CN116513030B - Vehicle-mounted explosive conveying device - Google Patents
Vehicle-mounted explosive conveying device Download PDFInfo
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- CN116513030B CN116513030B CN202310726636.3A CN202310726636A CN116513030B CN 116513030 B CN116513030 B CN 116513030B CN 202310726636 A CN202310726636 A CN 202310726636A CN 116513030 B CN116513030 B CN 116513030B
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- 239000002360 explosive Substances 0.000 title claims abstract description 55
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 2
- 230000005764 inhibitory process Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- RNFJDJUURJAICM-UHFFFAOYSA-N 2,2,4,4,6,6-hexaphenoxy-1,3,5-triaza-2$l^{5},4$l^{5},6$l^{5}-triphosphacyclohexa-1,3,5-triene Chemical compound N=1P(OC=2C=CC=CC=2)(OC=2C=CC=CC=2)=NP(OC=2C=CC=CC=2)(OC=2C=CC=CC=2)=NP=1(OC=1C=CC=CC=1)OC1=CC=CC=C1 RNFJDJUURJAICM-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003063 flame retardant Substances 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
- B60P7/135—Securing or supporting by load bracing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the field of explosive transportation, in particular to a vehicle-mounted explosive transportation device, which is characterized in that a transportation cabin, a detection module and a central control processor are arranged, the detection module is used for detecting the stress of each part of a carrier plate in the transportation cabin and the movement data of the transportation cabin, the central control processor is used for judging the stress state of the carrier plate based on the stress of each part of the carrier plate, and the movement data of the transportation cabin is combined under the different stress states to determine whether the inclination of the carrier plate is required to be adjusted and determine the direction and the inclination of the carrier plate required to be inclined.
Description
Technical Field
The invention relates to the field of explosive transportation, in particular to a vehicle-mounted explosive transportation device.
Background
The explosive is a substance which can be exploded by self energy under the action of certain external energy, is commonly applied to the fields of construction, mining and the like, has higher requirements on the stability of the transportation process due to the particularity of the explosive, and can increase the potential safety hazard of transportation due to the poor stability of the transportation process, so that related transportation equipment of the explosive is valued by people, and related equipment is generated.
For example, chinese patent publication No.: CN114275294a discloses a safe storage box for explosive products, which comprises a main box body, wherein the top end and the bottom end of the main box body are both open, the top end of the main box body is provided with an upper sealing end cover, and the bottom end of the main box body is provided with a lower sealing end cover; the main box body comprises an outer box body, a turbulent flow protection box body, a flame-retardant box body, an electromagnetic protection box body and a buffer protection box body which are sequentially arranged from outside to inside; a buffer protection box body is arranged in the main box body; the airtight space enclosed by the buffer protective box body, the lining separation frame, the upper sealing end cover and the lower sealing end cover is an explosive product storage bin.
However, the prior art has the following problems,
in actual situations, the larger the explosive transportation amount is, the larger the inertial influence caused by the movement of the vehicle is, and particularly the explosive borne in the interior is subjected to the movement tendency caused by the influence of inertia when the vehicle turns and accelerates and decelerates, even if the explosive piled up on the upper layer is still easy to deviate under the fixed condition, the risks of abrasion, collision and the like appear, and the inclination tendency caused by the inertia of the transported explosive is inhibited by adjusting the inclination angle of the bearing plate based on the moving state of the vehicle and the condition of bearing the acting force of the explosive on the bearing plate in the prior art.
Disclosure of Invention
In order to solve the problem that the inclination of the carrier plate caused by the inertia of the transported explosive is not restrained by adjusting the inclination angle of the carrier plate according to the moving state of the vehicle and the acting force of the carrier plate by the carried explosive in the prior art, the invention provides a vehicle-mounted explosive transport device, which comprises:
the transport cabin is used for being carried by a vehicle and provides a hollow cavity for loading explosive, a bearing plate is arranged in the hollow cavity, and a hydraulic rod group is arranged at the bottom of the bearing plate so as to control the inclination of the bearing plate by controlling the height of the hydraulic rod;
the detection module comprises a stress sensor group arranged on the bearing plate and used for detecting stress of each part of the bearing plate, and an inertia detection unit arranged outside the transport cabin and used for acquiring the current moving speed and the steering direction of the transport cabin;
the central control processor is connected with the transport cabin and the detection module and comprises a data operation unit and a control unit,
the data operation unit judges the stress state of the bearing plate based on the stress conditions of all parts of the bearing plate, wherein the stress state of the bearing plate comprises a uniform stress state and a differential stress state;
the control unit is used for determining the stress inclination direction of the bearing plate based on the stress difference conditions of all parts of the bearing plate when the bearing plate is in the differential stress state, and determining whether the inclination of the bearing plate needs to be adjusted or not based on the stress inclination direction and the movement data of the transport cabin, wherein the movement data comprise the movement direction of the transport cabin and the movement speed of the transport cabin;
and the control unit is also used for determining the direction and the inclination of the bearing plate to be inclined and controlling the corresponding inclination of the bearing plate to be inclined towards the corresponding direction.
Further, the bearing plate is rectangular, the hydraulic rod group at least comprises four hydraulic rods, and each hydraulic rod is symmetrically arranged along the diagonal line of the bearing plate with the center of the bearing plate.
Further, the stress sensor group comprises a first stress sensor and a second stress sensor which are symmetrically and vertically arranged in the bearing plate near the edge of the bearing plate, and a third stress sensor and a fourth stress sensor which are symmetrically and transversely arranged in the bearing plate near the edge of the bearing plate.
Further, the data operation unit judges the stress state of the bearing plate based on the stress condition of each part of the bearing plate, wherein,
the data operation unit obtains the data detected by the first stress sensor and the second stress sensor and correspondingly calculates a first stress difference value, obtains the data detected by the third stress sensor and the fourth stress sensor and correspondingly calculates a second stress difference value,
if the first stress difference value or/and the second stress difference value is greater than a preset difference value comparison threshold value, the data operation unit judges that the bearing plate is in a differential stress state;
and if the first stress difference value and the second stress difference value are smaller than or equal to a preset difference comparison threshold value, the data operation unit judges that the bearing plate is in a uniform stress state.
Further, the control unit determines the stress inclination direction of the bearing plate based on the stress difference condition of each part of the bearing plate, wherein,
if the detection value of the first stress sensor is larger than that of the second stress sensor, the control unit judges that the stress inclination direction of the bearing plate is a left inclination direction;
if the detection value of the second stress sensor is larger than that of the first stress sensor, the control unit judges that the stress inclination direction of the bearing plate is a right inclination direction;
if the detection value of the third stress sensor is larger than the detection value of the fourth stress sensor, the control unit judges that the stress inclination direction of the bearing plate is a front inclination direction;
and if the detection value of the fourth stress sensor is larger than that of the third stress sensor, the control unit judges that the stress inclination direction of the bearing plate is a rear inclination direction.
Further, the control unit determines whether the inclination of the bearing plate needs to be adjusted based on the forced inclination direction and the movement data of the transport pod, wherein,
if the stressed inclined direction of the bearing plate is the left inclined direction and the steering direction of the transport cabin is the left steering, the control unit judges that the inclination of the bearing plate needs to be adjusted;
if the stressed inclined direction of the bearing plate is the right inclined direction and the steering direction of the transport cabin is the right steering, the control unit judges that the inclination of the bearing plate needs to be adjusted;
if the stressed inclined direction of the bearing plate is the front inclined direction and the transport cabin is in a deceleration state, the control unit judges that the inclination of the bearing plate needs to be adjusted;
if the stressed inclined direction of the bearing plate is the rear inclined direction and the transport cabin is in an acceleration state, the control unit judges that the inclination of the bearing plate needs to be adjusted.
Further, the control unit determines the direction in which the carrier plate is to be tilted, wherein,
the inclination direction of the bearing plate is opposite to the stressed inclination direction of the bearing plate.
Further, the control unit determines an inclination at which the support plate is to be inclined, wherein,
and a plurality of adjusting modes for adjusting the inclination angle of the bearing plate based on the current moving speed of the transport cabin are arranged in the control unit, and the adjusting angles of the bearing plate by the adjusting modes are different.
Further, the control unit is also used for judging whether the transportation cabin has transportation risk or not based on the stressed inclined direction of the bearing plate and the movement data of the transportation cabin, wherein,
under the preset risk condition, the control unit judges that the transportation risk exists in the transportation cabin;
the preset risk condition is that the control unit judges that the transportation cabin is in a steering state when the gradient of the bearing plate needs to be adjusted, and the moving speed of the transportation cabin is larger than a preset moving speed threshold value.
Further, the control unit is connected with an external early warning unit, and the early warning unit is arranged in the cockpit, so that the early warning unit sends out early warning prompt when the data operation unit judges that the transportation risk exists in the transportation cockpit.
Compared with the prior art, the invention has the advantages that the stress of each part of the bearing plate in the transport cabin and the movement data of the transport cabin are detected through the detection module, the stress state of the bearing plate is judged through the central control processor based on the stress of each part of the bearing plate, whether the inclination of the bearing plate is required to be adjusted and the direction and the inclination of the bearing plate required to be inclined are determined according to the movement data of the transport cabin under the differential stress state.
In particular, the invention judges the stress state of the bearing plate based on the stress condition of each part of the bearing plate through the data operation unit, in the actual explosive transportation process, the stress of each part of the bearing plate can be obviously changed when the vehicle turns to and accelerates and decelerates, especially the phenomenon can be aggravated when the explosive in the transportation cabin is unevenly loaded, if the inertia is large, even if the explosive is extruded under the fixed condition, the extrusion can be generated and the existing relative movement trend is large, therefore, the invention sets the detection module to detect the condition, thereby being convenient for the follow-up control processor to automatically control the movement of the bearing plate based on the condition, further inhibiting the inclination caused by the inertia of the transported explosive, ensuring the stability of the explosive in mass transportation and reducing the risk of the explosive transportation.
In particular, the control unit determines whether the inclination of the supporting plate needs to be adjusted based on the inclination direction of the stress and the movement data of the transport cabin, in the actual situation, along with the progress of transportation, the stress of the load in the transport cabin on the supporting plate changes, and particularly, risks exist due to the inertia caused by superposition steering and acceleration and deceleration under the condition of uneven self.
In particular, the control unit determines the inclination of the supporting plate to be inclined, and a plurality of adjustment modes for adjusting the inclination angle of the supporting plate based on the current moving speed of the transport cabin are arranged in the control unit, so that the inclination angle of the supporting plate is adaptively adjusted based on the current speed of the vehicle, the inhibition effect on the inclination tendency caused by the inertia of the transported explosive in the transportation process of the vehicle is improved, the stability of the explosive in mass transportation can be ensured, and the risk of explosive transportation is reduced.
In particular, the control unit judges whether the transportation cabin has transportation risk or not based on the stressed inclined direction of the bearing plate and the movement data of the transportation cabin, and prompts a driver when the transportation cabin is in a preset risk condition, so that the stability of the explosive in mass transportation can be ensured, and the risk of explosive transportation is reduced.
Drawings
FIG. 1 is a block diagram of a vehicle-mounted explosive transport device according to an embodiment of the invention;
FIG. 2 is a schematic view of the internal structure of a hollow cavity according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a force sensor package arrangement according to an embodiment of the invention;
in the figure, 1: bearing plate, 2: hydraulic lever, 11: first stress sensor, 12: second stress sensor, 13: third force sensor, 14: and a fourth force sensor.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1 and fig. 2, which are a block diagram of a vehicle-mounted explosive transporting device and a schematic diagram of an internal structure of a hollow cavity according to an embodiment of the present invention, the vehicle-mounted explosive transporting device includes:
the transport cabin is used for being carried by a vehicle and provides a hollow cavity for loading explosive, a bearing plate 1 is arranged in the hollow cavity, and a hydraulic rod group is arranged at the bottom of the bearing plate 1 so as to control the inclination of the bearing plate 1 by controlling the height of a hydraulic rod 2;
the detection module comprises a stress sensor group arranged on the bearing plate 1 and used for detecting stress of each part of the bearing plate 1, and an inertia detection unit arranged outside the transport cabin and used for acquiring the current moving speed and the steering direction of the transport cabin;
the central control processor is connected with the transport cabin and the detection module and comprises a data operation unit and a control unit,
the data operation unit judges the stress state of the bearing plate 1 based on the stress conditions of all parts of the bearing plate 1, wherein the stress state of the bearing plate 1 comprises uniform stress states and differential stress states;
the control unit is used for determining the stress inclination direction of the bearing plate 1 based on the stress difference conditions of all parts of the bearing plate 1 when the bearing plate 1 is in the differential stress state, and determining whether the inclination of the bearing plate 1 needs to be adjusted based on the stress inclination direction and the movement data of the transport cabin, wherein the movement data comprises the movement direction of the transport cabin and the movement speed of the transport cabin;
and the control unit is also used for determining the direction and the inclination of the bearing plate 1 to be inclined and controlling the corresponding inclination of the bearing plate 1 to be inclined towards the corresponding direction.
Specifically, the specific structure of the transportation cabin is not limited, and only the hollow cavity for loading explosive is needed, and a person skilled in the art can adaptively adjust the shape of the hollow cavity according to the shape of the explosive to be transported.
Specifically, the specific structure of each stress sensor in the stress sensor group is not limited, and preferably, the stress sensor unit and the information transmitter may be configured in this embodiment so as to transmit detected data to the central control processor.
Specifically, the invention does not limit the specific structure of the inertial detection unit, the inertial detection unit can be an inertial sensor, is more common in the fields of aircrafts and robots, comprises a gyroscope and an accelerometer, can detect the moving speed and the moving direction, and further can judge the steering direction according to the moving direction of the moving speed, and the related technology is mature and is not repeated here.
In particular, the specific structure of the central control processor is not limited, and the central control processor and each unit therein can be composed of logic components, wherein the logic components comprise field programmable components, computers and microprocessors in the computers.
Specifically, the support plate 1 is rectangular, the hydraulic rod group at least includes four hydraulic rods 2, each hydraulic rod 2 is arranged with the support plate 1 center symmetry along the diagonal of support plate, so as to be close to four summit of support plate 11, in this embodiment, the junction of support plate 1 and hydraulic rod 2 should be provided with movable joint, so that the slope of support plate 1 is adapted to hydraulic rod 2, the slope effect is realized with different elongation stretching out to the different hydraulic rods of control when the slope of support plate is controlled to well accuse treater, and this is not repeated here.
Specifically, referring to fig. 3, the force sensor group includes a first force sensor 11 and a second force sensor 12 symmetrically and vertically disposed inside the support plate near the edge of the support plate 1, and a third force sensor 13 and a fourth force sensor 14 symmetrically and horizontally disposed inside the support plate 1 near the edge of the support plate, wherein the vertical direction is a direction perpendicular to the vehicle movement direction, and the horizontal direction is a direction parallel to the vehicle movement direction.
In this embodiment, the bearing plate 1 is formed by a multi-layer structure, and includes a first bearing layer contacting with the bearing object and a second bearing layer contacting with the hydraulic rod, and each sensor is disposed in a contact surface of the first bearing layer and the second bearing layer, so as to detect the pressure born by each portion of the first bearing layer.
Specifically, the data operation unit determines the stress state of the support plate 1 based on the stress conditions of each part of the support plate 1, wherein,
the data operation unit obtains the data detected by the first stress sensor 11 and the second stress sensor 12 and correspondingly calculates a first stress difference value, obtains the data detected by the third stress sensor 13 and the fourth stress sensor 14 and correspondingly calculates a second stress difference value,
if the first stress difference value or/and the second stress difference value is greater than a preset difference value comparison threshold value, the data operation unit judges that the bearing plate 1 is in a differential stress state;
and if the first stress difference value and the second stress difference value are smaller than or equal to a preset difference comparison threshold value, the data operation unit judges that the bearing plate 1 is in a uniform stress state.
Specifically, the difference comparison threshold value Fe is obtained by detection in advance, and is set based on the average stress F0 of each part of the support plate 1 when the transport cabin is fully loaded and the vehicle is in normal transport, where fe=f0×0.25.
Specifically, the invention judges the stress state of the bearing plate 1 based on the stress situation of each part of the bearing plate 1 through the data operation unit, in the actual explosive transportation process, the stress of each part of the bearing plate 1 can be obviously changed when the vehicle turns, accelerates and decelerates, especially the phenomenon can be aggravated when the explosive in the transportation cabin is unevenly loaded, if the inertia is large, extrusion can occur between the explosives and the existing relative movement trend is large even under the fixed condition, therefore, the invention sets the detection module to detect the situation, is convenient for the follow-up control processor to automatically control the movement of the bearing plate 1 based on the situation, further suppresses the inclination caused by the inertia of the transported explosive, can ensure the stability of the explosive in mass transportation, and reduces the risk of the explosive transportation.
Specifically, the control unit determines the stress inclination direction of the bearing plate 1 based on the stress difference conditions of all parts of the bearing plate 1, wherein,
if the detection value of the first stress sensor 11 is greater than the detection value of the second stress sensor 12, the control unit determines that the stress inclination direction of the bearing plate 1 is a left inclination direction;
if the detection value of the second stress sensor 12 is greater than the detection value of the first stress sensor 11, the control unit determines that the stress inclination direction of the support plate 1 is a right inclination direction;
if the detection value of the third stress sensor 13 is greater than the detection value of the fourth stress sensor 14, the control unit determines that the stress inclination direction of the bearing plate 1 is a front inclination direction;
if the detection value of the fourth stress sensor 14 is greater than the detection value of the third stress sensor 13, the control unit determines that the stress tilting direction of the support plate 1 is a rear tilting direction.
In the present embodiment, the first force receiving sensor 11, the second force receiving sensor 12, the third force receiving sensor 13 and the fourth force receiving sensor 14 are continuously operated, and due to the logic operation principle of the logic component, it should be understood by those skilled in the art that the numerical comparison is sequential, that is, the control unit compares the magnitudes of the detection values of the first force receiving sensor 11 and the second force receiving sensor 12 first, then compares the magnitudes of the detection values of the third force receiving sensor 13 and the fourth force receiving sensor 14, and performs the subsequent logic to control the tilting of the supporting plate 1 after the single comparison.
In particular, the control unit determines, on the basis of the direction of the forced inclination and the movement data of the transport pod, whether an adjustment of the inclination of the support plate 1 is required, wherein,
if the stressed inclined direction of the bearing plate 1 is the left inclined direction and the steering direction of the transport cabin is the left steering, the control unit judges that the inclination of the bearing plate 1 needs to be adjusted;
if the stressed inclined direction of the supporting plate 1 is the right inclined direction and the steering direction of the transport cabin is the right steering, the control unit judges that the inclination of the supporting plate 1 needs to be adjusted;
if the stressed inclined direction of the bearing plate 1 is the front inclined direction and the transport cabin is in a deceleration state, the control unit judges that the inclination of the bearing plate 1 needs to be adjusted;
if the stressed inclined direction of the bearing plate 1 is a rear inclined direction and the transport cabin is in an acceleration state, the control unit judges that the inclination of the bearing plate 1 needs to be adjusted;
the surplus situation control unit decides that no adjustment of the inclination of the carrier plate 1 is necessary.
Specifically, the control unit determines whether the inclination of the supporting plate 1 needs to be adjusted based on the inclination direction of the stress and the movement data of the transportation cabin, in the actual situation, along with the progress of transportation, the stress of the load in the transportation cabin on the supporting plate 1 changes, and particularly, risks exist due to the fact that inertia caused by the fact that the load is overlapped, turned and accelerated and decelerated under the condition of non-uniformity of the load.
In particular, the control unit determines the direction in which the carrier plate 1 is to be tilted, wherein,
the inclination direction of the bearing plate 1 is opposite to the stressed inclination direction of the bearing plate 1.
In particular, the control unit determines the inclination of the support plate 1 to be inclined, wherein,
and a plurality of adjusting modes for adjusting the inclination angle of the bearing plate 1 based on the current moving speed of the transport cabin are arranged in the control unit, and the adjusting angles of the bearing plate 1 by the adjusting modes are different.
Three types of adjustment are set in this embodiment, wherein,
the control unit compares the current moving speed V0 of the current transport pod with a preset first speed parameter V1 and a second speed parameter V2, V2 is larger than V1,
the first type of adjustment is to adjust the inclination of the support plate 1 to a first inclination C 1 ；
The second type of adjustment is to adjust the inclination of the bearing plate 1 to a second inclination C 2 ；
The third type of adjustment is to adjust the inclination of the support plate 1 to a third inclination C 3 ；
The first type of adjustment mode needs to meet V0 < V1, the second type of adjustment mode needs to meet V1 less than or equal to V0 less than or equal to V2, and the third type of adjustment mode needs to meet V0 & gtV 2,6 DEG & gtC 3 & gtC 2 & gtC 1 & gt0.
In this embodiment, v1=ve×0.7 is set, v2=ve×1.2, VE denotes a movement speed threshold, and those skilled in the art can set the movement speed threshold at the interval [0 °,6 ° according to specific needs]C1, C2 and C3 are internally set, and the difference ratio among C1, C2 and C3 is lower than 0.3 for avoiding overlarge difference under the premise of ensuring distinction, and the difference ratio Ce= (C i+1 -C i ）/C i 。
Specifically, the control unit determines the inclination of the supporting plate 1 to be inclined, a plurality of adjustment modes for adjusting the inclination angle of the supporting plate 1 based on the current moving speed of the transport cabin are arranged in the control unit, and the inclination angle of the supporting plate 1 is adaptively adjusted based on the current speed of the vehicle, so that the inhibition effect on the inclination tendency caused by the inertia of the transported explosive in the transportation process of the vehicle is improved, the stability of the explosive in mass transportation can be ensured, and the risk of explosive transportation is reduced.
In particular, the control unit is also adapted to determine whether there is a transport risk in the transport pod based on the direction of the forced inclination of the carrier plate 1 and the movement data of the transport pod, wherein,
under the preset risk condition, the control unit judges that the transportation risk exists in the transportation cabin;
the preset risk condition is that the control unit judges that the transportation cabin is in a steering state when the gradient of the supporting plate 1 needs to be adjusted, and the moving speed of the transportation cabin is larger than a preset moving speed threshold VE.
The movement speed threshold value is determined based on a vehicle body roll angle when the vehicle turns while the transportation compartment is fully loaded, and a speed when the vehicle body roll angle when the vehicle turns is 5 DEG is determined as the movement speed threshold value.
Specifically, the control unit judges whether the transportation cabin has transportation risk or not based on the stressed inclined direction of the bearing plate 1 and the movement data of the transportation cabin, prompts a driver when the transportation cabin is in a preset risk condition, can ensure the stability of the explosive during mass transportation, and reduces the risk of explosive transportation.
Specifically, the control unit is connected with an external early warning unit, and the early warning unit is arranged in the cockpit, so that the early warning unit sends out early warning prompt when the data operation unit judges that the transportation risk exists in the transportation cockpit.
The early warning unit can be a voice prompt loudspeaker for sending out an early warning prompt in a voice form.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
Claims (6)
1. A vehicle-mounted explosive transport device, comprising:
the transport cabin is used for being carried by a vehicle and provides a hollow cavity for loading explosive, a bearing plate is arranged in the hollow cavity, and a hydraulic rod group is arranged at the bottom of the bearing plate so as to control the inclination of the bearing plate by controlling the height of the hydraulic rod;
the detection module comprises a stress sensor group arranged on the bearing plate and used for detecting stress of each part of the bearing plate, and an inertia detection unit arranged outside the transport cabin and used for acquiring the current moving speed and the steering direction of the transport cabin;
the central control processor is connected with the transport cabin and the detection module and comprises a data operation unit and a control unit,
the data operation unit judges the stress state of the bearing plate based on the stress conditions of all parts of the bearing plate, wherein the stress state of the bearing plate comprises a uniform stress state and a differential stress state;
the control unit is used for determining the stress inclination direction of the bearing plate based on the stress difference conditions of all parts of the bearing plate when the bearing plate is in the differential stress state, and determining whether the inclination of the bearing plate needs to be adjusted or not based on the stress inclination direction and the movement data of the transport cabin, wherein the movement data comprise the movement direction of the transport cabin and the movement speed of the transport cabin;
the control unit is also used for determining the direction and the inclination of the bearing plate to be inclined and controlling the corresponding inclination of the bearing plate to incline towards the corresponding direction;
the stress sensor group comprises a first stress sensor and a second stress sensor which are symmetrically and vertically arranged inside the bearing plate near the edge of the bearing plate, and a third stress sensor and a fourth stress sensor which are symmetrically and transversely arranged inside the bearing plate near the edge of the bearing plate;
the data operation unit judges the stress state of the bearing plate based on the stress condition of each part of the bearing plate, wherein,
the data operation unit obtains the data detected by the first stress sensor and the second stress sensor and correspondingly calculates a first stress difference value, obtains the data detected by the third stress sensor and the fourth stress sensor and correspondingly calculates a second stress difference value,
if the first stress difference value or/and the second stress difference value is greater than a preset difference value comparison threshold value, the data operation unit judges that the bearing plate is in a differential stress state;
if the first stress difference value and the second stress difference value are smaller than or equal to a preset difference comparison threshold value, the data operation unit judges that the bearing plate is in a uniform stress state;
the control unit determines the stress inclination direction of the bearing plate based on the stress difference condition of each part of the bearing plate, wherein,
if the detection value of the first stress sensor is larger than that of the second stress sensor, the control unit judges that the stress inclination direction of the bearing plate is a left inclination direction;
if the detection value of the second stress sensor is larger than that of the first stress sensor, the control unit judges that the stress inclination direction of the bearing plate is a right inclination direction;
if the detection value of the third stress sensor is larger than the detection value of the fourth stress sensor, the control unit judges that the stress inclination direction of the bearing plate is a front inclination direction;
if the detection value of the fourth stress sensor is larger than that of the third stress sensor, the control unit judges that the stress inclination direction of the bearing plate is a rear inclination direction;
the control unit determines whether the inclination of the bearing plate needs to be adjusted based on the stressed inclination direction and the movement data of the transport pod, wherein,
if the stressed inclined direction of the bearing plate is the left inclined direction and the steering direction of the transport cabin is the left steering, the control unit judges that the inclination of the bearing plate needs to be adjusted;
if the stressed inclined direction of the bearing plate is the right inclined direction and the steering direction of the transport cabin is the right steering, the control unit judges that the inclination of the bearing plate needs to be adjusted;
if the stressed inclined direction of the bearing plate is the front inclined direction and the transport cabin is in a deceleration state, the control unit judges that the inclination of the bearing plate needs to be adjusted;
if the stressed inclined direction of the bearing plate is the rear inclined direction and the transport cabin is in an acceleration state, the control unit judges that the inclination of the bearing plate needs to be adjusted.
2. The vehicle-mounted explosive transport device according to claim 1, wherein the carrier plate is rectangular, the hydraulic rod group includes at least four hydraulic rods, and each hydraulic rod is symmetrically arranged with a center of the carrier plate along a diagonal line of the carrier plate.
3. The vehicle-mounted explosive transport device according to claim 2, wherein the control unit determines a direction in which the carrier plate is to be tilted, wherein,
the inclination direction of the bearing plate is opposite to the stressed inclination direction of the bearing plate.
4. A vehicle-mounted explosive transport device according to claim 3, wherein the control unit determines the inclination of the carrier plate to be inclined, wherein,
and a plurality of adjusting modes for adjusting the inclination angle of the bearing plate based on the current moving speed of the transport cabin are arranged in the control unit, and the adjusting angles of the bearing plate by the adjusting modes are different.
5. The vehicle-mounted explosive transport device according to claim 1, wherein the control unit is further configured to determine whether there is a transport risk in the transport pod based on the force-bearing inclination direction of the carrier plate and the movement data of the transport pod, wherein,
under the preset risk condition, the control unit judges that the transportation risk exists in the transportation cabin;
the preset risk condition is that the control unit judges that the transportation cabin is in a steering state when the gradient of the bearing plate needs to be adjusted, and the moving speed of the transportation cabin is larger than a preset moving speed threshold value.
6. The vehicle-mounted explosive transport device according to claim 5, wherein the control unit is connected with an external early warning unit, and the early warning unit is arranged in the cockpit, so that the early warning unit sends out an early warning prompt when the data operation unit judges that the transportation risk exists in the cockpit.
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