CN111746502A

CN111746502A - Rescue emergency vehicle, anti-rollover protection method and computer-readable storage medium

Info

Publication number: CN111746502A
Application number: CN202010589208.7A
Authority: CN
Inventors: 陈文�; 李稷; 田金龙
Original assignee: Sany Automobile Manufacturing Co Ltd
Current assignee: Sany Automobile Manufacturing Co Ltd
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2020-10-09

Abstract

The invention provides a rescue and emergency vehicle, an anti-rollover protection method and a computer readable storage medium, wherein the rescue and emergency vehicle comprises: a vehicle body; the arm support mechanism is arranged on the vehicle body; the driving mechanism is rotatably arranged on the vehicle body and is configured to drive the arm frame mechanism to act; the supporting legs are arranged on the vehicle body and are suitable for supporting the vehicle body; the first detection assembly is arranged on the vehicle body and/or the arm frame mechanism and is configured to be suitable for detecting the spatial position of the arm frame mechanism and the load of the arm frame mechanism; the second detection assembly is arranged on the vehicle body and is configured to be suitable for detecting the supporting state of the supporting leg; and the controller is electrically connected with the first detection assembly, the second detection assembly and the driving mechanism and is configured to control the driving mechanism to act according to the detection results of the first detection assembly and the second detection assembly. The invention can avoid the rescue vehicle from tipping and ensure the operation safety of the rescue vehicle.

Description

Rescue emergency vehicle, anti-rollover protection method and computer-readable storage medium

Technical Field

The invention relates to the technical field of engineering machinery, in particular to a rescue vehicle, an anti-rollover protection method of the rescue vehicle and a computer readable storage medium.

Background

The emergency rescue fire truck is one kind of emergency rescue vehicle, and due to the overlarge operation range or overload action, the emergency rescue fire truck is easy to overturn, so that equipment damage and even personal casualty accidents are caused. Along with the lifting weight of heavy rescue fire truck products is getting bigger and bigger, the requirements on the performance and the function of the heavy rescue fire truck products are also getting higher and higher, and meanwhile, the heavy rescue fire truck products also provide greater challenges on the safety, the reliability, the stability and the like of vehicles.

In the related art, a common method for preventing the vehicle rollover accident is to increase the ground rigidity by paving a roadbed box, so that the rollover accident during lifting rescue is avoided as much as possible. However, the increase of the ground rigidity by only laying the roadbed box not only consumes a great deal of material, but also still has difficulty in preventing the occurrence of rollover accidents once the roadbed box is damaged or improperly arranged.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art.

To this end, the invention provides, in a first aspect, a rescue vehicle.

The invention provides a rollover prevention protection method for a rescue vehicle.

A third aspect of the invention provides a computer-readable storage medium.

The invention provides a rescue vehicle in a first aspect, comprising: a vehicle body; the arm support mechanism is arranged on the vehicle body; the driving mechanism is rotatably arranged on the vehicle body and is configured to drive the arm frame mechanism to act; the supporting legs are arranged on the vehicle body and are suitable for supporting the vehicle body; the first detection assembly is arranged on the vehicle body and/or the arm frame mechanism and is suitable for detecting the spatial position of the arm frame mechanism and the load of the arm frame mechanism; the second detection assembly is arranged on the vehicle body and is configured to be suitable for detecting the supporting state of the supporting leg; and the controller is electrically connected with the first detection assembly, the second detection assembly and the driving mechanism, and is configured to control the driving mechanism to act according to the detection results of the first detection assembly and the second detection assembly.

The invention provides a rescue vehicle in a first aspect, comprising: the device comprises a vehicle body, an arm support mechanism, a driving mechanism, a supporting leg, a first detection assembly, a second detection assembly and a controller. The arm support mechanism and the supporting legs are arranged on the vehicle body, the supporting legs can support the vehicle body when the rescue emergency vehicle works so as to improve the stability of the vehicle body, and the arm support mechanism is provided with the driving mechanism so as to drive the arm support mechanism to act. Particularly, in the working process of the rescue emergency vehicle, a first detection component arranged on a vehicle body and/or an arm support mechanism can detect the spatial position and the load of the arm support mechanism, a controller electrically connected with the first detection component can calculate the arm joint tipping moment of the arm support mechanism according to the spatial position of the arm support mechanism and the self weight of the arm support mechanism, and simultaneously calculate the load tipping moment of the arm support mechanism according to the load of the arm support mechanism and the arm of force of the arm support mechanism; the sum of the arm joint tilting moment and the load tilting moment is the tilting moment of the rescue vehicle, the controller can calculate the current tilting moment of the rescue vehicle, and the controller judges whether the rescue vehicle has the risk of tilting from the angle of the arm support mechanism.

In addition, in the working process of the rescue emergency vehicle, the second detection assembly arranged on the vehicle body and/or the arm support mechanism can detect the supporting state of the supporting legs, the controller can analyze the stability of the vehicle body at the moment according to the supporting state of the supporting legs, and then whether the rescue emergency vehicle has the risk of overturning or not is judged from the angles of the vehicle body and the supporting legs. In conclusion, the controller can prohibit the rescue vehicle from executing dangerous actions such as first-class operation and the like under the condition that the rescue vehicle has the rollover risk, so as to ensure the operation safety of the rescue vehicle.

The rescue vehicle provided by the invention can detect and judge whether the rescue vehicle has a risk of tipping or not based on the cooperation of the first detection component, the second detection component and the controller, and forbid the rescue vehicle to execute dangerous actions such as first-class operation and the like under the condition that the rescue vehicle has the risk of tipping, so that the safety performance of the rescue vehicle is effectively improved, the possibility of tipping of the rescue vehicle is avoided, the use of the rescue vehicle is ensured, and the personal safety of construction personnel is ensured. And whole control process degree of automation is high, relies on the cooperation between each sensor and the controller, can be in the construction operation in-process automatic monitoring implement, effectively promotes the degree of automation of operation.

According to the rescue emergency vehicle of the technical scheme, the rescue emergency vehicle can also have the following additional technical characteristics:

in the above technical solution, the first detecting component includes: the first angle sensor is arranged on the arm support mechanism and is electrically connected with the controller, and the first angle sensor is configured to be suitable for detecting the bending angle of the arm support mechanism; the first distance sensor is arranged on the arm support mechanism and is electrically connected with the controller, and the first distance sensor is configured to be suitable for detecting the telescopic length of the arm support mechanism; the tension sensor is arranged on the arm support mechanism and is electrically connected with the controller, and the tension sensor is configured to be suitable for detecting the load of the arm support mechanism; the controller is configured and adapted to calculate an arm-joint rollover moment and a load rollover moment based on the detection results of the first angle sensor, the first distance sensor, and the tension sensor.

In this technical scheme, first detection component includes first angle sensor, first distance sensor and tension sensor. The first angle sensor is arranged on the arm support mechanism and can detect the bending angle of the arm support mechanism; the first distance sensor is arranged on the arm support mechanism and can detect the telescopic length of the arm support mechanism; the controller can determine the spatial position of the arm support mechanism based on the bending angle and the telescopic length, and the controller calculates the arm joint tilting moment by combining the self weight of the arm support mechanism. The tension sensor is arranged on the arm support mechanism and can detect the load of the arm support mechanism, and the controller is combined with the force arm of the arm support mechanism to obtain the load tipping moment. Under the condition that the arm joint rollover moment and the load rollover moment are known, the controller can obtain the rollover moment of the rescue vehicle in a summing mode so as to judge whether the rescue vehicle has the risk of rollover.

Specifically, when the rollover moment of the rescue vehicle is larger than the rollover moment threshold value, the rescue vehicle is considered to have a rollover risk, the controller automatically prohibits the rescue vehicle from executing dangerous actions such as a first type of operation, and the like, so that the rescue vehicle is prevented from rollover. Wherein, the arm joint tilting moment and the load tilting moment are equal to the tilting moment of the rescue vehicle.

In any of the above technical solutions, the first detecting component further includes: a second angle sensor electrically connected to the controller and configured to detect a swivel angle of the arm mechanism; the controller is configured and adapted to determine a rollover moment threshold value of the rescue vehicle based on the detection result of the second angle sensor.

In the technical scheme, the self structure of the rescue emergency vehicle is arranged, so that the gravity center of the rescue emergency vehicle cannot be located at the geometric center of the rescue emergency vehicle, and different rescue emergency vehicles are arranged in different rotation areas. Therefore, the rescue and emergency vehicle provided by the invention is also provided with a second angle sensor, the second angle sensor can detect the rotation angle of the arm support mechanism, the controller judges which rotation area the arm support mechanism is in according to the rotation angle of the arm support mechanism, and determines the tipping moment threshold value corresponding to the rotation area so as to promote the flexible control of the arm support mechanism under different working conditions.

Specifically, different rotation areas correspondingly have different working condition coefficients, and after the controller determines the rotation area where the boom mechanism is located, the controller selects the working condition coefficient corresponding to the rotation area, and further determines the tipping moment threshold corresponding to the rotation area. Different rollover moment thresholds are selected according to different rotation areas, and therefore the accuracy of judgment of the rollover risk is improved.

In any one of the above technical solutions, the number of the legs is plural, and the second detecting component includes: a plurality of first pressure sensors respectively arranged on the plurality of support legs and electrically connected with the controller, wherein the first pressure sensors are configured to detect the pressure of the plurality of support legs; the controller is configured and adapted to determine a center of gravity of the rescue vehicle based on the pressure of the plurality of legs.

In the technical scheme, the rescue vehicle is provided with a plurality of supporting legs, so that the vehicle body is supported from different positions. Meanwhile, the second detection assembly comprises a plurality of first pressure sensors, and each support leg is provided with the first pressure sensors; the first pressure sensor can detect the pressure of the supporting leg where the first pressure sensor is located, and the controller integrates the pressure of each supporting leg to further determine the gravity center position of the rescue vehicle; when the gravity center position of the rescue vehicle is outside the preset area, the situation that the rescue vehicle has the risk of overturning is shown, the controller prohibits the rescue vehicle from executing dangerous actions such as first-class operation and the like, and the rescue vehicle is prevented from overturning.

In any one of the above technical solutions, the rescue vehicle comprises: a second pressure sensor disposed on the driving mechanism and electrically connected to the controller, the second pressure sensor being configured to detect a driving load of the driving mechanism; the controller is configured and adapted to control the actuation of the drive mechanism in accordance with the detection result of the second pressure sensor.

In the technical scheme, the rescue vehicle further comprises a second pressure sensor. The second pressure sensor is arranged on the driving mechanism and can detect and detect the driving load of the driving mechanism; after the controller obtains the driving load of the driving mechanism, the driving load of the driving mechanism is compared with the driving load threshold value, when the driving load is larger than the driving load threshold value, the rescue vehicle is considered to be in an overload state, the controller automatically prohibits the rescue vehicle from executing dangerous actions such as first-class operation, and the like, and the rescue vehicle is prevented from overturning.

That is, the invention can detect whether the rescue vehicle has the risk of rollover or not, and can also detect whether the rescue vehicle has the risk of overload or not, thereby ensuring the stable work of the rescue vehicle from different angles.

Specifically, the method firstly judges whether the rescue emergency vehicle has the risk of overload; under the condition that the rescue emergency vehicle has overload risk, the rescue emergency vehicle is directly forbidden to execute dangerous actions such as first class operation and the like, and under the condition that the rescue emergency vehicle does not have overload risk, whether the rescue emergency vehicle has the risk of rollover is judged.

In any one of the above technical solutions, the rescue vehicle further includes: a second distance sensor disposed on the leg and electrically connected to the controller, the second distance sensor being configured to detect a distance between the leg and the ground; the controller is configured and adapted to control the driving mechanism to act according to the detection result of the second distance sensor.

In the technical scheme, the rescue vehicle further comprises a second distance sensor. Wherein the second distance sensor is arranged on the leg and can detect the distance between the leg and the ground. In the working process of the rescue and emergency rescue vehicle, under the condition that one or more sensors in the first detection assembly or the second detection assembly are out of order, when the rescue and emergency rescue vehicle slightly overturns, the supporting legs can be separated from the ground, the first detection assembly and the second detection assembly cannot timely detect the overturning risk at the moment, but the second distance sensor can accurately and timely detect the distance between the supporting legs and the ground, and send a detection result to the controller, and the controller compares the distance with the preset distance, so that whether the rescue and emergency rescue vehicle has the overturning risk or not is judged, and the rescue and emergency rescue vehicle is controlled to work.

In addition, the distance between the supporting legs and the ground is compared with the preset distance, and the risk of the rescue vehicle overturning is judged only under the condition that the distance is greater than the preset distance, so that misjudgment caused by uneven road surface or error in length of the supporting legs can be avoided.

In any one of the above technical solutions, the rescue vehicle further includes: the rotary table is arranged on the vehicle body, and the arm support mechanism is arranged on the rotary table.

In the technical scheme, the rescue vehicle further comprises a rotary table. The rotary table is arranged on the vehicle body, the arm support mechanism is arranged on the rotary table, and the rotary table drives the arm support mechanism to rotate, so that the operation flexibility of the rescue and emergency vehicle is improved. Specifically, the second angle sensor is provided on the turntable.

In any one of the above technical solutions, the rescue vehicle further includes: and the alarm is electrically connected with the controller and is configured to alarm under the control of the controller.

In the technical scheme, the rescue vehicle further comprises an alarm. The alarm is electrically connected with the controller, and when the controller judges that the rescue vehicle has a rollover risk or an overload risk, the controller controls the alarm to give an alarm to prompt workers while forbidding the rescue vehicle to execute dangerous actions such as a first type of operation.

In any of the above embodiments, the first type of operation includes: the arm support mechanism is controlled to extend, the arm support mechanism is controlled to rotate downwards, and the arm support mechanism is controlled to rotate towards the front of the vehicle body.

In this embodiment, the first category of operations includes, but is not limited to, the following: the arm support mechanism is controlled to extend, the arm support mechanism is controlled to rotate downwards, and the arm support mechanism is controlled to rotate towards the front of the vehicle body. All of the above operations can cause the overturn and overload of the rescue vehicle to be further aggravated. Therefore, under the condition that the rollover risk or the overload risk of the rescue emergency vehicle is detected, the controller prohibits the rescue emergency vehicle from executing the operation so as to ensure the safety of construction operation.

In addition, in the event that the risk of rollover or the risk of overload of the rescue vehicle is detected, the controller controls the rescue vehicle to perform a second type of operation, which includes but is not limited to: the arm support mechanism is controlled to contract, the arm support mechanism is controlled to rotate upwards, and the arm support mechanism is controlled to rotate towards the rear of the vehicle body. The second type of operation described above can both reduce tipping loads and moments.

The invention provides a rollover prevention protection method for a rescue vehicle, which comprises the following steps: acquiring the rollover moment of the rescue vehicle; acquiring the supporting state of supporting legs of a rescue vehicle; and controlling the driving mechanism of the rescue vehicle to act according to the tilting moment and the supporting state.

The invention provides an anti-rollover protection method for a rescue vehicle, which comprises the steps of firstly obtaining the rollover moment of the rescue vehicle and the supporting state of supporting legs, then judging whether the rescue vehicle has a rollover risk or not according to the rollover moment and the supporting state, and forbidding the rescue vehicle to execute dangerous actions such as first-class operation and the like under the condition that the rescue vehicle has the rollover risk, so as to avoid the overload of the rescue vehicle.

Specifically, after the rollover moment of the rescue vehicle is detected, whether the rollover moment is greater than a rollover moment threshold value or not can be judged, and whether the rescue vehicle has a risk of rollover or not is further judged from the angle of the boom mechanism; after the supporting state of the supporting legs of the rescue vehicle is detected, the stability of the rescue vehicle at the moment can be rescued, and whether the rescue vehicle has the risk of rollover or not is judged from the angles of the vehicle body and the supporting legs. When the rescue vehicle is detected to have a rollover risk from any aspect, the rescue vehicle is immediately prohibited from executing dangerous actions such as first-class operation and the like, so that the safety performance of the rescue vehicle is effectively improved, the possibility of rollover of the rescue vehicle is avoided, and the personal safety of construction personnel is ensured while the rescue vehicle is used. And whole control process degree of automation is high, relies on the cooperation between each sensor and the controller, can be in the construction operation in-process automatic monitoring implement, effectively promotes the degree of automation of operation.

The anti-rollover protection method for the rescue vehicle according to the technical scheme of the invention can also have the following additional technical characteristics:

in the above technical solution, the step of obtaining the rollover moment of the rescue vehicle specifically includes: obtaining a bending angle and a telescopic length of an arm support mechanism of a rescue vehicle; calculating the arm joint tilting moment according to the bending angle, the telescopic length and the weight of the arm support mechanism; acquiring a load of a boom mechanism; calculating the load tipping moment according to the load and the force arm of the arm support mechanism; and calculating the tipping moment of the rescue vehicle according to the arm joint tipping moment and the load tipping moment.

In the technical scheme, in the process of acquiring the tipping moment of the rescue vehicle, firstly, the bending angle and the telescopic length of the arm support mechanism are detected, then the spatial position of the arm support mechanism is obtained through analysis, and then the arm joint tipping moment of the arm support mechanism is obtained through calculation according to the bending angle and the telescopic length of the arm support mechanism and the self weight of the arm support mechanism; meanwhile, detecting the load of the arm support mechanism, and calculating the load tipping moment of the arm support mechanism according to the load of the arm support mechanism and the arm of force of the arm support mechanism; the sum of the arm joint tilting moment and the load tilting moment is the tilting moment of the rescue vehicle.

In any one of the above technical solutions, the number of the support legs is multiple, and the step of obtaining the support state of the support legs of the rescue and emergency vehicle specifically includes: acquiring the pressure of a plurality of support legs; determining the gravity center of the rescue vehicle according to the pressure of the support legs; and determining the supporting state of the supporting legs according to the gravity center of the rescue emergency vehicle.

In the technical scheme, in the process of obtaining the supporting state of the supporting legs, the pressure of each supporting leg is detected firstly, then the gravity center position of the rescue emergency vehicle is calculated according to the pressure of each supporting leg and the position of each supporting leg, the supporting state of the supporting legs is determined according to the gravity center position of the rescue emergency vehicle, whether the supporting legs are in a stable supporting state or not is judged, and whether the pressure distribution of the supporting legs is abnormal or not is judged.

In any of the above technical solutions, the step of controlling the driving mechanism to operate according to the tilting moment and the supporting state specifically includes: on the basis that the rollover moment of the rescue emergency vehicle is larger than the rollover moment threshold value, the rescue emergency vehicle is forbidden to execute the first type of operation; and/or prohibiting the rescue emergency vehicle from performing the first type of operation based on the condition that the gravity center of the rescue emergency vehicle is outside the preset area.

In the technical scheme, in the process of controlling the driving mechanism to act according to the tilting moment and the supporting state, whether the tilting moment of the rescue vehicle is greater than a tilting moment threshold value or not is judged, and if the tilting moment of the rescue vehicle is greater than the tilting moment threshold value, the rescue vehicle has a tilting risk at the moment, so that the rescue vehicle is forbidden to execute the first class of operation. In addition, whether the gravity center of the rescue vehicle is located outside a preset area or not is judged, and if the gravity center of the rescue vehicle is located outside the preset area, the rescue vehicle is shown to have a rollover risk, so that the rescue vehicle is forbidden to execute the first type of operation.

Particularly, when any judgment condition of the rollover moment and the gravity center of the rescue emergency vehicle is met, the rescue emergency vehicle can be judged to have a rollover risk, and the rescue emergency vehicle is immediately forbidden to execute the first type of operation.

In any of the above technical solutions, the anti-rollover protection method for the rescue vehicle further includes: acquiring a rotation angle of a rotary table of the rescue vehicle; and determining a rotation area where the arm support mechanism is located according to the rotation angle, and selecting a tipping moment threshold value corresponding to the rotation area.

In the technical scheme, the rescue vehicle is structurally arranged, so that the gravity center of the vehicle body cannot be located at the geometric center of the vehicle body, and different turning areas have different tipping risks. Therefore, the invention detects the rotation angle of the rotary table of the rescue vehicle, judges which turning area the arm support mechanism is in according to the rotation angle, and determines the rollover moment threshold value corresponding to the turning area so as to promote the flexible control of the arm support mechanism under different working conditions. Based on the limitation, when the arm support mechanism is in different rotation areas, whether the rescue vehicle has a rollover risk or not can be judged according to different rollover moment thresholds, and the judgment flexibility and adaptability are improved.

Specifically, different rotation areas correspondingly have different working condition coefficients, and after the controller determines the rotation area where the boom mechanism is located, the controller selects the working condition coefficient corresponding to the rotation area, and further determines the tipping moment threshold corresponding to the rotation area.

In any of the above technical solutions, the anti-rollover protection method for a rescue vehicle further includes, before the step of obtaining a rollover moment of the rescue vehicle: acquiring a driving load of a driving mechanism of a rescue vehicle; judging whether the driving load is greater than a driving load threshold value; prohibiting the rescue emergency vehicle from executing a first type of operation based on the condition that the driving load is greater than the driving load threshold; and executing the step of acquiring the rollover moment of the rescue emergency vehicle based on the condition that the driving load is less than or equal to the driving load threshold value.

In the technical scheme, in the working process of the rescue vehicle, the driving load of the driving mechanism can be detected and detected, and the driving load of the driving mechanism is compared with a driving load threshold value; when the driving load is larger than the driving load threshold value, the rescue vehicle is considered to be overloaded, the rescue vehicle is immediately forbidden to execute dangerous actions such as first-class operation and the like, and the rescue vehicle is prevented from overturning.

That is, the invention can detect whether the rescue vehicle has the risk of rollover or not, and can also detect whether the rescue vehicle has the risk of overload or not, thereby ensuring the stable work of the rescue vehicle from different angles. Specifically, the method firstly judges whether the rescue emergency vehicle has the risk of overload; under the condition that the rescue emergency vehicle has overload risk, the rescue emergency vehicle is directly forbidden to execute dangerous actions such as first class operation and the like, and under the condition that the rescue emergency vehicle does not have overload risk, whether the rescue emergency vehicle has the risk of rollover is judged.

In any of the above technical solutions, the anti-rollover protection method for the rescue vehicle further includes: acquiring the distance between the supporting leg and the ground; judging whether the distance is greater than a preset distance; and prohibiting the rescue emergency vehicle from executing the first type of operation based on the condition that the distance is greater than the preset distance.

In the technical scheme, in the working process of the rescue vehicle, under the condition that one or more sensors are out of order, when the rescue vehicle slightly overturns, the supporting legs can be separated from the ground, the overturning risk can not be detected in time, but the distance between the supporting legs and the ground is detected and compared with the preset distance, whether the rescue vehicle has the overturning risk or not can be judged in time, and then the rescue vehicle is forbidden to execute the first type of operation under the condition that the distance is greater than the preset distance.

In any of the above embodiments, the first type of operation includes: the arm support mechanism is controlled to extend, the arm support mechanism is controlled to rotate downwards, and the arm support mechanism is controlled to rotate towards the front of the vehicle body of the rescue and emergency vehicle.

In this embodiment, the first category of operations includes, but is not limited to, the following: the arm support mechanism is controlled to extend, the arm support mechanism is controlled to rotate downwards, and the arm support mechanism is controlled to rotate towards the front of the vehicle body. All of the above operations can cause the overturn and overload of the rescue vehicle to be further aggravated. Therefore, the invention prohibits the rescue vehicle from executing the operation under the condition that the rollover risk or the overload risk of the rescue vehicle is detected, so as to ensure the safety of construction operation.

In addition, in the case that the rollover risk or the overload risk of the rescue vehicle is detected, the rescue vehicle is controlled to perform a second type of operation, which includes but is not limited to: the arm support mechanism is controlled to contract, the arm support mechanism is controlled to rotate upwards, and the arm support mechanism is controlled to rotate towards the rear of the vehicle body. The second type of operation described above can both reduce tipping loads and moments.

A third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, wherein when the computer program is executed by a processor, the method for roll-over protection of a rescue vehicle according to any one of the above technical solutions can be implemented.

The computer readable storage medium provided by the invention, when being executed by a processor, stores a computer program which can realize the anti-rollover protection method for the rescue and emergency vehicle according to any one of the above technical schemes. Therefore, the whole beneficial effects of any one of the anti-rollover protection methods for the rescue vehicle are not discussed one by one.

In any of the above technical solutions, the rescue vehicle is an emergency rescue fire truck, which includes a suspension moment of not less than 1000kNM, a winch, a lifting lighting lamp, an equipment box, a fire-fighting foam, a water fire-extinguishing system, etc.

In any of the above technical solutions, the boom mechanism is a telescopic boom.

In any of the above technical solutions, the driving load is an actual load of the driving mechanism, the driving load threshold is 110% of an allowable load, the preset torque threshold is a stable torque, and the preset region is a stable region.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram (in a first working state) of a rescue emergency vehicle according to an embodiment of the invention;

fig. 2 is a schematic structural diagram (in a second working state) of the rescue emergency vehicle according to one embodiment of the invention;

FIG. 3 is a schematic diagram of the distribution of the rotation region and the operating condition coefficient of the rescue vehicle according to one embodiment of the present invention;

fig. 4 is a flowchart of an anti-rollover protection method for a rescue vehicle according to an embodiment of the present invention;

fig. 5 is a flowchart of an anti-rollover protection method for a rescue vehicle according to yet another embodiment of the present invention;

fig. 6 is a flowchart of an anti-rollover protection method for a rescue vehicle according to yet another embodiment of the present invention;

fig. 7 is a flowchart of an anti-rollover protection method for a rescue vehicle according to yet another embodiment of the present invention;

fig. 8 is a flow chart of a rollover protection method for a rescue vehicle according to an embodiment of the invention.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 3 is:

102, 104, 106, 108, 110, 112, 114, 116, 118, 120, 122, second angle, 124, second pressure sensors.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.

A rescue emergency vehicle and a method of anti-rollover protection of a rescue emergency vehicle provided according to some embodiments of the present invention are described below with reference to fig. 1 to 8.

The first embodiment is as follows:

as shown in fig. 1 and 2, a first embodiment of the present invention provides a rescue vehicle, including: the system comprises a body 102, a boom mechanism 104, a drive mechanism 106, a support leg 116, a first detection assembly, a second detection assembly, and a controller.

The arm support mechanism 104 and the supporting legs 116 are both arranged on the vehicle body 102, the supporting legs 116 can support the vehicle body 102 when the rescue vehicle works so as to improve the stability of the vehicle body 102, and the arm support mechanism 104 is provided with the driving mechanism 106 so as to drive the arm support mechanism 104 to act. Particularly, in the working process of the rescue vehicle, the first detection component arranged on the vehicle body 102 and/or the arm support mechanism 104 can detect the spatial position and the load of the arm support mechanism 104, the controller electrically connected with the first detection component can calculate the arm joint tilting moment of the arm support mechanism 104 according to the spatial position of the arm support mechanism 104 and the self weight of the arm support mechanism 104, and simultaneously calculate the load tilting moment of the arm support mechanism 104 according to the load of the arm support mechanism 104 and the arm of force of the arm support mechanism 104; the sum of the arm joint tilting moment and the load tilting moment is the tilting moment of the rescue vehicle, and the controller can calculate the current tilting moment of the rescue vehicle and judge whether the rescue vehicle has the risk of tilting from the angle of the arm support mechanism 104.

In addition, in the working process of the rescue vehicle, the second detection assembly arranged on the vehicle body 102 and/or the arm support mechanism 104 can detect the support state of the supporting leg 116, and the controller can analyze the stability of the vehicle body 102 according to the support state of the supporting leg 116, so as to judge whether the rescue vehicle has a rollover risk from the angles of the vehicle body 102 and the supporting leg 116. In conclusion, the controller can prohibit the rescue vehicle from executing dangerous actions such as first-class operation and the like under the condition that the rescue vehicle has the rollover risk, so as to ensure the operation safety of the rescue vehicle.

The rescue vehicle provided by the embodiment can judge whether the rescue vehicle has a risk of tipping from multiple aspects based on the cooperation of the first detection component, the second detection component and the controller, and forbid the rescue vehicle to execute dangerous actions such as first-class operation and the like under the condition that the rescue vehicle has the risk of tipping, so that the safety performance of the rescue vehicle is effectively improved, the possibility of tipping of the rescue vehicle is avoided, and the personal safety of construction personnel is ensured while the use of the rescue vehicle is ensured. And whole control process degree of automation is high, relies on the cooperation between each sensor and the controller, can be in the construction operation in-process automatic monitoring implement, effectively promotes the degree of automation of operation.

Example two:

as shown in fig. 1 and 2, a second embodiment of the present invention provides a rescue vehicle, including: the system comprises a vehicle body 102, a boom mechanism 104, a driving mechanism 106, a supporting leg 116, a first detection component, a second detection component and a controller; the first detection assembly includes: a first angle sensor 108, a first distance sensor 110, and a tension sensor 112.

The arm support mechanism 104 and the supporting legs 116 are both arranged on the vehicle body 102, the supporting legs 116 can support the vehicle body 102 when the rescue vehicle works so as to improve the stability of the vehicle body 102, and the arm support mechanism 104 is provided with the driving mechanism 106 so as to drive the arm support mechanism 104 to act. In particular, during the operation of the rescue vehicle, the first detection component disposed on the vehicle body 102 and/or the arm support mechanism 104 may detect a spatial position and a load of the arm support mechanism 104, and further calculate a roll-over moment of the rescue vehicle, so that the controller determines whether the rescue vehicle has a risk of rolling over from the angle of the arm support mechanism 104.

In addition, the second detection component disposed on the vehicle body 102 and/or the arm support mechanism 104 can support the supporting state of the leg 116, so that the controller can determine whether the rescue vehicle is in danger of rolling over from the perspective of the vehicle body 102 and the leg 116. In conclusion, the controller can prohibit the rescue vehicle from executing dangerous actions such as first-class operation and the like under the condition that the rescue vehicle has the rollover risk, so as to ensure the operation safety of the rescue vehicle.

In this embodiment, further, as shown in fig. 1 and 2, the first detection assembly includes a first angle sensor 108, a first distance sensor 110, and a tension sensor 112. The first angle sensor 108 is disposed on the boom mechanism 104 and can detect a bending angle of the boom mechanism 104; the first distance sensor 110 is arranged on the boom mechanism 104 and can detect the telescopic length of the boom mechanism 104; the controller can determine the spatial position of the arm support mechanism 104 based on the bending angle and the telescopic length, and the controller calculates the arm joint tilting moment by combining the self weight of the arm support mechanism 104; the tension sensor 112 is disposed on the boom mechanism 104 and is configured to detect a load of the boom mechanism 104, and the controller obtains a load tilting moment by combining with a force arm of the boom mechanism 104. Under the condition that the arm joint rollover moment and the load rollover moment are known, the controller can obtain the rollover moment of the rescue vehicle in a summing mode so as to judge whether the rescue vehicle has the risk of rollover.

In the specific embodiment, when the rollover moment of the rescue vehicle is greater than the rollover moment threshold value, the rescue vehicle is considered to have a rollover risk, the controller automatically prohibits the rescue vehicle from executing dangerous actions such as first-class operation, and the like, so that the rescue vehicle is prevented from rollover. Wherein, the arm joint tilting moment and the load tilting moment are equal to the tilting moment of the rescue vehicle.

In the embodiment, further, due to the structural arrangement of the rescue emergency vehicle, the gravity center of the rescue emergency vehicle cannot be located at the geometric center of the rescue emergency vehicle, so that different rescue emergency vehicles exist in different rotation areas. Therefore, as shown in fig. 1 and fig. 2, the rescue vehicle provided by the present invention is further provided with a second angle sensor 122, the second angle sensor 122 can detect a rotation angle of the boom mechanism 104, the controller determines which rotation area the boom mechanism 104 is located in according to the rotation angle of the boom mechanism 104, and determines a tilting moment threshold corresponding to the rotation area, so as to promote flexible control over the boom mechanism 104 under different working conditions.

In a specific embodiment, different rotation areas have different working condition coefficients, and after determining the rotation area where the boom mechanism 104 is located, the controller selects the working condition coefficient corresponding to the rotation area, and further determines the rollover moment threshold corresponding to the rotation area.

As shown in fig. 3, considering that the tipping risks in different turning areas are different, the turning area is divided into areas a to F, the second angle sensor 122 can identify that the boom mechanism 104 is in different turning areas, and the different turning areas calculate the operating condition coefficients of the allowable load according to the most dangerous operating conditions; and converting the working condition coefficient to a preset load threshold and a preset moment threshold, and then performing anti-rollover protection.

In a specific embodiment, as shown in fig. 3, six turning areas are distributed along the periphery of the turntable 120, which are an a turning area (corresponding to a circle center angle of 53 ° and a corresponding operating condition coefficient of 100%), a B turning area (corresponding to a circle center angle of 65 ° and a corresponding operating condition coefficient of 90%), a C turning area (corresponding to a circle center angle of 71 ° and a corresponding operating condition coefficient of 100%), a D turning area (corresponding to a circle center angle of 48 ° and a corresponding operating condition coefficient of 90%), an E turning area (corresponding to a circle center angle of 61 ° and a corresponding operating condition coefficient of 700%), and an F turning area (corresponding to a circle center angle of 62 ° and a corresponding operating condition coefficient of 0). The rotation angle of the turntable 120 is compared with the circle center angle corresponding to each rotation area, so that which rotation area the arm support mechanism 104 is located in can be identified, and further, the working condition coefficients corresponding to the rotation areas are selected, so as to convert the actual preset load threshold value and the actual preset load threshold value.

Specifically, taking fig. 3 as an example, at this time, the boom mechanism 104 is in the C-turn region, and therefore the operating condition coefficient corresponding to the selected C-turn region is 70%. That is, at this time, the driving load is compared with 70% of the preset load threshold value, and then whether the rescue vehicle has overload danger is judged, and at this time, the rollover moment is compared with 70% of the preset moment threshold value, and then whether the rescue vehicle has rollover danger is judged.

In particular, the above-mentioned F-turn region is a work-prohibited region, when the boom mechanism 104 is in the turn region to act, the rescue vehicle is very easy to overturn and can seriously threaten the personal safety of the driver.

Example three:

as shown in fig. 1 and 2, a third embodiment of the present invention provides a rescue vehicle, including: the system comprises a vehicle body 102, a boom mechanism 104, a driving mechanism 106, a supporting leg 116, a first detection component, a second detection component and a controller; the second detection assembly includes: a plurality of first pressure sensors 114.

Further in this embodiment, as shown in fig. 1 and 2, the rescue vehicle has a plurality of legs 116 to support the vehicle body 102 from different positions. Meanwhile, the second detecting member includes a plurality of first pressure sensors 114, and each leg 116 is provided on the first pressure sensor 114; the first pressure sensor 114 can detect the pressure of the supporting leg 116 where the first pressure sensor is located, and the controller integrates the pressure of each supporting leg 116 to further determine the gravity center position of the rescue vehicle; when the gravity center position of the rescue vehicle is outside the preset area, the situation that the rescue vehicle has the risk of overturning is shown, the controller prohibits the rescue vehicle from executing dangerous actions such as first-class operation and the like, and the rescue vehicle is prevented from overturning.

Example four:

as shown in fig. 1 and 2, a fourth embodiment of the present invention provides a rescue vehicle, including: body 102, boom mechanism 104, drive mechanism 106, support legs 116, a first detection assembly, a second pressure sensor 124, and a controller.

In this embodiment, further, as shown in fig. 1 and 2, a second pressure sensor 124 is provided on the driving mechanism 106, and can detect the driving load of the driving mechanism 106; after the controller obtains the driving load of the driving mechanism 106, the driving load of the driving mechanism 106 is compared with the driving load threshold, when the driving load is larger than the driving load threshold, the rescue vehicle is considered to be in an overload state, the controller automatically prohibits the rescue vehicle from executing dangerous actions such as first-class operation, and the like, and the rescue vehicle is prevented from overturning.

That is, the embodiment can detect whether the rescue vehicle has a risk of rollover or not, and can also detect whether the rescue vehicle has a risk of overload or not, thereby ensuring stable operation of the rescue vehicle from different angles.

In any of the above embodiments, further, as shown in fig. 1 and 2, the rescue emergency vehicle further includes a second distance sensor 118. Wherein a second distance sensor 118 is provided to the leg and can detect the distance of the leg 116 from the ground. In the working process of the rescue and emergency vehicle, under the condition that one or more sensors in the first detection assembly or the second detection assembly are out of order, when the rescue and emergency vehicle slightly tips over, the supporting leg 116 can be separated from the ground, at the moment, the first detection assembly and the second detection assembly cannot timely detect the tipping risk, but the second distance sensor 118 can accurately and timely detect the distance between the supporting leg 116 and the ground, and send a detection result to the controller, and the controller compares the distance with a preset distance to further judge whether the rescue and emergency vehicle has the tipping risk or not so as to control the rescue and emergency vehicle to work.

In the specific embodiment, the distance between the supporting legs 116 and the ground is compared with the preset distance, and the risk of the rescue vehicle overturning is judged only under the condition that the distance is greater than the preset distance, so that the misjudgment caused by the uneven road surface or the length error of the supporting legs 116 can be avoided.

In any of the above embodiments, further, as shown in fig. 1 and 2, the rescue vehicle further includes a turntable 120. The turntable 120 is arranged on the vehicle body 102, the arm support mechanism 104 is arranged on the turntable 120, and the turntable 120 drives the arm support mechanism 104 to rotate, so that the operation flexibility of the rescue vehicle is improved. Specifically, the second angle sensor 122 is provided on the turntable 120.

In any of the above embodiments, further, as shown in fig. 1 and 2, the rescue vehicle further includes an alarm. The alarm is electrically connected with the controller, and when the controller judges that the rescue vehicle has a rollover risk or an overload risk, the controller controls the alarm to give an alarm to prompt workers while forbidding the rescue vehicle to execute dangerous actions such as a first type of operation.

In any of the above embodiments, further, the first type of operation includes, but is not limited to, the following: the boom mechanism 104 is controlled to extend, the boom mechanism 104 is controlled to rotate downwards, and the boom mechanism 104 is controlled to rotate towards the front of the vehicle body 102. Therefore, under the condition that the rollover risk or the overload risk of the rescue emergency vehicle is detected, the controller prohibits the rescue emergency vehicle from executing the operation so as to ensure the safety of construction operation.

In addition, in the event that the risk of rollover or the risk of overload of the rescue vehicle is detected, the controller controls the rescue vehicle to perform a second type of operation, which includes but is not limited to: the boom mechanism 104 is controlled to contract, the boom mechanism 104 is controlled to rotate upwards, and the boom mechanism 104 is controlled to rotate towards the rear of the vehicle body 102. The second type of operation described above can both reduce tipping loads and moments.

In any of the above embodiments, further, as shown in fig. 1, 2 and 3, the rescue vehicle is an emergency rescue fire truck.

Example five:

fig. 4 is a flow chart of a rollover protection method for a rescue emergency vehicle according to a fifth embodiment of the invention. As shown in fig. 4, the anti-rollover protection method for the rescue vehicle comprises the following steps:

step 202, acquiring a rollover moment of the rescue vehicle;

step 204, obtaining the supporting state of a supporting leg of the rescue vehicle;

and step 206, controlling the driving mechanism of the rescue vehicle to act according to the tilting moment and the supporting state.

The anti-rollover protection method for the rescue vehicle provided by the embodiment comprises the steps of firstly obtaining the rollover moment of the rescue vehicle and the supporting state of the supporting legs, then judging whether the rescue vehicle has a rollover risk or not according to the rollover moment and the supporting state, and forbidding the rescue vehicle to execute dangerous actions such as first-class operation and the like under the condition that the rescue vehicle has the rollover risk, so as to avoid the rescue vehicle from rolling over.

In the specific embodiment, when any judgment condition of the rollover moment and the gravity center of the rescue emergency vehicle is met, the rescue emergency vehicle can be judged to have a rollover risk, and the rescue emergency vehicle is immediately forbidden to execute the first type of operation.

Example six:

fig. 5 is a flow chart of a rollover protection method for a rescue emergency vehicle according to a sixth embodiment of the invention. As shown in fig. 5, the anti-rollover protection method for the rescue vehicle comprises the following steps:

step 302, obtaining a bending angle and a telescopic length of an arm support mechanism of the rescue vehicle;

step 304, calculating the arm joint tilting moment according to the bending angle, the telescopic length and the weight of the arm support mechanism;

step 306, acquiring the load of the arm support mechanism;

308, calculating a load tipping moment according to the load and the moment arm of the arm support mechanism;

step 310, calculating the tipping moment of the rescue vehicle according to the arm joint tipping moment and the load tipping moment;

step 312, obtaining the supporting state of the supporting legs of the rescue vehicle;

and step 314, controlling the driving mechanism of the rescue vehicle to act according to the tilting moment and the supporting state.

Compared with the first embodiment, the step of acquiring the rollover moment of the rescue vehicle is further defined in the embodiment. Specifically, in the process of acquiring the tipping moment of the rescue and emergency vehicle, the bending angle and the telescopic length of the arm support mechanism are firstly detected, the spatial position of the arm support mechanism is further analyzed, and then the arm joint tipping moment of the arm support mechanism is calculated according to the bending angle and the telescopic length of the arm support mechanism and the self weight of the arm support mechanism; meanwhile, detecting the load of the arm support mechanism, and calculating the load tipping moment of the arm support mechanism according to the load of the arm support mechanism and the arm of force of the arm support mechanism; the sum of the arm joint tilting moment and the load tilting moment is the tilting moment of the rescue vehicle. In addition, the same as the first embodiment, after the tipping moment of the rescue vehicle is acquired, whether the tipping moment is greater than the threshold value of the tipping moment can be judged, and whether the risk of tipping the rescue vehicle is judged from the angle of the boom mechanism.

In addition, the same as the first embodiment, the supporting state of the supporting legs of the rescue vehicle is obtained in the same way, and after the supporting state of the supporting legs of the rescue vehicle is obtained, the stability of the rescue vehicle at the moment can be obtained, and then whether the risk of rollover of the rescue vehicle exists or not is judged from the angles of the vehicle body and the supporting legs.

Example seven:

fig. 6 is a flow chart of a method for preventing the rescue vehicle from tipping according to a seventh embodiment of the invention. As shown in fig. 6, the anti-rollover protection method for the rescue vehicle comprises the following steps:

step 402, acquiring a rollover moment of the rescue vehicle;

step 404, obtaining the pressure of a plurality of supporting legs;

step 406, determining the gravity center of the rescue vehicle according to the pressure of the plurality of supporting legs;

step 408, determining the supporting state of the supporting legs according to the gravity center of the rescue vehicle;

and step 410, controlling the driving mechanism of the rescue vehicle to act according to the tilting moment and the supporting state.

Compared with the first embodiment, the method further defines the step of acquiring the support state of the support leg of the rescue and emergency vehicle. Specifically, in the process of obtaining the supporting state of the supporting legs, the pressure of each supporting leg is detected firstly, then the gravity center position of the rescue vehicle is calculated according to the pressure of each supporting leg and the position of each supporting leg, the supporting state of the supporting legs is determined according to the gravity center position of the rescue vehicle, whether the supporting legs are in a stable supporting state or not is judged, and then whether the rescue vehicle has the risk of overturning or not is judged from the angles of the vehicle body and the supporting legs.

In addition, the same as the first embodiment, the same manner is adopted in the present embodiment to obtain the rollover moment of the rescue vehicle, and after the rollover moment of the rescue vehicle is obtained, whether the risk of rollover of the rescue vehicle exists or not is determined from the angle of the boom mechanism.

Example eight:

fig. 7 is a flowchart of an anti-rollover protection method for a rescue emergency vehicle according to an eighth embodiment of the invention. As shown in fig. 7, the anti-rollover protection method for the rescue vehicle comprises the following steps:

502, acquiring a driving load of a driving mechanism of a rescue vehicle;

step 504, judging whether the driving load is larger than the driving load threshold value, if so, executing step 512, and if not, executing step 506;

step 506, acquiring the rollover moment of the rescue vehicle;

step 508, obtaining the supporting state of the supporting legs of the rescue vehicle;

step 510, controlling a driving mechanism of the rescue vehicle to act according to the tipping moment and the supporting state;

and step 512, prohibiting the rescue emergency vehicle from executing the first type of operation.

The anti-rollover protection method for the rescue vehicle provided by the embodiment comprises the steps of firstly obtaining a driving load of a driving mechanism of the rescue vehicle, and comparing the driving load of the driving mechanism with a driving load threshold value; when the driving load is larger than the driving load threshold value, the rescue vehicle is considered to be in an overload state, the rescue vehicle is immediately forbidden to execute dangerous actions such as first-class operation and the like, and the rescue vehicle is prevented from overturning.

Further, in the event that the driving load is less than or equal to the driving load threshold, the rescue vehicle is deemed to be at no risk of being overloaded. At the moment, the tipping moment of the rescue vehicle and the supporting state of the supporting legs are obtained, then whether the rescue vehicle has the risk of tipping or not is judged according to the tipping moment and the supporting state, and under the condition that the rescue vehicle has the risk of tipping, the rescue vehicle is forbidden to execute dangerous actions such as first-class operation and the like, so that the rescue vehicle is prevented from tipping.

In any of the above embodiments, further, in the process of controlling the driving mechanism to act according to the rollover moment and the supporting state, it is determined whether the rollover moment of the rescue vehicle is greater than a rollover moment threshold value, and if the rollover moment of the rescue vehicle is greater than the rollover moment threshold value, it indicates that the rescue vehicle has a rollover risk, so that the rescue vehicle is prohibited from performing the first type of operation. In addition, whether the gravity center of the rescue vehicle is located outside a preset area or not is judged, and if the gravity center of the rescue vehicle is located outside the preset area, the rescue vehicle is shown to have a rollover risk, so that the rescue vehicle is forbidden to execute the first type of operation.

In any of the above embodiments, further, due to the structural arrangement of the rescue vehicle itself, the center of gravity of the vehicle body is not located at the geometric center position of the vehicle body, so that different turning areas have different rollover risks. Therefore, the invention detects the rotation angle of the rotary table of the rescue vehicle, judges which turning area the arm support mechanism is in according to the rotation angle, and determines the rollover moment threshold value corresponding to the turning area so as to promote the flexible control of the arm support mechanism under different working conditions. Based on the above definition, when the boom mechanism is in different rotation areas, whether the tipping moment threshold has the tipping risk or not can be judged according to different tipping moment thresholds, and the judgment flexibility and adaptability are improved.

In any of the above embodiments, further, in the working process of the rescue vehicle, under the condition that one or more sensors are out of order, when the rescue vehicle slightly tips over, the support legs can be separated from the ground, and the risk of tipping over cannot be detected in time, but by detecting the distance between the support legs and the ground and comparing the distance with the preset distance, whether the rescue vehicle has the risk of tipping over or not can be judged in time, and further, under the condition that the distance is greater than the preset distance, the rescue vehicle is prohibited from executing the first type of operation.

In any of the above embodiments, further, the first type of operation includes, but is not limited to, the following: the arm support mechanism is controlled to extend, the arm support mechanism is controlled to rotate downwards, and the arm support mechanism is controlled to rotate towards the front of the vehicle body. All of the above operations can cause the overturn and overload of the rescue vehicle to be further aggravated. Therefore, the invention prohibits the rescue vehicle from executing the operation under the condition that the rollover risk or the overload risk of the rescue vehicle is detected, so as to ensure the safety of construction operation.

In a possible design, the above-described embodiments of the invention can be combined with one another.

Example nine:

a ninth embodiment of the present invention provides a computer-readable storage medium, wherein a computer program stored thereon, when being executed by a processor, can implement the anti-rollover protection method for a rescue vehicle according to any one of the above technical solutions. Therefore, the whole beneficial effects of any one of the anti-rollover protection methods for the rescue vehicle are not discussed one by one.

The first embodiment is as follows:

as shown in fig. 1 and fig. 2, the present embodiment proposes a rescue vehicle, including: the system comprises a body 102, a boom mechanism 104, a drive mechanism 106, a support leg 116, a first detection assembly, a second detection assembly, and a controller.

The arm support mechanism 104 and the supporting legs 116 are both arranged on the vehicle body 102, the supporting legs 116 can support the vehicle body 102 when the rescue vehicle works so as to improve the stability of the vehicle body 102, and the arm support mechanism 104 is provided with the driving mechanism 106 so as to drive the arm support mechanism 104 to act. The first detection assembly may detect the spatial position and load of the boom mechanism 104; the second sensing assembly may support the support state of leg 116; the controller can calculate the rollover moment of the current rescue vehicle.

Further, the first detection assembly includes a first angle sensor 108, a first distance sensor 110, and a tension sensor 112. The first angle sensor 108 is disposed on the boom mechanism 104 and can detect a bending angle of the boom mechanism 104; the first distance sensor 110 is disposed on the boom mechanism 104 and can detect the telescopic length of the boom mechanism 104.

Further, the rescue emergency vehicle is further provided with a second angle sensor 122, and the second angle sensor 122 can detect the rotation angle of the arm support mechanism 104.

Further, the second detection assembly includes a plurality of first pressure sensors 114, each leg 116 being disposed on the first pressure sensor 114; the first pressure sensor 114 may detect the pressure of the leg 116 on which it is located.

Further, the second pressure sensor 124 is provided on the driving mechanism 106, and can detect the driving load of the driving mechanism 106.

Further, the rescue emergency vehicle further comprises a second distance sensor 118. Wherein a second distance sensor 118 is provided to the leg and can detect the distance of the leg 116 from the ground.

Further, the rescue emergency vehicle further comprises a turntable 120. The turntable 120 is disposed on the vehicle body 102, the arm support mechanism 104 is disposed on the turntable 120, and the turntable 120 drives the arm support mechanism 104 to rotate.

Further, the rescue vehicle also comprises an alarm. And when the controller judges that the rescue vehicle has a rollover risk or an overload risk, the controller controls the alarm to give an alarm.

The second embodiment is as follows:

the embodiment provides an anti-rollover protection method for a rescue vehicle, which includes the steps of firstly obtaining a rollover moment of the rescue vehicle and a supporting state of a supporting leg, then judging whether the rescue vehicle has a rollover risk or not according to the rollover moment and the supporting state, and forbidding the rescue vehicle to execute dangerous actions such as first-class operation and the like under the condition that the rescue vehicle has the rollover risk, so that the rescue vehicle is prevented from rolling over.

Further, in the process of acquiring the tilting moment of the rescue and emergency vehicle, the bending angle and the telescopic length of an arm support mechanism of the rescue and emergency vehicle are acquired; calculating the arm joint tilting moment according to the bending angle, the telescopic length and the weight of the arm support mechanism; acquiring a load of a boom mechanism; calculating the load tipping moment according to the load and the force arm of the arm support mechanism; and calculating the tipping moment of the rescue vehicle according to the arm joint tipping moment and the load tipping moment.

Further, in the process of obtaining the supporting state of the supporting legs, obtaining the pressure of the plurality of supporting legs; determining the gravity center of the rescue vehicle according to the pressure of the support legs; and determining the supporting state of the supporting legs according to the gravity center of the rescue emergency vehicle.

Further, in the process of controlling the driving mechanism to act according to the tilting moment and the supporting state, the rescue vehicle is forbidden to execute the first type of operation under the condition that the tilting moment of the rescue vehicle is greater than the threshold value of the tilting moment; and prohibiting the rescue emergency vehicle from executing the first type of operation under the condition that the gravity center of the rescue emergency vehicle is outside the preset area.

Further, the anti-rollover protection method for the rescue vehicle further comprises the following steps: acquiring a rotation angle of a rotary table of the rescue vehicle; and determining a rotation area where the arm support mechanism is located according to the rotation angle, and selecting a tipping moment threshold value corresponding to the rotation area.

Further, before the step of obtaining the roll moment of the rescue vehicle, the method further comprises the following steps: acquiring a driving load of a driving mechanism of a rescue vehicle; judging whether the driving load is greater than a driving load threshold value; prohibiting the rescue emergency vehicle from executing a first type of operation based on the condition that the driving load is greater than the driving load threshold; and executing the step of acquiring the rollover moment of the rescue emergency vehicle based on the condition that the driving load is less than or equal to the driving load threshold value.

Further, the anti-rollover protection method for the rescue vehicle further comprises the following steps: acquiring the distance between the supporting leg and the ground; judging whether the distance is greater than a preset distance; and prohibiting the rescue emergency vehicle from executing the first type of operation based on the condition that the distance is greater than the preset distance.

Further, the first type of operation includes: the arm support mechanism is controlled to extend, the arm support mechanism is controlled to rotate downwards, and the arm support mechanism is controlled to rotate towards the front of the vehicle body of the rescue and emergency vehicle.

The third concrete embodiment:

as shown in fig. 1, fig. 2, fig. 3 and fig. 8, the invention provides an emergency rescue fire truck and an anti-rollover protection method thereof. Wherein, the state of the emergency rescue fire truck is detected; judging whether the emergency rescue fire truck is in an overload or rollover state; when the emergency rescue fire truck is in an overload or rollover state, the automatic feedback controller executes dangerous stopping actions (the electromagnetic multi-way valve is controlled to stop the actions of the arm support mechanism 104 extending outwards, the arm support mechanism 104 rotating downwards, the rotary table 120 rotating towards the front direction and the like), and only allows the emergency rescue fire truck to be controlled to exit the overload or rollover state in a mode of reducing the rollover load and moment direction actions (such as the actions of the arm support mechanism 104 contracting inwards, the arm support mechanism 104 rotating upwards in an angle, the rotary table 120 rotating towards the rear direction of the truck and the like).

Specifically, as shown in fig. 1, fig. 2, fig. 3, and fig. 8, the spatial position of the boom mechanism 104 at this time can be obtained by the first angle sensor 108 and the first distance sensor 110 on the boom mechanism 104, and then the arm joint tilting moment can be calculated by the self-weight of the boom mechanism 104; the tension sensor 112 obtains the actual load lifted by the arm support mechanism 104, and the actual load is multiplied by the arm of force to obtain the load; the self-weight and the size of the vehicle can be used for obtaining a preset moment threshold value (different rated values are stored in different spaces in the controller correspondingly), and the rollover moment is compared with the preset moment threshold value to obtain whether the rollover risk exists or not. The second pressure sensor 124 measures the drive load and compares it to a preset load threshold (nominal value stored in the controller) to determine if it is overloaded. The overload or rollover state is exited in an automatic manner if there is a risk of rollover or overload. The first pressure sensor 114 measures the pressure of each leg 116, calculates the position of the center of gravity from the pressure of each leg 116, and determines the stability by the center of gravity circle method.

Meanwhile, as shown in fig. 1, 2, 3 and 8, in order to further protect the overload and rollover prevention protection of the equipment, a redundant passive protection function of the leg 116 off-ground detection and protection is configured, and the function is specifically executed, if there is a sensor failure or active rollover prevention protection for the related overload and rollover prevention system is not started due to a reason, the passive rollover prevention protection is started after the principle of the soft leg 116 is adopted and the sensor detects the off-ground state, that is, when the length and angle sensors of the leg 116 detect that the off-ground clearance is greater than or equal to 50mm, information is automatically fed back to the controller, and the execution of the dangerous stopping action includes (actions of stopping the driving mechanism 106 from extending outwards, the driving mechanism 106 from rotating downwards, the turntable 120 from rotating towards the front direction and the like by using the control solenoid valve).

In a particular embodiment, the emergency rescue fire truck includes a first angle sensor 108, a first distance sensor 110, a tension sensor 112, a first pressure sensor 114, and the like. All adopted sensors are CAN type (Bus type), all detection data are collected through ControLLer statistics, and CANBUS communication (Controller Area network-work Bus ControLLer local Area network Bus technology) is adopted in the whole system, so that the interference of lines and the outside to signals CAN be effectively prevented, and the reliability and the real-time performance of the system are improved.

Further, as shown in fig. 3, considering that the tipping risks in different turning areas are different, the turning area is divided into areas a to F, the second angle sensor 122 installed on the turntable 120 can identify that the boom mechanism 104 is in different turning areas, and the different turning areas calculate the operating condition coefficients of the allowable load according to the most dangerous operating conditions; and converting the working condition coefficient to a preset load threshold and a preset moment threshold, and then performing anti-rollover protection.

The rescue and emergency vehicle and the anti-tipping protection method thereof can ensure the safety performance of the heavy rescue and emergency fire truck during heavy and long-distance hoisting, and reduce the risk of secondary damage of equipment rescue. The automatic detection, judgment and automatic protection avoid human misoperation to a great extent, and reduce the burden of operators. And by adopting triple protection, the structural reliability and stability of the product can be ensured simultaneously, and the risk of a single system is reduced.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A rescue vehicle, comprising:

a vehicle body;

the arm support mechanism is rotatably arranged on the vehicle body;

the driving mechanism is arranged on the arm support mechanism and is configured to drive the arm support mechanism to act;

a leg disposed on the vehicle body, the leg configured to support the vehicle body;

the first detection component is arranged on the vehicle body and/or the arm support mechanism and is configured to be suitable for detecting the spatial position of the arm support mechanism and the load of the arm support mechanism;

a second detection assembly provided to the vehicle body, the second detection assembly being configured to be adapted to detect a support state of the leg;

the controller is electrically connected with the first detection assembly, the second detection assembly and the driving mechanism, and the controller is configured to be suitable for controlling the driving mechanism to act according to detection results of the first detection assembly and the second detection assembly.

2. The rescue emergency vehicle of claim 1, wherein the first detection component comprises:

a first angle sensor disposed on the boom mechanism and electrically connected to the controller, the first angle sensor being configured to detect a bending angle of the boom mechanism;

a first distance sensor disposed on the boom mechanism and electrically connected to the controller, the first distance sensor being configured to detect a telescopic length of the boom mechanism;

a tension sensor disposed on the boom mechanism and electrically connected to the controller, the tension sensor configured to detect a load of the boom mechanism;

the controller is configured and adapted to calculate an arm-joint overturning moment and a load overturning moment based on the detection results of the first angle sensor, the first distance sensor, and the tension sensor.

3. The rescue emergency vehicle of claim 2, wherein the first detection assembly further comprises:

a second angle sensor electrically connected to the controller and configured to detect a swivel angle of the boom mechanism;

the controller is configured and adapted to determine a rollover moment threshold value of the rescue vehicle based on the detection result of the second angle sensor.

4. The rescue emergency vehicle of claim 1, wherein the number of the legs is plural, and the second detection assembly comprises:

a plurality of first pressure sensors respectively disposed on the plurality of legs and electrically connected to the controller, the first pressure sensors being configured to detect pressures of the plurality of legs;

the controller is configured and adapted to determine the center of gravity of the rescue vehicle from the pressure of a plurality of the legs.

5. The rescue emergency vehicle of any one of claims 1 to 4, further comprising:

a second pressure sensor disposed on the drive mechanism and electrically connected to the controller, the second pressure sensor being configured and adapted to detect a drive load of the drive mechanism;

the controller is configured and adapted to control the actuation of the drive mechanism in accordance with the detection result of the second pressure sensor.

6. The rescue emergency vehicle of any one of claims 1 to 4, further comprising:

a second distance sensor disposed on the leg and electrically connected to the controller, the second distance sensor being configured to detect a distance of the leg from the ground;

the controller is configured and adapted to control the driving mechanism to operate according to the detection result of the second distance sensor.

7. The rescue emergency vehicle of any one of claims 1 to 4, further comprising:

a rotary table arranged on the vehicle body, the arm support mechanism is arranged on the rotary table and/or

An alarm electrically connected with the controller, the alarm being configured and adapted to alarm under the control of the controller.

8. An anti-rollover protection method for a rescue vehicle is characterized by comprising the following steps:

acquiring the rollover moment of the rescue vehicle;

acquiring the supporting state of a supporting leg of the rescue vehicle;

and controlling the driving mechanism of the rescue vehicle to act according to the tilting moment and the supporting state.

9. The anti-rollover protection method for the rescue vehicle according to claim 8, wherein the step of obtaining the rollover moment of the rescue vehicle specifically comprises:

obtaining a bending angle and a telescopic length of an arm support mechanism of the rescue and emergency vehicle;

calculating the arm joint tilting moment according to the bending angle, the telescopic length and the weight of the arm support mechanism;

acquiring a load of the arm support mechanism;

calculating a load tipping moment according to the load and the force arm of the arm support mechanism;

and calculating the tipping moment of the rescue vehicle according to the arm joint tipping moment and the load tipping moment.

10. The anti-rollover protection method for the rescue vehicle according to claim 9, wherein the number of the legs is plural, and the step of obtaining the support state of the legs of the rescue vehicle specifically includes:

acquiring the pressure of a plurality of support legs;

determining the gravity center of the rescue and emergency vehicle according to the pressure of the support legs;

and determining the supporting state of the supporting leg according to the gravity center of the rescue emergency vehicle.

11. The anti-rollover protection method for the rescue vehicle according to claim 10, wherein the step of controlling the driving mechanism to act according to the rollover moment and the supporting state specifically comprises:

prohibiting the rescue emergency vehicle from executing a first type of operation based on the situation that the rollover moment of the rescue emergency vehicle is larger than a rollover moment threshold value; and/or

And prohibiting the rescue emergency vehicle from executing a first type of operation on the basis of the condition that the gravity center of the rescue emergency vehicle is outside a preset area.

12. The anti-rollover protection method for the rescue emergency vehicle according to claim 11, further comprising:

obtaining the rotation angle of a rotary table of the rescue vehicle;

and determining a turning area where the arm support mechanism is located according to the rotation angle, and selecting the tipping moment threshold corresponding to the turning area.

13. The anti-rollover protection method for a rescue vehicle according to any one of claims 8 to 12, further comprising, before the step of obtaining the rollover moment of the rescue vehicle:

acquiring a driving load of a driving mechanism of the rescue and emergency vehicle;

judging whether the driving load is greater than a driving load threshold value;

prohibiting the rescue emergency vehicle from executing a first type of operation based on the condition that the driving load is greater than a driving load threshold;

and executing the step of acquiring the rollover moment of the rescue emergency vehicle based on the condition that the driving load is less than or equal to a driving load threshold value.

14. The anti-rollover protection method for the rescue vehicle according to any one of claims 8 to 12, further comprising:

acquiring the distance between the supporting leg and the ground;

judging whether the distance is greater than a preset distance;

and prohibiting the rescue emergency vehicle from executing the first type of operation based on the condition that the distance is greater than the preset distance.

15. The anti-rollover protection method for the rescue vehicle according to any one of claims 11 to 14,

the first type of operation includes: the arm support mechanism is controlled to extend, the arm support mechanism is controlled to rotate downwards, and the arm support mechanism is controlled to rotate towards the front of the vehicle body of the rescue and emergency vehicle.

16. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for rollover protection of a rescue vehicle according to any one of claims 11 to 15.