CN110962776A - Safety protection method and system and engineering vehicle - Google Patents
Safety protection method and system and engineering vehicle Download PDFInfo
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- CN110962776A CN110962776A CN201911125780.1A CN201911125780A CN110962776A CN 110962776 A CN110962776 A CN 110962776A CN 201911125780 A CN201911125780 A CN 201911125780A CN 110962776 A CN110962776 A CN 110962776A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
- B60R16/0233—Vehicle tilting, overturning or roll over
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- 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 safety protection method, a safety protection system and an engineering vehicle, wherein axle force information, axle displacement information, cab vibration acceleration information and cab angular velocity information are obtained; calculating the moment, relative displacement and relative acceleration of the axle; comparing the axle torque, the relative displacement, the relative acceleration and the angular speed with corresponding preset thresholds; responding to the condition that the moment, the relative displacement, the relative acceleration and the angular speed of the axle are larger than corresponding preset thresholds, and sending an alarm instruction; and sending an instruction to open the electromagnetic unloading valve, so that the operating system can automatically unload; an operator controls the operating handle to carry out safety protection operation, obtains an operating handle valve core action direction signal fed back by the main valve to judge the safety operation direction, and sends an instruction to control the electromagnetic unloading valve to lose power for the operation of reducing the load force arm so as to ensure that the execution mechanism works normally; and for the operation of increasing the load arm of force, an instruction is sent to control the electromagnetic unloading valve to keep an electrified state, so that the execution mechanism is kept in an original state.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a safety protection method, a safety protection system and an engineering vehicle.
Background
The national requirements on the safety of engineering machinery are getting tighter and tighter, the requirements on the safety performance are also getting higher and higher, and the inclination of a vehicle body and the shaking of a cab are very serious and even the risk of rollover exists in the operation process of an engineering vehicle.
At present, most measures taken for the safety protection of engineering vehicles are used for judging whether the engineering vehicles are in a safe state or not by detecting the load condition of an operating system or judging whether the engineering vehicles are in the safe state or not based on a torque limiter and other modes.
The prior art has the following defects: many companies make research on safety protection problems, and mostly adopt the method of monitoring the stress state of an operation device in the operation process, prejudging and controlling the operation device to stop or adjust the action direction and speed, and the like to achieve the purpose of safety protection.
The control operation system stops moving, gives an alarm and the like, has low automation degree and safety against dangerous states of the engineering machinery, has a risk of misoperation, belongs to passive safety protection measures, stops the operation of electric, hydraulic and diesel engines of engineering vehicles, and stops working. Such work protection under emergency conditions is relatively single, and stopping the work of the control system and the electric and hydraulic systems also makes it inefficient to take work safety protection measures.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a safety protection method, a safety protection system and an engineering vehicle, wherein the engineering vehicle and a driver are protected by carrying out active control based on comprehensive evaluation of parameters such as load states of an axle and a cab and pre-judgment of the operating state of the whole vehicle.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a method of security protection, comprising:
obtaining axle force information, axle displacement information, cab vibration acceleration information and cab angular velocity information;
calculating the front axle moment M according to the axle force information and the axle lengthFront sideRear axle moment MRear end；
Calculating the relative displacement L between the displacement measuring points according to the displacement information of the axleMeter；
Calculating the relative acceleration a between the acceleration measuring points according to the vibration acceleration information of the cabMeter；
The current front axle moment MFront sideOr rear axle moment MRear endWith a predetermined threshold value M of momentPreparation ofComparing;
the relative displacement L of the front axleMeterAnd a displacement preset threshold value LPreparation ofComparing;
the relative acceleration a of the cabMeterWith a predetermined threshold a for accelerationPreparation ofComparing;
will drive the angular speed b of the cabx、by、bzAnd angular velocity preset threshold bPreparation ofComparing; obtaining a comparison result;
responsive to current front axle torque MFront sideOr rear axle moment MRear endGreater than a predetermined torque threshold MPreparation ofAnd/or, in response to the current axle relative displacement LMeterGreater than a preset displacement threshold LPreparation of(ii) a And/or, in response to cab relative acceleration aMeterGreater than a preset acceleration threshold aPreparation of(ii) a And/or, in response to the cab angular velocity bx、by、bzGreater than a predetermined angular velocity threshold bPreparation of(ii) a Sending an alarm instruction; an instruction is sent to open the electromagnetic unloading valve, the operating system automatically unloads, and the executing mechanism stops operating;
an operator controls the operating handle to carry out safety protection operation, obtains an operating handle valve core action direction signal fed back by the main valve to judge the safety operation direction, and sends an instruction to control the electromagnetic unloading valve to lose power for the operation of reducing the load force arm so as to ensure that the execution mechanism works normally; and for the operation of increasing the load arm of force, an instruction is sent to control the electromagnetic unloading valve to keep an electrified state, so that the execution mechanism is kept in an original state.
In some embodiments, the axle force information includes two axle head forces F of the front axle1、F2And two axle head forces F of rear axle3、F4According to F1、F2，F3、F4And calculating the front axle moment M by combining the axle length LFront side=︱F1- F2L, rear axle moment MRear end=︱F3- F4︱*L。
The axle displacement information comprises displacement L of two shaft heads of a front axle1、L2Displacement L of two axle heads of rear axle3、L4According to a displacement of four points L1、L2、L3、L4Calculating the relative displacement L between any two pointsMeter=︱Li- LjAn hair stick, wherein Li、LjIs L1、L2、L3、L4Any two of them.
The cab vibration acceleration information comprises acceleration a of four corners of the cab1、a2、a3、a4According to the four-point acceleration a of the cab1、a2、a3、a4Calculating the relative acceleration a between any two pointsMeter=︱ai-aj| wherein ai、ajIs a1、a2、a3、a4Any two of them.
The cab angular velocity information includes angular velocities b of the cab X, Y, Z in three directionsx、by、bz。
According to another aspect of the present invention, there is provided a safety protection device including:
an information acquisition module to: obtaining axle force information, axle displacement information, cab vibration acceleration information and cab angular velocity information;
a calculation module to: according to the axle force information and the length of the axle, before calculationAxle moment MFront sideRear axle moment MRear end(ii) a And/or calculating the relative displacement L between the displacement measuring points according to the displacement information of the axleMeter(ii) a And/or calculating the relative acceleration a between the acceleration measuring points according to the vibration acceleration information of the cabMeter；
A comparison module to: the current front axle moment MFront sideOr rear axle moment MRear endWith a predetermined threshold value M of momentPreparation ofComparing; and/or, the relative displacement L of the current axleMeterAnd a displacement preset threshold value LPreparation ofComparing; and/or, the relative acceleration a of the cabMeterWith a predetermined threshold a for accelerationPreparation ofComparing; and/or, changing the angular speed b of the cabx、by、bzAnd angular velocity preset threshold bPreparation ofComparing; obtaining a comparison result;
a start control module to: responsive to current front axle torque MFront sideOr rear axle moment MRear endGreater than a predetermined torque threshold MPreparation ofOr, in response to the current axle relative displacement LMeterGreater than a preset displacement threshold LPreparation of(ii) a Or, in response to the cab relative acceleration aMeterGreater than a preset acceleration threshold aPreparation of(ii) a Or, in response to the cab angular velocity bx、by、bzGreater than a predetermined angular velocity threshold bPreparation of(ii) a Sending an alarm instruction; an instruction is sent to open the electromagnetic unloading valve, the operating system automatically unloads, and the executing mechanism stops operating;
an operator controls the operating handle to carry out safety protection operation, obtains an operating handle valve core action direction signal fed back by the main valve to judge the safety operation direction, and sends an instruction to control the electromagnetic unloading valve to lose power for the operation of reducing the load force arm so as to ensure that the execution mechanism works normally; and for the operation of increasing the load arm of force, an instruction is sent to control the electromagnetic unloading valve to keep an electrified state, so that the execution mechanism is kept in an original state.
According to a second aspect of the present invention, there is provided a security protection system comprising the security protection device, the security protection device comprising a memory and a processor, the memory storing instructions for controlling the processor to operate to perform the method of security protection according to the present invention.
In some embodiments, the security protection system further comprises: the device comprises an axle displacement detection unit, an axle stress detection unit, a cab vibration acceleration detection unit and a cab angular velocity detection unit;
the axle displacement detection unit is arranged on the axle head of the axle and used for monitoring the relative displacement change of the axle head of the axle;
the axle stress detection unit is arranged on the axle head of the axle and used for monitoring the stress condition of the axle head of the axle;
the cab vibration acceleration detection unit is arranged on the cab and used for monitoring the relative acceleration change of the cab in real time;
the cab angular velocity detection unit is arranged on the cab and used for monitoring the angular velocity change of the cab;
the axle displacement detection unit, the axle stress detection unit, the cab vibration acceleration detection unit and the cab angular velocity detection unit are respectively connected with the safety protection device.
In some embodiments, the safety protection system further includes an alarm unit, configured to receive an alarm instruction and alarm.
In a third aspect, the invention further provides an engineering vehicle, which comprises the safety protection system.
Has the advantages that: according to the safety protection method, the safety protection system and the engineering vehicle, the working state of the whole vehicle is comprehensively evaluated and pre-judged based on parameters such as the load state of an axle and a cab, and if a monitoring value exceeds a set threshold value, a dangerous state occurs, and the operation is stopped. The system allows a driver to adjust the load arm of force by using the oil cylinder according to the field condition and the current position of the operation device after automatic unloading protection. The oil cylinder is controlled to perform protection operation, so that more operation condition protection can be met, and the safe operation range is expanded; meanwhile, the protection operation can enable the engineering machinery to enter a normal operation state as soon as possible, so that the operation efficiency is improved; the system automatically judges and protects the operation direction through the feedback information of the sensor system, avoids misoperation of operators and increases the operation safety. The method is safe, high in reliability, simple and applicable.
Drawings
FIG. 1 is a schematic diagram of the installation positions of sensors in a safety protection system according to an embodiment;
FIG. 2 is a block diagram of an embodiment security protection system;
FIGS. 3 and 4 are flow charts of security protection methods according to an embodiment of the present invention;
in the figure: the device comprises a cab 1, an axle 2, wheels 3, a force and displacement measuring point 4, an acceleration measuring point 5 and an angular velocity measuring point 6.
Detailed Description
The present invention will be further described with reference to the following examples.
Example 1
A method of security protection, comprising:
obtaining axle force information, axle displacement information, cab vibration acceleration information and cab angular velocity information;
calculating the front axle moment M according to the axle force information and the axle lengthFront sideRear axle moment MRear end；
Calculating the relative displacement L between the displacement measuring points according to the displacement information of the axleMeter；
Calculating the relative acceleration a between the acceleration measuring points according to the vibration acceleration information of the cabMeter；
The current front axle moment MFront sideOr rear axle moment MRear endWith a predetermined threshold value M of momentPreparation ofComparing;
the relative displacement L of the front axleMeterAnd a displacement preset threshold value LPreparation ofComparing;
the relative acceleration a of the cabMeterWith a predetermined threshold a for accelerationPreparation ofComparing;
will drive the angular speed b of the cabx、by、bzAnd angular velocity preset threshold bPreparation ofComparing; obtaining a comparison result;
responsive to current front axle torque MFront sideOr rear axle moment MRear endGreater than a predetermined torque threshold MPreparation ofAnd/or, in response to the current axle relative displacement LMeterGreater than a preset displacement threshold LPreparation of(ii) a And/or, in response to cab relative acceleration aMeterGreater than a preset acceleration threshold aPreparation of(ii) a And/or, in response to the cab angular velocity bx、by、bzGreater than a predetermined angular velocity threshold bPreparation of(ii) a Sending an alarm instruction; an instruction is sent to open the electromagnetic unloading valve, the operating system automatically unloads, and the executing mechanism stops operating;
an operator controls the operating handle to carry out safety protection operation, obtains an operating handle valve core action direction signal fed back by the main valve to judge the safety operation direction, and sends an instruction to control the electromagnetic unloading valve to lose power for the operation of reducing the load force arm so as to ensure that the execution mechanism works normally; and for the operation of increasing the load arm of force, an instruction is sent to control the electromagnetic unloading valve to keep an electrified state, so that the execution mechanism is kept in an original state. (at which time the operation to be performed by the operator operating the handle is not continued).
Furthermore, an operator can operate the handle to reduce the load arm of force, and the actuating mechanism is controlled to recover the original position after the engineering vehicle finishes operation.
In some embodiments, the axle force information includes two axle head forces F of the front axle1、F2And two axle head forces F of rear axle3、F4According to F1、F2，F3、F4And calculating the front axle moment M by combining the axle length LFront side=︱F1- F2L, rear axle moment MRear end=︱F3- F4︱*L。
The axle displacement information comprises displacement L of two shaft heads of a front axle1、L2Displacement L of two axle heads of rear axle3、L4According to a displacement of four points L1、L2、L3、L4Calculating the relative displacement L between any two pointsMeter=︱Li- LjAn hair stick, wherein Li、LjIs L1、L2、L3、L4Any two of them.
The cab vibration acceleration information comprises acceleration a of four corners of the cab1、a2、a3、a4According to the four-point acceleration a of the cab1、a2、a3、a4Calculating the relative acceleration a between any two pointsMeter=︱ai-aj| wherein ai、ajIs a1、a2、a3、a4Any two of them.
The cab angular velocity information includes angular velocities b of the cab X, Y, Z in three directionsx、by、bz。
Example 2
A safety protection device comprising:
an information acquisition module to: obtaining axle force information, axle displacement information, cab vibration acceleration information and cab angular velocity information;
a calculation module to: calculating the front axle moment M according to the axle force information and the axle lengthFront sideRear axle moment MRear end(ii) a And/or calculating the relative displacement L between the displacement measuring points according to the displacement information of the axleMeter(ii) a And/or calculating the relative acceleration a between the acceleration measuring points according to the vibration acceleration information of the cabMeter；
A comparison module to: the current front axle moment MFront sideOr rear axle moment MRear endWith a predetermined threshold value M of momentPreparation ofComparing; and/or, the relative displacement L of the current axleMeterAnd a displacement preset threshold value LPreparation ofComparing; and/or, the relative acceleration a of the cabMeterWith a predetermined threshold a for accelerationPreparation ofComparing; and/or, changing the angular speed b of the cabx、by、bzAnd angular velocity preset threshold bPreparation ofComparing; obtaining a comparison result;
a start control module to: responsive to current front axle torque MFront sideOr rear axle moment MRear endGreater than a predetermined torque threshold MPreparation ofOr, in response to the current axle relative displacement LMeterGreater than a preset displacement threshold LPreparation of(ii) a Or, in response to the cab relative acceleration aMeterGreater than a preset acceleration threshold aPreparation of(ii) a Or, in response to the cab angular velocity bx、by、bzGreater than a predetermined angular velocity threshold bPreparation of(ii) a Sending an alarm instruction; an instruction is sent to open the electromagnetic unloading valve, the operating system automatically unloads, and the executing mechanism stops operating;
an operator controls the operating handle to carry out safety protection operation, obtains an operating handle valve core action direction signal fed back by the main valve to judge the safety operation direction, and sends an instruction to control the electromagnetic unloading valve to lose power for the operation of reducing the load force arm so as to ensure that the execution mechanism works normally; and for the operation of increasing the load arm of force, an instruction is sent to control the electromagnetic unloading valve to keep an electrified state, so that the execution mechanism is kept in an original state.
Example 3
A safety protection system comprises the safety protection device (namely a controller), an axle displacement detection unit, an axle stress detection unit, a cab vibration acceleration detection unit and a cab angular velocity detection unit; the arrangement is as shown in fig. 1, a cab 1, an axle 2, wheels 3, a force and displacement measuring point 4, an acceleration measuring point 5 and an angular velocity measuring point 6;
the axle displacement detection unit comprises four displacement sensors which are respectively arranged on the axle heads of the front axle 2 and the rear axle 2 and are used for monitoring the relative displacement change of the axle heads;
the axle stress detection unit comprises four force sensors which are respectively arranged on the axle heads of the front axle 2 and the rear axle 2 and used for monitoring the stress condition of the axle heads;
the cab vibration acceleration detection unit comprises four acceleration sensors which are respectively arranged at four corners of the cab 1 and used for monitoring the relative acceleration change of the cab in real time;
the cab angular velocity detection unit comprises an angular velocity sensor which is arranged on the cab and used for monitoring the angular velocity change of the cab;
the axle displacement detection unit, the axle stress detection unit, the cab vibration acceleration detection unit and the cab angular velocity detection unit are respectively connected with the safety protection device.
The safety protection system also comprises an alarm unit (buzzer) for receiving the alarm instruction and giving an alarm.
In some embodiments, as shown in fig. 2, the controller is connected with other modules through data communication cables, and when the engineering vehicle detection parameter exceeds a threshold value, the continuous alarm is carried out, the sensor monitoring system can feed back the current states of the vehicle body and the cab in real time, the axle displacement sensor is responsible for monitoring the relative displacement change of the axle head, the axle force sensor is responsible for monitoring the relative torque change of the axle head, the cab vibration acceleration sensor is responsible for monitoring the relative acceleration change of the cab, the cab angular velocity sensor is responsible for monitoring the angular velocity change of the cab, the operating handle controls the oil circuit of the actuating mechanism to be conducted, the main valve receives an instruction to open and close the oil circuit, and the hydraulic system controls the action of the actuating mechanism by feeding back a valve core action direction signal, and the controller sends out a control command and receives feedback information of each module.
The control logic diagram of the safety protection system is shown in fig. 3 and 4, and the specific working process is as follows:
(1) when the engineering vehicle works, the load state of the engineering vehicle can be calculated according to data fed back by an axle displacement sensor, an axle force sensor, a cab vibration acceleration sensor and a cab angular velocity sensor in real time;
(2) after the operation of the engineering vehicle exceeds a threshold value set by the prejudgment control system, the buzzer continuously gives an alarm; judging the current operation state according to the current position of the operation system;
(3) when the system is in a non-operation state, the system automatically opens the electromagnetic unloading valve, the system unloads, and the actuating mechanism stops operating;
(4) when an operator carries out safety protection operation, the operator controls the operating handle, the safe operation direction is judged according to a handle valve core action direction signal fed back by the main valve, the system can control the electromagnetic unloading valve to automatically lose power to reduce the load force arm, so that the oil cylinder works normally, and for the operation of increasing the load force arm, the system can keep the electromagnetic unloading valve in a power-on state, so that the oil cylinder is kept in an original state (at the moment, the safe operation direction cannot be continuously executed).
Further, an operator can operate the handle to reduce the load force arm, and the oil cylinder is controlled to recover the original position after the engineering vehicle completes operation.
In another aspect, an engineering vehicle is further provided, and the engineering vehicle comprises the safety protection system.
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.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. A method of security protection, comprising:
obtaining axle force information, axle displacement information, cab vibration acceleration information and cab angular velocity information;
calculating the front axle moment M according to the axle force information and the axle lengthFront sideRear axle moment MRear end；
Calculating the relative displacement L between the displacement measuring points according to the displacement information of the axleMeter；
Calculating the relative acceleration a between the acceleration measuring points according to the vibration acceleration information of the cabMeter；
The current front axle moment MFront sideOr rear axle moment MRear endWith a predetermined threshold value M of momentPreparation ofComparing;
the relative displacement L of the front axleMeterAnd a displacement preset threshold value LPreparation ofComparing;
the relative acceleration a of the cabMeterWith a predetermined threshold a for accelerationPreparation ofComparing;
will drive the angular speed b of the cabx、by、bzAnd angular velocity preset threshold bPreparation ofComparing; obtaining a comparison result;
responsive to current front axle torque MFront sideOr rear axle moment MRear endGreater than a predetermined torque threshold MPreparation ofAnd/or, in response to the current axle relative displacement LMeterGreater than a preset displacement threshold LPreparation of(ii) a And/or, in response to cab relative acceleration aMeterGreater than a preset acceleration threshold aPreparation of(ii) a And/or, in response to the cab angular velocity bx、by、bzGreater than a predetermined angular velocity threshold bPreparation of(ii) a Sending an alarm instruction; an instruction is sent to open the electromagnetic unloading valve, the operating system automatically unloads, and the executing mechanism stops operating;
an operator controls the operating handle to carry out safety protection operation, obtains an operating handle valve core action direction signal fed back by the main valve to judge the safety operation direction, and sends an instruction to control the electromagnetic unloading valve to lose power for the operation of reducing the load force arm so as to ensure that the execution mechanism works normally; and for the operation of increasing the load arm of force, an instruction is sent to control the electromagnetic unloading valve to keep an electrified state, so that the execution mechanism is kept in an original state.
2. The safety protection method of claim 1, wherein the axle force information includes front axle two spindle head forces F1、F2And two axle head forces F of rear axle3、F4According to F1、F2，F3、F4And calculating the front axle moment M by combining the axle length LFront side=︱F1- F2L, rear axle moment MRear end=︱F3- F4︱*L。
3. The safety protection method according to claim 1, wherein the axle displacement information comprises a front axle two spindle head displacement L1、L2Displacement L of two axle heads of rear axle3、L4According to a displacement of four points L1、L2、L3、L4Calculating the relative displacement L between any two pointsMeter=︱Li- LjAn hair stick, wherein Li、LjIs L1、L2、L3、L4Any two of them.
4. The safety protection method according to claim 1, wherein the cab vibration acceleration information includes cab four cornersAcceleration a of the device1、a2、a3、a4According to the four-point acceleration a of the cab1、a2、a3、a4Calculating the relative acceleration a between any two pointsMeter=︱ai-ajAn| wherein ai、ajIs a1、a2、a3、a4Any two of them.
5. The safety protection method according to claim 1, wherein the cab angular velocity information includes angular velocities b of the cab X, Y, Z in three directionsx、by、bz。
6. A safety arrangement, comprising:
an information acquisition module to: obtaining axle force information, axle displacement information, cab vibration acceleration information and cab angular velocity information;
a calculation module to: calculating the front axle moment M according to the axle force information and the axle lengthFront sideRear axle moment MRear end(ii) a And/or calculating the relative displacement L between the displacement measuring points according to the displacement information of the axleMeter(ii) a And/or calculating the relative acceleration a between the acceleration measuring points according to the vibration acceleration information of the cabMeter；
A comparison module to: the current front axle moment MFront sideOr rear axle moment MRear endWith a predetermined threshold value M of momentPreparation ofComparing; and/or, the relative displacement L of the current axleMeterAnd a displacement preset threshold value LPreparation ofComparing; and/or, the relative acceleration a of the cabMeterWith a predetermined threshold a for accelerationPreparation ofComparing; and/or, changing the angular speed b of the cabx、by、bzAnd angular velocity preset threshold bPreparation ofComparing; obtaining a comparison result;
a start control module to: responsive to current front axle torque MFront sideOr rear axle moment MRear endIs greater thanMoment preset threshold value MPreparation ofOr, in response to the current axle relative displacement LMeterGreater than a preset displacement threshold LPreparation of(ii) a Or, in response to the cab relative acceleration aMeterGreater than a preset acceleration threshold aPreparation of(ii) a Or, in response to the cab angular velocity bx、by、bzGreater than a predetermined angular velocity threshold bPreparation of(ii) a Sending an alarm instruction; an instruction is sent to open the electromagnetic unloading valve, the operating system automatically unloads, and the executing mechanism stops operating;
an operator controls the operating handle to carry out safety protection operation, obtains an operating handle valve core action direction signal fed back by the main valve to judge the safety operation direction, and sends an instruction to control the electromagnetic unloading valve to lose power for the operation of reducing the load force arm so as to ensure that the execution mechanism works normally; and for the operation of increasing the load arm of force, an instruction is sent to control the electromagnetic unloading valve to keep an electrified state, so that the execution mechanism is kept in an original state.
7. A security system comprising the security device of claim 6, the security device comprising a memory and a processor, the memory for storing instructions for controlling the processor to operate to perform the security method of any of claims 1 to 5.
8. The security protection system of claim 7, further comprising: the device comprises an axle displacement detection unit, an axle stress detection unit, a cab vibration acceleration detection unit and a cab angular velocity detection unit;
the axle displacement detection unit is arranged on the axle head of the axle and used for monitoring the relative displacement change of the axle head of the axle;
the axle stress detection unit is arranged on the axle head of the axle and used for monitoring the stress condition of the axle head of the axle;
the cab vibration acceleration detection unit is arranged on the cab and used for monitoring the relative acceleration change of the cab in real time;
the cab angular velocity detection unit is arranged on the cab and used for monitoring the angular velocity change of the cab;
the axle displacement detection unit, the axle stress detection unit, the cab vibration acceleration detection unit and the cab angular velocity detection unit are respectively connected with the safety protection device.
9. The safety protection system according to claim 7, further comprising an alarm unit for receiving an alarm command to alarm.
10. A work vehicle, characterized in that it comprises a safety protection system according to any one of claims 7-9.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111595593A (en) * | 2020-05-29 | 2020-08-28 | 东风商用车有限公司 | Cab turnover test device and test method thereof |
| CN112033699A (en) * | 2020-09-24 | 2020-12-04 | 徐工集团工程机械有限公司 | Cab shaking measuring device and method |
| CN112918256A (en) * | 2021-03-31 | 2021-06-08 | 江西江铃集团新能源汽车有限公司 | Lithium battery pack collision control method and system |
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