CN113859117B - Collapse identification method for engineering machinery, processor, device and engineering machinery - Google Patents
Collapse identification method for engineering machinery, processor, device and engineering machinery Download PDFInfo
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- CN113859117B CN113859117B CN202111049230.3A CN202111049230A CN113859117B CN 113859117 B CN113859117 B CN 113859117B CN 202111049230 A CN202111049230 A CN 202111049230A CN 113859117 B CN113859117 B CN 113859117B
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000010276 construction Methods 0.000 claims description 15
- 230000005484 gravity Effects 0.000 claims description 10
- 230000036544 posture Effects 0.000 claims description 7
- 238000004088 simulation Methods 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 2
- 230000006870 function Effects 0.000 description 28
- 238000004590 computer program Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
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- 230000005540 biological transmission Effects 0.000 description 2
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- 238000004519 manufacturing process Methods 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
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- Jib Cranes (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The invention relates to the field of engineering machinery, and discloses a collapse identification method, a processor, a device and engineering machinery for engineering machinery. The collapse identification method comprises the following steps: acquiring a first vehicle body inclination angle of the engineering machinery under the condition of no tipping moment, and determining a reference inclination angle plane according to the first vehicle body inclination angle; acquiring a tipping moment value of the engineering machinery; acquiring a second vehicle body inclination angle of the engineering machinery, and determining an inclination angle plane according to the second vehicle body inclination angle; determining a first included angle value according to the reference inclined plane and the inclined plane; and under the condition that the ratio of the first included angle value to the obtained tipping moment value exceeds a preset threshold value, determining that the ground where the engineering machinery is located collapses. In the technical scheme, the early warning and remedying capability of the collapse event is more sensitive, the technical means for preventing the tipping is increased, the tipping accident caused by the collapse is reduced and prevented, the safety of engineering machinery is improved, and the timeliness and the accuracy are also better.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a collapse identification method, a processor, a device and engineering machinery for engineering machinery.
Background
The pump truck is an engineering machine capable of continuously conveying concrete along a pipeline by utilizing pressure. The pump truck generally comprises five parts of a boom, pumping, hydraulic pressure, supporting and electric control. The pump truck can be supported by the support legs to keep the whole machine stable during operation, and in use, a tipping accident caused by collapse of the ground where the support legs are located can occur, and a similar accident can occur to the crane. In general, a similar problem exists with mobile work machines that are configured with leg supports.
The collapse of the ground where the engineering machinery is located can cause the engineering machinery to tip over, damage the engineering machinery and cause economic loss; the workers in the middle part can be smashed, and the safety of the workers is threatened. When collapse occurs, personnel casualties easily occur if workers cannot observe the collapse or avoid the collapse in time. The timely and accurate detection of the collapse of the ground where the engineering machinery is located is an important safety requirement, and the judgment is carried out on site by means of experience by workers at present, so that the timeliness and the accuracy are poor.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention provides a collapse identification method, a processor, a device and engineering machinery for engineering machinery.
In order to achieve the above object, a first aspect of the present invention provides a collapse identification method for a construction machine, including:
acquiring a first vehicle body inclination angle of the engineering machinery under the condition of no tipping moment, and determining a reference inclination angle plane according to the first vehicle body inclination angle;
acquiring a tipping moment value of the engineering machinery;
acquiring a second vehicle body inclination angle of the engineering machinery, and determining an inclination angle plane according to the second vehicle body inclination angle;
determining a first included angle value according to the reference inclined plane and the inclined plane;
and under the condition that the ratio of the first included angle value to the obtained tipping moment value exceeds a preset threshold value, determining that the ground where the engineering machinery is located collapses.
In the embodiment of the invention, the collapse identification method further comprises the following steps:
in a simulation environment or in a test state, acquiring a plurality of different tipping moment values and a corresponding plurality of different first included angle values, wherein the plurality of different tipping moment values are based on different arm support postures of engineering machinery or based on different external force applied to the engineering machinery;
fitting a function curve in a coordinate system according to a plurality of different tipping moment values and a corresponding plurality of different first included angle values;
and determining a preset threshold according to the slope of the function curve.
In the embodiment of the invention, the collapse identification method further comprises the following steps:
and calculating the tipping moment according to the gravity center and the stability of the engineering machinery.
In the embodiment of the invention, the collapse identification method further comprises the following steps:
acquiring a rotation angle of an arm support turntable of the engineering machinery;
determining an intersection line of a direction plane and an inclination plane of the rotation angle;
determining a second included angle value between the intersection line and the reference inclination plane;
and under the condition that the ratio of the second included angle value to the tipping moment value exceeds a preset threshold value, determining that the ground where the engineering machinery is located collapses.
In an embodiment of the present invention, the expression of the function curve includes:
theta＝h*M；
wherein theta represents a first included angle value, M represents a tipping moment value, and h represents the slope of a function curve;
the collapse identification method further comprises the following steps:
and under the condition that the first included angle value is larger than [ (h+c1) the tipping moment value+c2 ], determining that the ground where the engineering machinery is located collapses, wherein c1>0 and c2>0.
In the embodiment of the invention, the collapse identification method further comprises the following steps:
and under the condition that the collapse of the ground where the engineering machinery is located is determined, sending out an early warning indication.
A second aspect of the present invention provides a processor configured to perform the above-described collapse identification method for a construction machine.
A third aspect of the present invention provides a collapse identification apparatus for construction machinery, comprising:
the inclination sensor is used for acquiring the inclination of the vehicle body of the engineering machine; and
the processor described above.
A fourth aspect of the present invention provides an engineering machine, including the collapse identification apparatus for an engineering machine as described above.
In an embodiment of the invention, the engineering machine comprises a pump truck or a crane.
A fifth aspect of the present invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described collapse identification method for a construction machine.
A sixth aspect of the invention provides a computer program product comprising a computer program which, when executed by a processor, implements the above-described collapse identification method for a construction machine.
Engineering machinery (such as a pump truck or a crane) is supported by the support legs to keep the whole machine stable during operation. The collapse of the ground of the engineering machinery comprises the collapse of the ground of the supporting legs. In the case where collapse does not occur on the ground on which the working machine is located, it is desirable that the ratio of the first angle value to the tilting moment value is within a certain range, wherein the first angle value is an angle value of the reference tilting angle plane and the tilting angle plane, that is, the degree of tilting of the working machine corresponds to the degree of tilting of the working machine caused by the tilting moment. Under the condition that the ratio of the first included angle value to the obtained tipping moment value exceeds a preset threshold value, at the moment, the inclination degree of the engineering machinery exceeds the inclination degree of the engineering machinery caused by the tipping moment, and the collapse of the ground where the engineering machinery is located is determined.
Therefore, the engineering machinery can detect the collapse condition of the ground where the supporting legs are positioned earlier, and the situation that the collapse degree is serious and the tipping accident occurs does not need to be waited, so that the safety of the engineering machinery is improved. The collapse identification method provided by the embodiment of the invention has the advantages that the sensing capability of collapse events is more sensitive, the early warning and remedying capabilities of the collapse events are stronger, the technical means for preventing the tipping are added, and the method is beneficial to reducing and preventing the tipping accidents caused by the collapse. Compared with the prior art that judgment is carried out on site by means of experience by workers, the collapse identification method is better in timeliness and accuracy.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 schematically illustrates a flow chart of a collapse identification method for a work machine according to an embodiment of the invention;
FIG. 2 schematically illustrates a flow chart of another collapse identification method for a work machine according to an embodiment of the present disclosure;
FIG. 3 schematically illustrates a plot of a fitting function according to an embodiment of the invention;
FIG. 4 schematically illustrates a block diagram of a work machine according to an embodiment of the present disclosure;
FIG. 5 schematically illustrates a flow chart of another collapse identification method for a work machine according to an embodiment of the present disclosure;
FIG. 6 schematically illustrates a schematic view of a second angle of intersection with a reference tilt plane, in accordance with an embodiment of the present invention;
FIG. 7 schematically illustrates another functional graph according to an embodiment of the present invention;
fig. 8 schematically shows a block diagram of another work machine according to an embodiment of the invention.
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
In the present embodiment, if directional indications (such as up, down, left, right, front, and rear … …) are included, the directional indications are merely used to explain the relative positional relationship, movement, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the protection scope of the present application.
Fig. 1 schematically shows a flow chart of a collapse identification method for a construction machine according to an embodiment of the invention. As shown in fig. 1, the collapse recognition method includes:
102, acquiring a tipping moment value of engineering machinery;
104, determining a first included angle value according to the reference inclined plane and the inclined plane;
and 105, determining that the ground where the engineering machinery is located collapses under the condition that the ratio of the first included angle value to the obtained tipping moment value exceeds a preset threshold value.
The case of a work machine without a tilting moment can be understood as a case where the tilting moment is 0. The tilt angle plane when the tilting moment is 0 is regarded as the reference plane A0. And acquiring a real-time inclination angle plane A1 and a corresponding tipping moment value M1, calculating a first included angle value theta1 between the plane A0 and the plane A1, and calculating the ratio of theta1 to M1. And under the condition that the ratio exceeds a preset threshold value, determining that the ground where the engineering machinery is located collapses. And under the condition that the ratio does not exceed a preset threshold value, determining that the collapse of the ground where the engineering machinery is located is not found. Fig. 2 schematically shows a flow chart of another collapse identification method for a construction machine according to an embodiment of the invention, see fig. 2. The reference tilt plane may also be referred to as a reference plane.
The mobile work machine configured with the leg support may include a pump truck or a crane, and the work machine may include a plurality of legs that provide a supporting force to keep the entire machine stable while the work machine is in operation. Taking a pump truck as an example, it is common for a pump truck to include four legs. The collapse of the ground of the engineering machinery comprises the collapse of the ground of one or more supporting legs.
Engineering machinery (such as a pump truck or a crane) is supported by the support legs to keep the whole machine stable during operation. The collapse of the ground of the engineering machinery comprises the collapse of the ground of the supporting legs. In the case where collapse does not occur on the ground on which the working machine is located, it is desirable that the ratio of the first angle value to the tilting moment value is within a certain range, wherein the first angle value is an angle value of the reference tilting angle plane and the tilting angle plane, that is, the degree of tilting of the working machine corresponds to the degree of tilting of the working machine caused by the tilting moment. Under the condition that the ratio of the first included angle value to the obtained tipping moment value exceeds a preset threshold value, at the moment, the inclination degree of the engineering machinery exceeds the inclination degree of the engineering machinery caused by the tipping moment, and the collapse of the ground where the engineering machinery is located is determined.
Therefore, the engineering machinery can detect the collapse condition of the ground where the supporting legs are positioned earlier, and the situation that the collapse degree is serious and the tipping accident occurs does not need to be waited, so that the safety of the engineering machinery is improved. The collapse identification method provided by the embodiment of the invention has the advantages that the perception capability of collapse events is more sensitive, the early warning and remedying capabilities of the collapse events are stronger, the technical means for preventing the tipping are added, the tipping accidents caused by collapse are reduced and prevented, and the personal safety of company operators is ensured. Compared with the prior art that judgment is carried out on site by means of experience by workers, the collapse identification method is better in timeliness and accuracy.
In an embodiment, the collapse identification method further comprises:
and calculating the tipping moment according to the gravity center and the stability of the engineering machinery.
A tilting moment is also understood to mean a tilting moment or tilting moment, which is a moment that causes the working machine to tilt, the working load (in the crane the lifting load) or the load outside part of the tilting line relative to the tilting line.
The method for determining the tipping moment comprises the following steps: the force sensor is used for acquiring the supporting force of each supporting leg, the position of the gravity center projection of the whole machine is determined according to the supporting force of each supporting leg, and the projection is understood as the projection on the supporting plane according to the gravity direction. When the engineering machinery only rotates the suspension arm (the chassis part keeps stable), the movement track circle of the gravity center projection is determined, and the center of the track circle is determined as a stable center. On the projection plane, the distance between the center of gravity and the stability is the moment arm, and then the tipping moment is calculated.
In an embodiment, the collapse identification method further comprises:
in a simulation environment or in a test state, acquiring a plurality of different tipping moment values and a corresponding plurality of different first included angle values, wherein the plurality of different tipping moment values are based on different arm support postures of engineering machinery or based on different external force applied to the engineering machinery;
fitting a function curve in a coordinate system according to a plurality of different tipping moment values and a corresponding plurality of different first included angle values;
and determining a preset threshold according to the slope of the function curve.
The simulation environment may include utilizing simulation software, such as computer aided design software. Firstly, a digital model of a pump truck is established, then different tipping moments are applied to the model, and a first included angle value generated by the simulation model under the action of the different tipping moments is obtained.
The test state may be understood as an ideal state in which no collapse occurs. For an actual pump truck, firstly, recording an inclination plane when the tipping moment is 0, then changing the posture of an arm support or changing the external force applied to engineering machinery, determining the corresponding inclination plane under different tipping moments, and further determining a first included angle value generated by the pump truck under different tipping moment effects.
In the case where collapse does not occur on the ground on which the working machine is located, the ratio of the first angle value to the tipping moment value is desirably within a certain range. Specifically, fig. 3 schematically illustrates a graph of a fitting function according to an embodiment of the present invention, where a function curve is fitted in a coordinate system according to a plurality of different tilting moment values and a corresponding plurality of different first angle values in a simulation environment or in a test state, to obtain a slope of the function curve, as shown in fig. 3. And adding a certain value on the basis of the slope value of the function curve, and determining a preset threshold value.
In an embodiment, the collapse identification method further comprises:
and under the condition that the collapse of the ground where the engineering machinery is located is determined, sending out an early warning indication.
When collapse occurs, the engineering machinery is obviously inclined, inclination caused by collapse is identified, and an alarm is timely and accurately sent out.
Fig. 4 schematically illustrates a block diagram of a work machine according to an embodiment of the present invention, as shown in fig. 4, the work machine may include a roll moment detection module 401, a body tilt angle detection module 402, a collapse identification module 403, and a warning output module 404.
The vehicle body inclination angle detection module 402 can detect the inclination angle of the whole vehicle and the horizontal plane through an inclination angle sensor installed on a fixed structure bracket of the engineering machinery. A biaxial inclination sensor is usually adopted, the range of the common biaxial inclination sensor is +/-15 degrees, and the detection accuracy is better than 0.01 degree.
Alert output module 404: the man-machine interaction function is realized, and the collapse judgment result is output, for example, an alarm is given. Reminding a worker of adjusting operation, and applying intervention operation aiming at collapse of the supporting leg: stopping may continue to increase the risk of collapsing or causing tipping operations and taking remedial action on the legs that have collapsed.
Fig. 5 schematically illustrates a flowchart of another collapse identification method for a construction machine according to an embodiment of the invention, see fig. 5, in which the collapse identification method further comprises:
acquiring a rotation angle of an arm support turntable of the engineering machinery;
determining an intersection line of a direction plane and an inclination plane of the rotation angle;
determining a second included angle value between the intersection line and the reference inclination plane;
and under the condition that the ratio of the second included angle value to the tipping moment value exceeds a preset threshold value, determining that the ground where the engineering machinery is located collapses.
If the rotation angle of the engineering machinery on different rotary tables is different, the tilting moment (increment) is different to the inclination increment caused by the deformation of the vehicle body, a detection module of the rotation angle can be added, and finer control is realized. FIG. 6 schematically illustrates a schematic view of a second angle of intersection with a reference tilt plane, in accordance with an embodiment of the present invention; in fig. 6, O is steady. For engineering machinery such as a pump truck, the action plane of the tipping moment is a direction plane of the rotation angle of the arm support, the intersection line of the direction plane of the rotation angle and the inclination plane is determined, and then the second included angle value of the intersection line and the reference inclination plane is determined, so that the relevance of the tipping moment and the corresponding inclination deformation is higher in the identification process, and the accuracy of judging the whole truck inclination caused by collapse is higher.
In one embodiment, the expression of the function curve includes:
theta＝h*M；
wherein theta represents a first included angle value, M represents a tipping moment value, and h represents the slope of a function curve;
the collapse identification method further comprises the following steps:
and under the condition that the first included angle value is larger than [ (h+c1) the tipping moment value+c2 ], determining that the ground where the engineering machinery is located collapses, wherein c1>0 and c2>0.
Fig. 7 schematically shows another functional graph according to an embodiment of the invention. As shown in fig. 7, the tilt angle region is appropriately expanded. The black point coordinates in fig. 7 are based on the first angle value and the corresponding tilting moment value that are actually obtained. L1 is a function curve fitted according to a plurality of coordinates based on a plurality of different tilting moment values and a corresponding plurality of different first angle values. The expression of the fitted function curve is: theta=h×m. In another expression theta= (h+c1) ×m+c2, the function curve represented by L2 may be understood as the case of c1=0, c2>0, and the function curve represented by L3 may be understood as the case of c1>0, c2>0.
Referring to the function curve represented by L2 or L3 in fig. 7, the function curve divides the coordinate system into a safe area (lower right) and a dangerous area (upper left), when the coordinate formed by the real-time obtained tipping moment value and the corresponding first included angle value is located in the safe area, it can be determined that no collapse occurs on the ground where the engineering machinery is located, and false recognition of the collapse is avoided, so that the boundaries of reasonable deformation and inclination change under the action of different tipping moments are determined. When the coordinates formed by the tipping moment value acquired in real time and the corresponding first included angle value are located in the dangerous area, the inclination angle change caused by collapse can be determined.
Fig. 8 schematically illustrates a block diagram of another work machine according to an embodiment of the present invention, as shown in fig. 8, the work machine may include: a vehicle body inclination angle detection module 801, a turning angle detection module 802, a tilting moment detection module 803, a collapse identification module 804, and a warning output module 805.
The embodiment of the invention provides a processor configured to execute the collapse identification method for engineering machinery.
In particular, the processor may be configured to:
acquiring a first vehicle body inclination angle of the engineering machinery under the condition of no tipping moment, and determining a reference inclination angle plane according to the first vehicle body inclination angle;
acquiring a tipping moment value of the engineering machinery;
acquiring a second vehicle body inclination angle of the engineering machinery, and determining an inclination angle plane according to the second vehicle body inclination angle;
determining a first included angle value according to the reference inclined plane and the inclined plane;
and under the condition that the ratio of the first included angle value to the obtained tipping moment value exceeds a preset threshold value, determining that the ground where the engineering machinery is located collapses.
In an embodiment of the invention, the processor is further configured to:
in a simulation environment or in a test state, acquiring a plurality of different tipping moment values and a corresponding plurality of different first included angle values, wherein the plurality of different tipping moment values are based on different arm support postures of engineering machinery or based on different external force applied to the engineering machinery;
fitting a function curve in a coordinate system according to a plurality of different tipping moment values and a corresponding plurality of different first included angle values;
and determining a preset threshold according to the slope of the function curve.
In an embodiment of the invention, the processor is further configured to:
and calculating the tipping moment according to the gravity center and the stability of the engineering machinery.
In an embodiment of the invention, the processor is further configured to:
acquiring a rotation angle of an arm support turntable of the engineering machinery;
determining an intersection line of a direction plane and an inclination plane of the rotation angle;
determining a second included angle value between the intersection line and the reference inclination plane;
and under the condition that the ratio of the second included angle value to the tipping moment value exceeds a preset threshold value, determining that the ground where the engineering machinery is located collapses.
In an embodiment of the invention, the processor is configured to:
the expression of the function curve includes:
theta＝h*M；
wherein theta represents a first included angle value, M represents a tipping moment value, and h represents the slope of a function curve;
and under the condition that the first included angle value is larger than [ (h+c1) the tipping moment value+c2 ], determining that the ground where the engineering machinery is located collapses, wherein c1>0 and c2>0.
In an embodiment of the invention, the processor is further configured to:
and under the condition that the collapse of the ground where the engineering machinery is located is determined, sending out an early warning indication.
The embodiment of the invention provides a collapse identification device for engineering machinery, which comprises the following components:
the inclination sensor is used for acquiring the inclination of the vehicle body of the engineering machine; and
the processor described above.
The embodiment of the invention provides engineering machinery, which comprises the collapse identification device for the engineering machinery.
In an embodiment of the invention, the engineering machine comprises a pump truck or a crane.
In addition to the pump truck and the crane, the construction machine may include other mobile construction machines configured with leg supports.
An embodiment of the present invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the collapse identification method for a construction machine described above.
The embodiment of the invention provides a computer program product, which comprises a computer program, wherein the computer program realizes the collapse identification method for engineering machinery when being executed by a processor.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (8)
1. A collapse identification method for a construction machine, comprising:
acquiring a first vehicle body inclination angle of the engineering machinery under the condition of no tipping moment, and determining a reference inclination angle plane according to the first vehicle body inclination angle;
acquiring a tipping moment value of the engineering machinery;
acquiring a second body inclination angle of the engineering machinery, and determining an inclination plane according to the second body inclination angle;
determining a first included angle value according to the reference inclined plane and the inclined plane;
under the condition that the ratio of the first included angle value to the obtained tipping moment value exceeds a preset threshold value, determining that the ground where the engineering machinery is located collapses;
the method further comprises the steps of:
acquiring the rotation angle of an arm support turntable of the engineering machinery;
determining an intersection line of a direction plane of the rotation angle and the inclination angle plane;
determining a second angle value between the intersection line and the reference inclination plane;
under the condition that the ratio of the second included angle value to the tipping moment value exceeds the preset threshold value, determining that the ground where the engineering machinery is located collapses;
wherein, the obtaining the tipping moment value of the engineering machinery comprises the following steps:
the force sensor is used for acquiring the supporting force of each supporting leg;
determining the position of gravity center projection according to the supporting force of each supporting leg;
when the engineering machinery only rotates the suspension arm, determining a movement track circle projected by the gravity center, and determining the center of the track circle as a stable center;
and calculating the tipping moment value according to the gravity center and the stability center.
2. The collapse identification method according to claim 1, further comprising:
in a simulation environment or in a test state, acquiring a plurality of different tipping moment values and a corresponding plurality of different first included angle values, wherein the plurality of different tipping moment values are based on different arm support postures of the engineering machinery or based on different external forces applied to the engineering machinery;
fitting a function curve in a coordinate system according to the plurality of different tipping moment values and the corresponding plurality of different first included angle values;
and determining the preset threshold according to the slope of the function curve.
3. The collapse identification method according to claim 2, wherein the expression of the function curve includes:
theta = h*M；
wherein theta represents the first included angle value, M represents the tipping moment value, and h represents the slope of the function curve;
the collapse identification method further comprises the following steps:
and under the condition that the first included angle value is larger than [ (h+c1). Times.tipping moment value +c2], determining that the ground where the engineering machinery is located collapses, wherein c1 is larger than or equal to 0, and c2 is larger than 0.
4. A collapse identification method according to any one of claims 1 to 3, further comprising:
and under the condition that the ground where the engineering machinery is located is determined to collapse, sending out an early warning indication.
5. A processor configured to perform the collapse identification method for a working machine according to any one of claims 1 to 4.
6. A collapse identification device for a construction machine, comprising:
the inclination angle sensor is used for acquiring the inclination angle of the vehicle body of the engineering machine; and
the processor of claim 5.
7. A construction machine comprising the collapse identification device for a construction machine according to claim 6.
8. The work machine of claim 7, wherein the work machine comprises a pump truck or a crane.
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