CN110673653B - Anti-tipping control method and device for engineering machinery and engineering machinery - Google Patents
Anti-tipping control method and device for engineering machinery and engineering machinery Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/10—Control of position or direction without using feedback
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
The invention relates to the field of engineering machinery, and discloses an anti-tipping control method and device for engineering machinery and the engineering machinery. The anti-rollover control method comprises the following steps: acquiring arm support reference included angle values of all sections of arm supports of the engineering machinery; establishing a functional relation between the whole vehicle safety coefficient and the boom reference included angle value, and obtaining a partial derivative value obtained by solving the partial derivative of the whole vehicle safety coefficient on the boom reference included angle value of the boom in the current action, wherein the whole vehicle safety coefficient is used for representing the anti-tipping stability of the whole vehicle; and determining whether to limit the action of the arm support based on the deviation derivative value and the change trend generated by the influence of the action on the arm support reference included angle value of the arm support in the current action. The invention combines the partial derivative value of the safety coefficient of the whole vehicle to the arm support reference included angle value with the change trend of the arm support reference included angle value for rollover judgment, limits the arm support action before the action of any arm support is executed, and has obvious predictability and universal correctness.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to an anti-tipping control method and device for engineering machinery and the engineering machinery.
Background
Engineering mechanical equipment of a high-lift boom is prone to rollover, so that corresponding anti-rollover control is required, and engineering equipment with a folding arm, such as a boom pump truck, a hoisting machine with a folding arm, a folding arm fire truck and the like, has a more complex boom posture, generally pursues limited operation (area), and has higher requirements on anti-rollover control.
The existing anti-rollover control technology mainly comprises the following two technologies:
focusing on the influence of the gravity center position of the whole vehicle on rollover, and determining whether the rollover risk occurs or not by judging whether a certain operation has favorable or adverse influence on the movement of the gravity center position of the whole vehicle;
and secondly, by detecting the counterforce of the supporting leg, the safety factor is determined to judge the rollover safety through the corresponding relation between the moment from the center of gravity of the whole vehicle chassis to the rollover edge and the moment from the center of gravity of the whole vehicle chassis to the rollover edge.
However, the first technique is based on the idea of preventing the whole rollover, and needs to be judged after the operation is performed, and has hysteresis; the second technique relies on the detection of the counterforce of the support leg, has hysteresis, and cannot predict the influence of any arm support on the gravity center of the whole vehicle, for example, when the inclination angles of the arm support (such as 3 arms or 4 arms) and the arm support behind the arm support are 90-180 degrees (such as 120 degrees), and the inclination angle of the arm support of each front arm is 0-90 degrees (such as 60 degrees), the determined gravity center of the whole vehicle moves outwards instead of the gravity center recovery.
Disclosure of Invention
The invention aims to provide an anti-tipping control method and device for engineering machinery and the engineering machinery, which are used for solving the problems of hysteresis and no universal correctness of the existing anti-tipping control technology.
In order to achieve the above object, the present invention provides a rollover prevention control method for a construction machine, including: acquiring arm support reference included angle values of all sections of arm supports of the engineering machinery; establishing a functional relation between a whole vehicle safety coefficient and the boom reference included angle value, and obtaining a partial derivative value obtained by solving a partial derivative of the whole vehicle safety coefficient on the boom reference included angle value of the boom in the current action, wherein the whole vehicle safety coefficient is used for representing the anti-tipping stability of the whole vehicle; and determining whether to limit the action of the arm support based on the deviation derivative value and a variation trend generated by the influence of the action on the arm support reference included angle value of the arm support with the current action.
Preferably, the obtaining of the boom reference included angle value of each boom of the engineering machinery includes: acquiring actual boom included angle values of all sections of booms through boom included angle sensors to serve as boom reference included angle values; or acquiring the arm support inclination angle of each section of arm support, and determining the corresponding arm support reference included angle value according to the arm support inclination angle.
Preferably, the establishing of the functional relationship between the safety factor of the whole vehicle and the boom reference included angle value includes: acquiring a first function relation between the gravity center position of the whole vehicle and the arm support reference included angle value; acquiring a second functional relation between the gravity center position of the whole vehicle and the safety coefficient of the whole vehicle; and acquiring the functional relation between the whole vehicle safety factor and the arm support reference included angle value based on the first functional relation and the second functional relation.
Preferably, after the establishing of the functional relationship between the safety factor of the whole vehicle and the boom reference included angle value, the anti-rollover control method further includes: calculating the safety factor of the whole vehicle according to the arm support reference included angle value; determining the safety level of the whole engineering machinery according to the comparison result of the calculated safety factor of the whole engineering machinery and a preset threshold value; and controlling and executing an anti-rollover control strategy corresponding to the determined safety level of the whole vehicle according to the corresponding relation between the preset safety level of the whole vehicle and the anti-rollover control strategy.
Preferably, the determining whether to limit the motion of the boom based on the partial derivative value and a change trend generated by the boom reference included angle value of the boom in the current motion being affected by the motion includes: limiting the action of the arm support to prevent the engineering machinery from tipping under the first condition that the deviation derivative value is larger than zero and the arm support reference included angle value of the currently-acting arm support is reduced; limiting the action of the arm support to prevent the engineering machinery from tipping under the second condition that the deviation derivative value is smaller than zero and the arm support reference included angle value of the currently-acting arm support is increased; and controlling the action of the arm support according to the whole vehicle safety factor under the other conditions except the first condition and the second condition.
The present invention also provides an anti-rollover control device for an engineering machine, comprising: a storage module for storing computer executable instructions; and a control module to execute the computer-executable instructions to perform operations comprising:
acquiring arm support reference included angle values of all sections of arm supports of the engineering machinery;
establishing a functional relation between a whole vehicle safety coefficient and the boom reference included angle value, and obtaining a partial derivative value obtained by solving a partial derivative of the whole vehicle safety coefficient on the boom reference included angle value of the boom in the current action, wherein the whole vehicle safety coefficient is used for representing the anti-tipping stability of the whole vehicle; and
and determining whether to limit the action of the arm support or not based on the deviation derivative value and the change trend generated by the influence of the action on the arm support reference included angle value of the arm support in the current action.
Preferably, the anti-rollover control apparatus further comprises: the arm support included angle sensor is used for acquiring the actual arm support included angle value of each section of arm support; and/or an arm support inclination angle sensor, which is used for acquiring the arm support inclination angle of each section of arm support;
and, the control module further executes the computer-executable instructions to perform: and determining the arm support reference included angle value according to the actual included angle value of the arm support and/or the arm support inclination angle of each arm support, which are respectively obtained by the arm support included angle sensor and the arm support inclination angle sensor.
Preferably, the establishing of the functional relationship between the safety factor of the whole vehicle and the boom reference included angle value includes: acquiring a first function relation between the gravity center position of the whole vehicle and the arm support reference included angle value; acquiring a second functional relation between the gravity center position of the whole vehicle and the safety coefficient of the whole vehicle; and acquiring the functional relation between the whole vehicle safety factor and the arm support reference included angle value based on the first functional relation and the second functional relation.
Preferably, after the functional relationship between the finished vehicle safety factor and the boom reference included angle value is established, the control module further executes the computer executable instruction to perform the following operations: calculating the safety factor of the whole vehicle according to the arm support reference included angle value; determining the safety level of the whole engineering machinery according to the comparison result of the calculated safety factor of the whole engineering machinery and a preset threshold value; and controlling and executing an anti-rollover control strategy corresponding to the determined safety level of the whole vehicle according to the corresponding relation between the preset safety level of the whole vehicle and the anti-rollover control strategy.
Preferably, the determining whether to limit the motion of the boom based on the partial derivative value and a change trend generated by the boom reference included angle value of the boom in the current motion being affected by the motion includes: limiting the action of the arm support to prevent the engineering machinery from tipping under the first condition that the deviation derivative value is larger than zero and the arm support reference included angle value of the currently-acting arm support is reduced; limiting the action of the arm support to prevent the engineering machinery from tipping under the second condition that the deviation derivative value is smaller than zero and the arm support reference included angle value of the currently-acting arm support is increased; and controlling the action of the arm support according to the whole vehicle safety factor under the other conditions except the first condition and the second condition.
The invention also provides engineering machinery comprising the anti-tipping control device of the engineering machinery.
According to the technical scheme, the engineering machinery and the anti-tipping control method and device for the engineering machinery combine the partial derivative value of the whole vehicle safety coefficient to the boom reference included angle value and the change trend of the boom reference included angle value for tipping judgment, so that the boom action is limited before any boom action is executed, namely the whole vehicle safety coefficient is deteriorated, obvious predictability and universal correctness are achieved, and higher safety guarantee capability can be provided.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a rollover prevention control method for a construction machine according to a first embodiment of the present invention;
FIG. 2 is a schematic view of an included angle of the boom according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of an inclination angle of the boom according to the embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a functional relationship between a safety factor of the entire vehicle and a reference included angle value of the boom in a preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of a typical boom pose in an example of an embodiment of the present invention;
fig. 6 is a schematic flow chart illustrating a preliminary judgment of whether the boom movement needs to be limited according to the safety factor of the entire vehicle in the second embodiment of the present invention; and
fig. 7 is a schematic structural diagram of an anti-tipping control apparatus for construction machinery according to a third embodiment of the present invention.
Description of the reference numerals
10. A storage module; 20. a control module; 31. an included angle sensor of the arm support;
32. cantilever crane inclination sensor.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Example one
Fig. 1 is a flowchart illustrating a method for controlling an anti-tip-over of a construction machine according to a first embodiment of the present invention, where the construction machine includes a boom pump truck, a crane with a folding arm, a folding arm fire truck, and the like. As shown in fig. 1, the anti-rollover control method may include the steps of:
and step S110, acquiring a boom reference included angle value of each section of boom of the engineering machinery.
Wherein the arm support reference included angle value is intended to indicate an included angle value of an arm support, fig. 2 is an included angle schematic diagram of an arm support in an embodiment of the present invention, in which βiAnd (3) representing the included angle of the arm frame formed by the previous arm frame and the ith arm frame, wherein i is 1, 2, 3, 4 and 5. It is to be noted, however, that the term arm reference included angle value is also intended to indicate, by the term "reference", that this value is not strictly equal to the actual included angle, but may for example differ from the actual included angle by ± 360 °.
When an equipment operator operates the engineering machinery, the attitude of the arm support is changed (namely arm support action occurs), the arm support reference included angle value is correspondingly changed, the gravity center of the equipment is also changed, and therefore the change of the arm support attitude can be described through the change of the arm support reference included angle value. In a preferred embodiment, the boom reference included angle value of each section of boom can be obtained by any one of the following two methods:
1) and acquiring actual boom included angle values of all sections of booms through boom included angle sensors to serve as the boom reference included angle values.
2) And acquiring the boom inclination angle of each section of boom, and determining the corresponding boom reference included angle value according to the boom inclination angle. The boom inclination angle is obtained, for example, by a boom inclination angle sensor.
Wherein, fig. 3 is a schematic diagram of the inclination angle of the arm support in the embodiment of the invention, in which θ isiThe included angle between the extension direction of the ith section of arm support (the pointing direction of the tail end of the arm support when all the arm supports are completely unfolded and lie flat is a positive direction) and the horizontal direction is shown, i is 1, 2, 3, 4 and 5, and the included angle β of the arm support can be known by combining the graph of fig. 2 and 3iInclination angle theta with arm supportiThere exists a certain geometrical relationship between them, so that the two can realize mutual conversion, and the corresponding conversion relationship is shown as the following formula (1):
and then transforming to obtain the formula (2):
in the formula, K and K are integers and have no specified relation.
In other embodiments, the corresponding boom reference included angle value may also be determined according to the length of the boom cylinder, and the specific process is as follows: the length of the arm support oil cylinder is obtained through a length detection sensor, and on the basis of obtaining the length of the arm support oil cylinder, the arm support reference included angle value is further determined through the structural size and constraint relation between the oil cylinder and the arm support. In addition, in other embodiments, image data about boom actions can be acquired, and the boom reference included angle value is determined by using an image recognition technology.
And S120, establishing a functional relation between the safety coefficient of the whole vehicle and the reference included angle value of the arm support.
The whole vehicle safety factor is used for representing the anti-tipping stability of the whole vehicle, and can be a dimensional quantity (such as distance) or a non-dimensional value (such as a ratio of the distances).
Fig. 4 is a schematic flow chart illustrating a functional relationship between the safety factor of the entire vehicle and the boom reference included angle value in the preferred embodiment of the present invention. Specifically, in the preferred embodiment, the safety factor of the whole vehicle can be determined through the following steps:
step S411, a first function relation between the gravity center position of the whole vehicle and the arm support reference included angle value is obtained.
Wherein, the center of gravity of the arm support (represented by boom in the following formula) is synthesized with the pump truck chassis (represented by frame in the following formula) to obtain the center of gravity of the whole truck, and the center of gravity of the whole truck is (G)x，Gy) Then, we can get:
wherein M represents mass. In addition, the center of gravity (G) of the arm supportboomx，Gboomy) Can further combine the coordinates (x) of the tail end of each section of the arm framei,yi) Center of mass coordinate (x'i，y′i) And the centroid coordinate (x) of the ith arm relative to the entirety of the last armiB,yiB) Specifically, the length of each arm support is recorded as LjMass is recorded as mjThe length of the centroid position per arm obtained by the mechanism attribute per arm is recorded as L'iThe coordinates (x) of the end of each arm are calculated by the following equations (4) to (6)i,yi) Center of mass coordinate (x'i，y′i) And the centroid coordinate (x) of the ith arm relative to the entirety of the last armiB,yiB)：
β concerning the substitution of formula (2) into formulae (4) to (6)iThe included angle β between the posture of the arm support and the gravity center of the arm support is obtained through the formulasiCan be expressed as:
(Gboomx,Gboomy)＝[xiB,yiB]＝[xiB(β1…βi…βn),yiB(β1…βi…βn)](7)
accordingly, combining equations (7) and (3), a first functional relationship between the center of gravity of the entire vehicle and the boom reference included angle value can be obtained, which can be expressed as:
and step S412, acquiring a second functional relation between the gravity center position of the whole vehicle and the safety coefficient of the whole vehicle.
The gravity center position of the whole vehicle is an important parameter for reflecting whether the whole vehicle can tip over or not, and accordingly, the gravity center position of the whole vehicle and the safety coefficient of the whole vehicle can be understood to have a functional relationship, and the safety coefficient of the whole vehicle is η, so that the corresponding functional relationship can be described as follows:
η＝η(Gx,Gy) (9)
step S413, based on the first functional relationship and the second functional relationship, obtaining a functional relationship between the safety factor of the entire vehicle and the reference included angle value of the boom.
Combining the formula (8) and the formula (9), the whole vehicle safety coefficient η and the arm support reference included angle value βiThe functional relationship between can be expressed as:
η＝η(Gx,Gy)＝η(β1,…,βi,…βn) (10)
and S130, acquiring a partial derivative value obtained by solving the partial derivative of the finished automobile safety coefficient on the boom reference included angle value of the boom in the current action.
According to the formula (10), the arm support is referred to the included angleValue βiThe size of the angle difference directly influences the safety coefficient of the whole vehicle, and the direct influence on the action of the arm support i is that the arm support reference included angle value βiSo as to obtain the reference included angle value β of the arm support of the formula (10)iCalculating partial derivative to obtain βiThe influence on the safety factor η of the entire vehicle further determines whether the movement of the arm i will aggravate the rollover risk, and accordingly, step S140 is further provided.
And step S140, determining whether to limit the action of the arm support based on the deviation derivative value and a change trend generated by the influence of the action on the arm support reference included angle value of the currently-acting arm support.
In step S140, the "partial derivative value" and the "trend of change of the boom reference included angle value" are combined to determine whether the boom action needs to be limited, which specifically includes the following two situations:
1) and limiting the action of the arm support to prevent the engineering machinery from tipping under the first condition that the deviation derivative value is greater than zero and the arm support reference included angle value of the currently-acting arm support is reduced.
2) And under the second condition that the deviation derivative value is smaller than zero and the boom reference included angle value of the boom of the current action is increased, limiting the action of the boom to prevent the engineering machinery from tipping.
Therefore, the partial derivative value can reflect the influence of the boom reference included angle value on the safety coefficient of the whole vehicle, and after the criterion of 'the change trend of the boom reference included angle value' is added, the operation of an operator on any boom can be directly reflected as the change of the boom reference included angle value, so that whether the corresponding operation can aggravate the tipping danger or not is reflected, and the safety and the flexibility of the operator on the equipment operation are improved.
In addition, compared with the existing anti-tipping control technology focusing on the influence of the gravity center position of the whole vehicle on tipping, the method disclosed by the embodiment one of the invention realizes the safety control on the operation of a certain section (namely, any section) of the arm support, and the safety control is more precise not only in the whole arm support; compared with the existing anti-rollover control technology which relies on the detection of the counterforce of the supporting leg, the method of the first embodiment of the invention does not rely on the detection of passively reflecting the mass center change of the equipment (such as the stress of the supporting leg), not only embodies the predictability, but also simplifies the judgment logic and calculation.
Further, compared with the existing anti-tipping control technology which relies on the detection of the counterforce of the support leg, the method provided by the embodiment of the invention can be suitable for various arm support postures, and has universal correctness. For example, fig. 5 is a schematic diagram of a typical boom posture in an example of the embodiment of the present invention, the boom posture is consistent with the example mentioned in the background of the present application, in a case that the boom inclination angle of the 3 arms and the following arms is 90 ° to 180 °, and the boom inclination angle of the forearms is 0 ° to 90 °, the point B is the combined gravity center of the 3 arms and the following arms (refer to equation (6)), and the coordinate of the combined gravity center may be represented as B (X)3B,Y3B) Point A is the full boom center of gravity (coordinates may be expressed as A (X)1B,Y1B) However, in the conventional scheme (for example, the second technique indicated in the background art), since the conventional scheme cannot be generally applied to all boom postures, a result which is not in accordance with the fact is often obtained, and a correct result of whether the center of gravity of the point a and the center of gravity of the entire vehicle deviate from safety can be obtained by using the method of the first embodiment of the present invention.
In summary, in the anti-rollover control method for the engineering machinery according to the embodiment of the present invention, the "partial derivative value of the vehicle safety coefficient with respect to the boom reference included angle value" and the "trend of the boom reference included angle value" are combined to be used as the criterion, so that the boom action is limited before the action of any boom is executed, that is, before the vehicle safety coefficient is worse (lower than the set threshold), and the method has obvious predictability and universal correctness, so that higher safety guarantee capability can be provided.
It should be noted that the sequence between the steps in the above control method is not limited to the above sequence, and those skilled in the art can make appropriate adjustments according to actual needs.
Example two
Before the first embodiment performs the safety judgment by using the criterion of combining the partial derivative value of the whole vehicle safety coefficient on the boom reference included angle value and the variation trend of the boom reference included angle value, the second embodiment of the invention can perform the preliminary judgment by using the whole vehicle safety coefficient. Fig. 6 is a schematic flow chart illustrating a process of preliminarily determining whether to limit the boom movement according to the safety factor of the entire vehicle in the second embodiment of the present invention. As shown in fig. 6, after the functional relationship between the safety factor of the entire vehicle and the boom reference pinch angle value is established in step S120, and before the deviation derivative value is calculated in step S130, the anti-rollover control method may further include:
and S610, calculating the safety coefficient of the whole vehicle according to the arm support reference included angle value.
For example, the calculation is performed by the formula (10), when an equipment operator operates the equipment, the posture of the arm support is changed, the reference included angle value of the arm support is changed, the gravity center of the equipment is changed, and the safety coefficient of the whole vehicle is continuously changed.
It should be noted that, in the embodiment of the present invention, the entire safety factor of the vehicle is calculated based on the boom reference included angle value, which reflects the spatial attitude of the engineering machine, but in a preferred embodiment, the entire safety factor of the vehicle may also be calculated by combining the influence of the operating state of the equipment on the parameters of the equipment (for example, when the pump truck is distributing material, the inside of the delivery pipe is filled with concrete, and when the pump truck is in a non-operating state, the inside of the delivery pipe is not filled with concrete, and the structural parameters of the pump truck are changed).
And S620, determining the safety level of the whole engineering machinery according to the comparison result of the calculated safety coefficient of the whole engineering machinery and a preset threshold value.
The preset threshold value can be multiple, and different vehicle safety levels can be obtained through the multiple threshold values.
For example, when the safety factor during critical rollover is the minimum value (threshold 1) that can be allowed, the corresponding vehicle safety level is the "most dangerous", and the threshold 2 and the threshold 3 are set incrementally by using the threshold 1, so that the vehicle safety level can be further divided into three levels of "dangerous", and "no dangerous".
In addition, it should be noted that the "danger" described herein means that the degree of attention to the moving speed and direction of the boom is reached, that is, the influence of the boom movement on the change of the center of gravity of the whole vehicle cannot be ignored.
And S630, controlling and executing an anti-rollover control strategy corresponding to the determined safety level of the whole vehicle according to the corresponding relation between the preset safety level of the whole vehicle and the anti-rollover control strategy.
For example, at the "no danger" level, the anti-tip over strategy is not to restrict any action of the boom i; when the grade is in a dangerous grade, the anti-tipping strategy is to limit the speed of the arm support or reduce the speed in proportion; in the dangerous grade, the anti-tipping strategy is to forbid the arm support action. Therefore, according to the comparison between the whole vehicle safety coefficient and the corresponding threshold value, the dangerous tipping risk can be preliminarily judged, the arm support limitation is carried out in time, and for the condition without danger or with danger, the judgment is further carried out subsequently through the criterion that the partial derivative value of the whole vehicle safety coefficient on the arm support reference included angle value is combined with the change trend of the arm support reference included angle value, so that the control predictability and the universal accuracy are improved.
Accordingly, in correspondence to the first case where the partial derivative value is greater than zero and the boom reference included angle value of the boom in the current motion is decreased and the second case where the partial derivative value is less than zero and the boom reference included angle value of the boom in the current motion is increased, which are provided in the first embodiment, the boom motion may be controlled according to the vehicle safety factor, that is, the above-mentioned "control executes the anti-rollover control strategy corresponding to the determined vehicle safety level".
For details and effects of the second embodiment, reference may be made to the first embodiment, which is not repeated herein.
EXAMPLE III
Fig. 7 is a schematic structural diagram of an anti-rollover control device for construction machinery according to a third embodiment of the present invention, which is based on the same inventive concept as the anti-rollover control method according to the first embodiment. As shown in fig. 7, the anti-rollover control apparatus may include: a storage module 10 for storing computer executable instructions; and a control module 20 for executing the computer-executable instructions to perform the following operations:
acquiring arm support reference included angle values of all sections of arm supports of the engineering machinery;
establishing a functional relation between a whole vehicle safety coefficient and the boom reference included angle value, and obtaining a partial derivative value obtained by solving a partial derivative of the whole vehicle safety coefficient on the boom reference included angle value of the boom in the current action, wherein the whole vehicle safety coefficient is used for representing the anti-tipping stability of the whole vehicle; and
and determining whether to limit the action of the arm support or not based on the deviation derivative value and the change trend generated by the influence of the action on the arm support reference included angle value of the arm support in the current action.
It should be noted that the above operations executed by the control module 20 by executing the computer executable instructions are consistent with the method steps of the first embodiment, so that the details and effects of the related implementation can refer to the first embodiment, which is not described herein again.
In a preferred embodiment, the anti-rollover control apparatus may further include: the boom included angle sensor 31 is used for acquiring actual boom included angle values of all the sections of booms and transmitting the actual boom included angle values to the control module 20; and/or a boom inclination angle sensor 32, configured to obtain a boom inclination angle of each section of the boom, and transmit the boom inclination angle to the control module 20. The control module 20 determines the boom reference included angle value according to the actual included angle value of the boom and/or the boom tilt angle of each section of the boom, which are obtained by the boom included angle sensor 31 and the boom tilt angle sensor 32, and a specific determination method may refer to embodiment one, which is not described herein again.
In addition, the third embodiment of the present invention can further configure the function of the control module 20 in combination with the second embodiment. Specifically, after the functional relationship between the safety factor of the entire vehicle and the boom reference included angle value is established, the control module 20 may further execute the computer-executable instructions to perform the following operations: calculating the safety factor of the whole vehicle according to the arm support reference included angle value; determining the safety level of the whole engineering machinery according to the comparison result of the calculated safety factor of the whole engineering machinery and a preset threshold value; and controlling and executing an anti-rollover control strategy corresponding to the determined safety level of the whole vehicle according to the corresponding relation between the preset safety level of the whole vehicle and the anti-rollover control strategy. The operations executed by the control module 20 by executing the computer-executable instructions are consistent with the method steps of the second embodiment, so the related implementation details and effects can refer to the second embodiment, and are not described herein again.
Further, the control module 20 may include a processor and a memory, and various operations performed by the control module may be stored in the memory as a program unit, and the processor executes the program unit stored in the memory to implement corresponding functions. The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the anti-tipping control of the engineering machinery is realized by adjusting the kernel parameters. The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
Example four
The fourth embodiment of the invention provides engineering machinery, which comprises the anti-tipping control device of the engineering machinery described in the third embodiment. The engineering machinery comprises, but is not limited to, a cantilever crane pump truck, a hoisting machinery with a folding arm, a folding arm fire truck and the like.
For details and effects of the fourth embodiment, reference may be made to the three embodiments, and further description is omitted here.
An embodiment of the present invention also provides a storage medium having a program stored thereon, where the program is executed by a processor to implement the anti-rollover control method for a construction machine.
The embodiment of the invention also provides a processor, which is used for running the program, wherein the program executes the anti-tipping control method of the engineering machinery when running.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor is used for realizing the control method of the arm frame of the elevating platform fire truck when executing the program. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program for initializing the method steps comprised in the above-mentioned anti-rollover control method, when executed on a data processing device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (11)
1. An anti-rollover control method for construction machinery, comprising:
acquiring arm support reference included angle values of all sections of arm supports of the engineering machinery;
establishing a functional relation between a whole vehicle safety coefficient and the boom reference included angle value, and obtaining a partial derivative value obtained by solving a partial derivative of the whole vehicle safety coefficient on the boom reference included angle value of the boom in the current action, wherein the whole vehicle safety coefficient is used for representing the anti-tipping stability of the whole vehicle; and
and determining whether to limit the action of the arm support or not based on the deviation derivative value and the change trend generated by the influence of the action on the arm support reference included angle value of the arm support in the current action.
2. The anti-rollover control method for engineering machinery according to claim 1, wherein the obtaining of the boom reference included angle value of each boom of the engineering machinery comprises:
acquiring actual boom included angle values of all sections of booms through boom included angle sensors to serve as boom reference included angle values; or
And acquiring the boom inclination angle of each section of boom, and determining the corresponding boom reference included angle value according to the boom inclination angle.
3. The anti-rollover control method for engineering machinery according to claim 1, wherein the establishing of the functional relationship between the safety factor of the entire vehicle and the reference included angle value of the boom comprises:
acquiring a first function relation between the gravity center position of the whole vehicle and the arm support reference included angle value;
acquiring a second functional relation between the gravity center position of the whole vehicle and the safety coefficient of the whole vehicle; and
and acquiring the functional relation between the whole vehicle safety factor and the arm support reference included angle value based on the first functional relation and the second functional relation.
4. The anti-rollover control method for construction machinery according to claim 1, wherein after the establishing of the functional relationship between the safety factor of the entire vehicle and the reference included angle value of the boom, the anti-rollover control method further comprises:
calculating the safety factor of the whole vehicle according to the arm support reference included angle value;
determining the safety level of the whole engineering machinery according to the comparison result of the calculated safety factor of the whole engineering machinery and a preset threshold value; and
and controlling and executing an anti-rollover control strategy corresponding to the determined safety level of the whole vehicle according to the corresponding relation between the preset safety level of the whole vehicle and the anti-rollover control strategy.
5. The anti-rollover control method for construction machinery according to claim 1, wherein the determining whether to restrict the motion of the boom based on the derivative value and a trend of change in which the boom reference pinch angle value of the boom currently in motion is affected by the motion includes:
limiting the action of the arm support to prevent the engineering machinery from tipping under the first condition that the deviation derivative value is greater than zero and the arm support reference included angle value of the currently-acting arm support is reduced;
limiting the action of the arm support to prevent the engineering machinery from tipping under the second condition that the deviation derivative value is smaller than zero and the arm support reference included angle value of the currently-acting arm support is increased; and
and under the other conditions except the first condition and the second condition, controlling the action of the arm support according to the whole vehicle safety coefficient.
6. An anti-toppling control device for a construction machine, comprising:
a storage module for storing computer executable instructions; and
a control module to execute the computer-executable instructions to perform operations comprising:
acquiring arm support reference included angle values of all sections of arm supports of the engineering machinery;
establishing a functional relation between a whole vehicle safety coefficient and the boom reference included angle value, and obtaining a partial derivative value obtained by solving a partial derivative of the whole vehicle safety coefficient on the boom reference included angle value of the boom in the current action, wherein the whole vehicle safety coefficient is used for representing the anti-tipping stability of the whole vehicle; and
and determining whether to limit the action of the arm support or not based on the deviation derivative value and the change trend generated by the influence of the action on the arm support reference included angle value of the arm support in the current action.
7. The anti-toppling control device for a construction machine according to claim 6, further comprising:
the arm support included angle sensor is used for acquiring the actual arm support included angle value of each section of arm support; and/or
The arm support inclination angle sensor is used for acquiring the arm support inclination angle of each section of arm support;
and, the control module further executes the computer-executable instructions to perform: and determining the arm support reference included angle value according to the actual included angle value of the arm support and/or the arm support inclination angle of each arm support, which are respectively obtained by the arm support included angle sensor and the arm support inclination angle sensor.
8. The anti-rollover control device for construction machinery according to claim 6, wherein the establishing of the functional relationship between the safety factor of the entire vehicle and the reference included angle value of the boom comprises:
acquiring a first function relation between the gravity center position of the whole vehicle and the arm support reference included angle value;
acquiring a second functional relation between the gravity center position of the whole vehicle and the safety coefficient of the whole vehicle; and
and acquiring the functional relation between the whole vehicle safety factor and the arm support reference included angle value based on the first functional relation and the second functional relation.
9. The anti-rollover control device for construction machinery according to claim 6, wherein after the establishing of the functional relationship between the safety factor of the entire vehicle and the boom reference included angle value, the control module further executes the computer-executable instructions to perform the following operations:
calculating the safety factor of the whole vehicle according to the arm support reference included angle value;
determining the safety level of the whole engineering machinery according to the comparison result of the calculated safety factor of the whole engineering machinery and a preset threshold value; and
and controlling and executing an anti-rollover control strategy corresponding to the determined safety level of the whole vehicle according to the corresponding relation between the preset safety level of the whole vehicle and the anti-rollover control strategy.
10. The anti-toppling control device of construction machinery according to claim 6, wherein the determining whether to restrict the motion of the boom based on the deviation value and the trend of change in the reference boom included angle value of the currently-moving boom due to motion influence comprises:
limiting the action of the arm support to prevent the engineering machinery from tipping under the first condition that the deviation derivative value is greater than zero and the arm support reference included angle value of the currently-acting arm support is reduced;
limiting the action of the arm support to prevent the engineering machinery from tipping under the second condition that the deviation derivative value is smaller than zero and the arm support reference included angle value of the currently-acting arm support is increased; and
and under the other conditions except the first condition and the second condition, controlling the action of the arm support according to the whole vehicle safety coefficient.
11. A working machine comprising the anti-toppling control apparatus for a working machine according to any one of claims 6 to 10.
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| CN111761574B (en) * | 2020-05-28 | 2022-08-02 | 中联重科股份有限公司 | Method and device for judging safety of operation capable of being performed by arm support and engineering machinery |
| CN114687561B (en) * | 2020-12-31 | 2023-06-06 | 三一汽车制造有限公司 | Control method and device for working machine and working machine |
| CN112936242B (en) * | 2021-01-29 | 2022-07-26 | 中联重科股份有限公司 | Method and device for judging operation safety of arm support and engineering machinery |
| CN113608464B (en) * | 2021-07-21 | 2022-11-29 | 徐州徐工施维英机械有限公司 | Overturn-preventing safety control method, device and system for pump truck |
| CN114427297B (en) * | 2022-01-24 | 2023-09-22 | 三一汽车制造有限公司 | Anti-tipping control method and device and working machine |
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