12, the receiving unit 9 is connected to the first detection device and the second detection device 16, and is configured to receive a front axle load value, a rear axle load value, and a hydraulic cylinder pressure value, the storage unit 10 stores a first threshold and a second threshold, the analysis unit 11 is connected to the receiving unit 9 and the storage unit 10, and is configured to calculate a front axle load factor, a difference between a lift moment of a hydraulic cylinder and a wagon box rotation moment, and determine whether the front axle load factor exceeds the first threshold, determine whether the difference between the lift moment of the hydraulic cylinder and the wagon box rotation moment exceeds the second threshold, the control unit 12 is connected to the analysis unit 11, the alarm device 14, the display device 13, and the lift cylinder system 4, and is configured to send a corresponding control signal according to a determination result of the analysis unit 11, when the front axle load rate does not exceed the first threshold value and the difference value between the lifting torque of the hydraulic cylinder and the wagon box rotation torque does not exceed the second threshold value, the alarm device 14 gives an alarm, the display device 13 prompts the word of 'dangerous', and when the front axle load rate does not exceed the first threshold value and the difference value between the lifting torque of the hydraulic cylinder and the wagon box rotation torque exceeds the second threshold value, the dump truck is prohibited from lifting.
In order to facilitate the dumper to stop lifting in time when the control unit sends a signal for prohibiting the dumper to lift, the control unit is connected with the lifting reversing valve 15 of the hydraulic cylinder lifting system 4, and the lifting reversing valve 15 can be forcibly switched to a middle stop position.
The embodiment also provides a control method for preventing the dumper from turning backwards, which comprises the following steps:
(1) detecting a front axle load value, a rear axle load value and a hydraulic cylinder pressure value of the dump truck;
(2) calculating the front axle load rate of the dump truck, the lifting moment of a hydraulic cylinder and the wagon box rotating moment;
(3) calculating the difference value of the lifting moment of the hydraulic cylinder and the turning moment of the carriage;
(4) judging whether the front axle load rate exceeds a first threshold value and whether the difference value between the lifting moment of the hydraulic cylinder and the rolling moment of the carriage exceeds a second threshold value;
(5) when the load rate of the front axle does not exceed the first threshold value and the difference value between the lifting moment of the hydraulic cylinder and the turning moment of the carriage does not exceed a second threshold value, the alarm device gives an alarm, and the display device prompts a dangerous word; and when the front axle load rate does not exceed the first threshold value and the difference value between the lifting moment of the hydraulic cylinder and the wagon box rotation moment exceeds a second threshold value, the dumper is prohibited from lifting.
The calculation formula involved in the control method for preventing the dumper from backward tilting is specifically as follows, and the front axle load value of the dumper is set as F1The rear axle load value is set to F2The front axle load value is set to F when the dump truck is in no-load01The rear axle load value is set to F02Setting the total weight of goods in a carriage of the dump truck as G, setting the pressure of a hydraulic cylinder as F, setting the vertical distance from the hydraulic cylinder to a reference original point as L, and setting the vertical distance from the gravity center of the carriage to the reference original point as LGThe vertical distance from the front axle to the gravity center of the compartment is set as L-1The vertical distance from the front axle to the rear axle is set to be L2The vertical distance from the rear axle to the reference origin is L3The reference origin point refers to the turning point of the carriage.
The formula is as follows:
front axle load rate: k ═ F1/(F1+F2) … … formula (I);
the turning moment of the carriage: m0＝G*LG… … formula two;
hydraulic cylinder lifting moment: formula (c) of M ═ F × L … …;
difference between lifting moment of hydraulic cylinder and rolling moment of carriage: Δ M ═ M-M0＝F*L-G*LG… … formula (iv);
total weight of cargo in the carriage: g ═ F1+F2-F01-F02… … formula (v);
according to the principle of moment balance F1*L1＝F2*(L2-L1) The vertical distance from the front axle to the gravity center of the carriage can be obtained:
L1＝F2*L2/(F1+F2) … … formula (VI);
vertical distance from the gravity center of the carriage to the reference original point: l isG＝L3+L2-L1… … formula (c);
substituting the formula (sixthly) into the formula (seventhly) to obtain: l isG＝L3+L2-F2*L2/(F1+F2) … … formula ((R));
substituting the formula (c) and the formula (r) into the formula (iv) to obtain:
ΔM＝F*L-(F1+F2-F01-F02)*[L3+L2-F2*L2/(F1+F2)]… … formula ninthly.
The difference values of the front axle load rate, the lifting moment of the hydraulic cylinder and the wagon box rotating moment can be respectively calculated according to a formula (I) and a formula (nini), and the lifting condition of the dump truck is judged according to the calculation result.
During the lifting process of the dump truck, cargos in the truck box are gradually discharged, the front axle load rate is gradually reduced, and the situation that cargos are concentrated at the tail part of the truck box during unloading of cargos can also occur, so that the front axle load rate is small, the rear axle load rate is suddenly increased, the truck box is easily turned backwards, and even the whole truck is turned backwards, therefore, the lifting situation of the dump truck can be judged by monitoring the change of the front axle load rate; in addition, in the lifting process of the dumper, if the load rate of the front axle is small and the lifting moment of the hydraulic cylinder is still large, the inclination angle of the wagon box is continuously increased, so that the hydraulic cylinder is pulled out, and the wagon box is turned backwards. In the embodiment, the safety of the dump truck in the lifting process can be ensured by monitoring the front axle load rate and the difference value between the lifting torque of the hydraulic cylinder and the wagon box rotating torque, when the front axle load rate does not exceed the first threshold value and the difference value between the lifting torque of the hydraulic cylinder and the wagon box rotating torque does not exceed the second threshold value, the alarm device gives an alarm, the display device prompts a word of 'danger', at the moment, a driver can select to continue lifting or stop lifting according to experience, when the driver continues lifting, the control system can continue to monitor the front axle load rate and the difference value between the lifting torque of the hydraulic cylinder and the wagon box rotating torque, when the front axle load rate does not exceed the first threshold value and the difference value between the lifting torque of the hydraulic cylinder and the wagon box rotating torque exceeds the second threshold value, the dump truck is prohibited to lift, and the driver is prevented from continuously selecting to lift to pull out the hydraulic cylinder, thereby causing the truck bed to tip over.
Claims (8)
1. A control method for preventing a dumper from backward turning a dumper carriage is characterized by comprising the following steps of:
detecting the front axle load and the rear axle load of the dump truck, and calculating the front axle load rate of the dump truck, wherein the calculation formula of the front axle load rate is K = F1/(F1 + F2), wherein F1 is the front axle load value of the dump truck, and F2 is the rear axle load value;
judging whether the front axle load rate exceeds a first threshold value;
when the front axle load rate exceeds a first threshold value, the dump truck lifts; when the front axle load rate does not exceed a first threshold value, an alarm gives an alarm, and a display device prompts a dangerous word;
further comprising:
calculating the lifting moment of the hydraulic cylinder;
calculating the turning moment of the carriage;
calculating the difference value of the lifting moment of the hydraulic cylinder and the turning moment of the carriage;
judging whether the difference value of the lifting torque of the hydraulic cylinder and the turning torque of the carriage exceeds a second threshold value or not;
when the load rate of the front axle does not exceed the first threshold value and the difference value between the lifting moment of the hydraulic cylinder and the turning moment of the carriage does not exceed a second threshold value, the alarm gives an alarm, and the display device prompts a dangerous word; and when the front axle load rate does not exceed the first threshold value and the difference value between the lifting moment of the hydraulic cylinder and the wagon box rotation moment exceeds a second threshold value, the dumper is prohibited from lifting.
2. The control method for preventing the carriage of the dump truck from backward overturning as claimed in claim 1,
the step of calculating the lifting moment of the hydraulic cylinder comprises: detecting the pressure of a hydraulic cylinder of the dump truck; and calculating the vertical distance from the hydraulic cylinder to the reference origin.
3. The control method for preventing the carriage of the dump truck from backward overturning as claimed in claim 1,
the step of calculating the wagon box turning moment comprises the following steps: calculating the total weight of the goods in the compartment; and calculating the vertical distance from the gravity center of the carriage to the reference original point.
4. A control system for preventing a dumper from turning back a wagon box comprises a cab, a chassis, the wagon box and a hydraulic cylinder lifting system, and is characterized by comprising: the automatic loading system comprises a first detection device, an alarm device, a display device and a control module, wherein the alarm device, the display device and the control module are arranged in a cab, the first detection device is arranged on the dumper and used for detecting a front axle load value and a rear axle load value, the control module is respectively connected with the first detection device, the alarm device and the display device and used for receiving the front axle load value, the rear axle load value and calculating a front axle load rate, the calculation formula of the front axle load rate is K = F1/(F1 + F2), F1 is the front axle load value of the dumper, F2 is the rear axle load value, when the front axle load rate exceeds a first threshold value, the dumper is used for lifting, when the front axle load rate does not exceed the first threshold value, the alarm gives an alarm, the display device prompts a 'dangerous' word, the automatic loading system further comprises a second detection device, and the second detection device is arranged on the dumper, the device is used for detecting the pressure value of the hydraulic cylinder; the control module is connected with the second detection device and the hydraulic cylinder lifting system and used for receiving detection data of the second detection device and calculating a difference value between the lifting moment of the hydraulic cylinder and the wagon box rotating moment, when the front axle load rate does not exceed the first threshold value and the difference value between the lifting moment of the hydraulic cylinder and the wagon box rotating moment does not exceed the second threshold value, the alarm gives an alarm, the display device prompts a dangerous word, and when the front axle load rate does not exceed the first threshold value and the difference value between the lifting moment of the hydraulic cylinder and the wagon box rotating moment exceeds the second threshold value, the dump truck is prohibited from lifting.
5. The control system for preventing the rear tipping of the wagon box of the dumper as claimed in claim 4, wherein the first detection device comprises a pressure sensor I, and the pressure sensor I is installed on a front axle and a rear axle of the dumper.
6. The control system for preventing the backward tipping of the wagon box of the dumper as claimed in claim 4, wherein the second detection device comprises a pressure sensor II, and the pressure sensor II is installed at an oil cylinder oil inlet of the hydraulic cylinder.
7. The control system for preventing the backward overturn of the carriage of the dump truck according to claim 4, wherein the control module comprises a receiving unit, a storage unit, an analysis unit and a control unit;
the receiving unit is connected with the first detection device and the second detection device and used for receiving a hydraulic cylinder pressure value, a front axle load value and a rear axle load value;
the storage unit stores a first threshold and a second threshold;
the analysis unit is connected with the receiving unit and the storage unit and is used for calculating the difference value between the front axle load rate and the lifting moment of the hydraulic cylinder and the wagon box rotating moment and judging whether the front axle load rate exceeds a first threshold value or not and whether the difference value between the lifting moment of the hydraulic cylinder and the wagon box rotating moment exceeds a second threshold value or not;
the control unit is connected with the analysis unit, the alarm device, the display device and the hydraulic cylinder lifting system and used for sending corresponding control signals according to the judgment result of the analysis unit.
8. The control system for preventing the rear tipping of the wagon box of the dumper as claimed in claim 7, wherein the control unit is connected with a lifting reversing valve of a hydraulic cylinder lifting system.
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| CN201811632688.XA CN109552143B (en) | 2018-12-29 | 2018-12-29 | Control method and control system for preventing carriage of dumper from being turned backwards |
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| CN201811632688.XA CN109552143B (en) | 2018-12-29 | 2018-12-29 | Control method and control system for preventing carriage of dumper from being turned backwards |
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| JPH1077102A (en) * | 1996-09-04 | 1998-03-24 | Shin Meiwa Ind Co Ltd | Tumble preventing device for garbage collector vehicle |
| CN102652076A (en) * | 2009-12-10 | 2012-08-29 | 日立建机株式会社 | Dump truck tip-over safety device |
| CN102729929A (en) * | 2011-04-16 | 2012-10-17 | 湖北神鹰汽车有限责任公司 | Anti-tipping device of dump truck |
| CN105984417A (en) * | 2015-02-02 | 2016-10-05 | 陕西汽车集团有限责任公司 | Vehicular anti-rollover dynamic monitoring, early warning and active intervention control method and control system |
| CN106740363A (en) * | 2016-11-16 | 2017-05-31 | 湖南汽车制造有限责任公司 | Dumper rollover prevention system, method and dumper |
| CN107791920A (en) * | 2016-09-06 | 2018-03-13 | 海沃机械（中国）有限公司 | For operating the method and system of dumper |
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2018
- 2018-12-29 CN CN201811632688.XA patent/CN109552143B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1077102A (en) * | 1996-09-04 | 1998-03-24 | Shin Meiwa Ind Co Ltd | Tumble preventing device for garbage collector vehicle |
| CN102652076A (en) * | 2009-12-10 | 2012-08-29 | 日立建机株式会社 | Dump truck tip-over safety device |
| CN102729929A (en) * | 2011-04-16 | 2012-10-17 | 湖北神鹰汽车有限责任公司 | Anti-tipping device of dump truck |
| CN105984417A (en) * | 2015-02-02 | 2016-10-05 | 陕西汽车集团有限责任公司 | Vehicular anti-rollover dynamic monitoring, early warning and active intervention control method and control system |
| CN107791920A (en) * | 2016-09-06 | 2018-03-13 | 海沃机械（中国）有限公司 | For operating the method and system of dumper |
| CN106740363A (en) * | 2016-11-16 | 2017-05-31 | 湖南汽车制造有限责任公司 | Dumper rollover prevention system, method and dumper |
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| CN109552143A (en) | 2019-04-02 |
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