EP2733281B1 - Pump truck and control method and device thereof - Google Patents

Pump truck and control method and device thereof Download PDF

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Publication number
EP2733281B1
EP2733281B1 EP11869207.8A EP11869207A EP2733281B1 EP 2733281 B1 EP2733281 B1 EP 2733281B1 EP 11869207 A EP11869207 A EP 11869207A EP 2733281 B1 EP2733281 B1 EP 2733281B1
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EP
European Patent Office
Prior art keywords
pump truck
gravity
boom
center
truck
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP11869207.8A
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German (de)
English (en)
French (fr)
Other versions
EP2733281A4 (en
EP2733281A1 (en
Inventor
Binxing WU
Xuejun Li
Weichun YI
Kuifang LI
Hongxu Yue
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Zoomlion Special Vehicle Co Ltd
Zoomlion Heavy Industry Science and Technology Co Ltd
Original Assignee
Hunan Zoomlion Special Vehicle Co Ltd
Zoomlion Heavy Industry Science and Technology Co Ltd
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Publication of EP2733281A1 publication Critical patent/EP2733281A1/en
Publication of EP2733281A4 publication Critical patent/EP2733281A4/en
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Publication of EP2733281B1 publication Critical patent/EP2733281B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • 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
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution

Definitions

  • the invention relates to the field of pump trucks, in particular to a pump truck and a control method and a control device thereof.
  • a pump truck opens its outriggers completely to ensure the maximum safe operating area, and as shown in Fig. 1 , the concrete conveying radius of the pump truck can be maximized to ensure that the pump truck can pump concrete safely in the horizontal state of a boom.
  • the outriggers due to the limit of an operating space, the outriggers always fail to be opened completely, and consequently limiting the safe conveying radius of the pump truck and failing to ensure the pumping safety at any state of the boom; and moreover, the whole pump truck is likely to overturn in some cases.
  • the first issue for preventing the pump truck from overturning is to dynamically determine the safe operating range of the pump truck so as to limit the action of the boom in the safe range when the outriggers are not opened completely.
  • the documents CN 101833287 and CN 201619959U disclose control methods for concrete pumps and devices to implement the method.
  • the main objective of the invention is to provide a pump truck and a control method and a control device thereof, in order to solve the problem that the safety of the pump truck cannot be ensured when the outriggers of the pump truck cannot be opened completely.
  • the invention provides a control method for the pump truck, as defined in claim 1.
  • the control method for the pump truck includes, among other features, the following steps: acquiring the degrees of opening of four outriggers of the pump truck; determining the end points of the four outriggers of the pump truck according to the degrees of opening and connecting the end points of the four outriggers to determine the boundary of the safe operating area of the pump truck; calculating the metacenter of the whole pump truck according to the gravity of the base of the pump truck, the coordinates of the center of gravity of the base and the gravity of the whole pump truck; calculating the center of gravity of the whole pump truck according to the gravity of the base of the pump truck, the gravity of the boom of the pump truck, the gravity of the whole pump truck, the coordinates of the center of gravity of the boom of the pump truck and the coordinates of the center of gravity of the base of the pump truck; calculating the safety coefficient of the pump truck according to the boundary of the safe operating area, the metacenter of the whole pump truck and the center of gravity of the whole pump truck; and controlling the pump truck according to the safety coefficient.
  • the invention provides a control device for the pump truck, as defined in claim 6.
  • the control device for the pump truck includes, among other features: a first acquisition module for acquiring the degrees of opening of four outriggers of the pump truck; a first determining module for determining the end points of the four outriggers of the pump truck according to the degrees of opening and connecting the end points of the four outriggers to determine the boundary of the safe operating area of the pump truck; a first calculation module for calculating the metacenter of the whole pump truck according to the gravity of the base of the pump truck, the coordinates of the center of gravity of the base and the gravity of the whole pump truck; a second calculation module for calculating the center of gravity of the whole pump truck according to the gravity of the base of the pump truck, the gravity of the boom of the pump truck, the gravity of the whole pump truck, the coordinates of the center of gravity of the boom of the pump truck and the coordinates of the center of gravity of the base of the pump truck; a third calculation module for calculating the safety coefficient of the pump truck according to the boundary of the safe operating area, the metacenter of the whole pump truck and the center of gravity of
  • the invention provides a pump truck, as defined in claim 8.
  • the pump truck includes: any control device for the pump truck provided by the invention, and a display interface which is connected with the control device and used for displaying the state of the whole pump truck.
  • control method for the pump truck including the following steps: acquiring the degrees of opening of four outriggers of the pump truck; determining the end points of the four outriggers of the pump truck according to the degrees of opening and connecting the end points of the four outriggers to determine the boundary of the safe operating area of the pump truck; calculating the metacenter of the whole pump truck according to the gravity of the base of the pump truck, the coordinates of the center of gravity of the base and the gravity of the whole pump truck; calculating the center of gravity of the whole pump truck according to the gravity of the base of the pump truck, the gravity of the boom of the pump truck, the gravity of the whole pump truck, the coordinates of the center of gravity of the boom of the pump truck and the coordinates of the center of gravity of the base of the pump truck; calculating the safety coefficient of the pump truck according to the boundary of the safe operating area, the metacenter of the whole pump truck and the center of gravity of the whole pump truck; and controlling the pump truck according to the safety coefficient, the problem that the safety of the pump truck cannot
  • Fig. 2 is a diagram showing the flow of a control method for a pump truck disclosing some steps of the invention, as shown in Fig. 2 , the method includes Step 102 to Step 112.
  • Step 102 Acquire degrees of opening of four outriggers of a pump truck.
  • Fig. 3 is a diagram showing control for a pump truck according to one embodiment of the invention, and as shown in Fig. 3 , measuring the degrees of opening of two front X outriggers 1 and two rear swinging legs 2 are included.
  • Step 104 Determine the boundary of a safe operating area of the pump truck according to the degrees of opening and then the end points of the outriggers are connected to form a quadrangle to form the boundary of the safe operating area of the whole pump truck, and as shown in Fig. 3 , the boundary 7 of the safe operating area of the pump truck is determined according to the degrees of opening of the two front X outriggers 1 and two rear swinging legs 2.
  • Step 106 Calculate the metacenter of the whole pump truck.
  • Step 108 Calculate the center of gravity of the whole pump truck.
  • a revolving circle 4 for the center of gravity is obtained by taking the center of gravity 5 of the whole pump truck as the center of the circle, and a right-angle coordinate system is formed by taking the center of a revolving table 3 as the origin of coordinates, the head and tail direction of the truck as the transverse axis and the vertical direction of the revolving table 3 as the longitudinal axis.
  • the revolving angle of the boom can be obtained by an angle sensor.
  • the arm of force of the cylinder is related to the angle of inclination and structure size of the main arm of the pump truck.
  • Fig. 4 is a diagram showing calculation for arm of force of the cylinder of the pump truck according to one embodiment of the invention, and as shown in Fig.
  • the upper hinge point of the cylinder is A
  • the lower hinge point of the cylinder is B
  • the revolving point of the boom is O
  • the pedal of the revolving point of the boom on the connection line of the upper and lower hinge points of the cylinder is C
  • the distance of OC is the arm of force of the cylinder
  • the arm of force is obtained by calculation according to the geometrical relationship of the horizontal distance LD between the lower hinge point B of the cylinder and the revolving point O of the boom, the vertical distance LC between the lower hinge point B of the cylinder and the revolving point O of the boom, the distance LE between the upper hinge point A of the cylinder and the revolving point O of the boom along the direction of the main arm of the pump truck, the distance LF between the upper hinge point A of the cylinder and the revolving point O of the boom along the vertical direction of the main arm of the pump truck and the angle of inclination of the main arm of the pump truck; and the calculation process is purely geometric calculation, thereby
  • Step 110 cording to the boundary of the safe operating area, and the metacenter and the center of gravity of the whole pump truck.
  • the safety coefficient is obtained by calculating the safe distance between the center of gravity and the metacenter of the whole pump truck at first, then calculating the relative position minimum distance between the center of gravity of the whole pump truck and the boundary of the safe operating area, and finally dividing the minimum distance by the safe distance.
  • Step 112 Control the pump truck according to the safety coefficient.
  • Controlling the pump truck according to the safety coefficient includes: controlling the pump truck to lock action of the pump truck according to the safety coefficient, controlling the pump truck to implement the opposite action of the locked action and controlling the pump truck to unlock the locked action.
  • the action of the pump truck is correspondingly locked according to the danger level at first, and then, the pump truck is controlled to actuate the boom in a safe revolving direction or the unlocked action direction of a boom section by implementing the opposite action of the locked action, so that the safety coefficient is increased, the pump truck enters the safe area, the action limited by the anti-overturning function of the whole pump truck is restored and the whole pump truck can be timely prevented from overturning.
  • the safety coefficient of the whole pump truck When the safety coefficient of the whole pump truck is equal to 1, the overturning moment and the moment of the whole pump truck keep balance, and at the moment, the whole pump truck is in a critical state of overturning; when the safety coefficient of the whole pump truck is less than 1, the whole pump truck may overturn as an accident; in order to prevent the whole pump truck from overturning, the safety coefficient should be greater than 1; and the overturn danger level of the whole pump truck, corresponding to three safety coefficients, a, b, c, where a>b>c, is divided into a, b and c levels, the less the safety coefficient is, the greater the overturn danger level is, and different safety coefficients represent different overturn danger levels of the whole pump truck.
  • the whole pump truck is at a danger level of a and may be controlled by a controller program to lock the high gear of the boom, enter a low gear mode, lock the downward action of a first boom section, and lock the rotation on one side in the dangerous direction; if the safety coefficient is less than b and greater than or equal to c, the whole pump truck is at a danger level of b and is controlled to lock the action of the boom to continue for several seconds, optionally 5 seconds, lock the high gear of the boom, enter a low gear mode, lock the downward action of the first and second boom sections, and lock the rotation on one side in the dangerous direction; and if the safety coefficient is less than c and greater than or equal to 1, the whole pump truck is at a danger level of c and controlled to lock the action of the boom in a safe rotation direction and lock pumping.
  • the safety of the whole pump truck is ensured by hierarchical control; when the pump truck tends to be dangerous, the action of the boom in the dangerous direction is limited to ensure that the boom is operated in the safe direction to restore the safety of the whole pump truck; and when the pump truck is at the highest danger level, all the possible dangerous actions of the whole pump truck are limited to ensure the safety state of the whole pump truck.
  • the anti-overturning function of the whole pump truck can be shielded by a function shielding switch so as to remove all the limits of the anti-overturning function on the whole pump truck.
  • the pump truck can be controlled hierarchically according to the safety coefficient of the whole pump truck, and the control way is not limited to controlling the boom, rotation and pumping, such as controlling the function of a remote control.
  • Fig. 5 is a diagram of a control method for a pump truck comprising some steps of the invention, and as shown in Fig. 5 , in the calculation process, the measurement for a parameter is neither limited to the measurement way of one or more sensors nor limited to the type of the sensor, for example, the measurement for the degrees of opening of the outriggers can be measured by a bracing wire sensor, an angle sensor, a laser sensor and the like in one or more ways.
  • the anti-overturning of the pump truck can be intelligentized, and the safety coefficient of the whole pump truck can be dynamically calculated to judge the overturn danger level of the whole pump truck and perform corresponding control to limit the action of the boom in the overturn dangerous direction; and meanwhile, the boom is directly operated to return the center of gravity of the whole pump truck to a safer operating range; therefore, the using flexibility of the pump truck is improved, pumping can be still implemented automatically in a safe range when the opening space of the outriggers is limited, and the safety, stability and continuity of the construction of the pump truck are ensured.
  • a control device for a pump truck is provided.
  • Fig. 6 is a block diagram of the control device for the pump truck comprising some features of the invention, and as shown in Fig. 6 , the control device includes: a first acquisition module 10, configured for acquiring the degrees of opening of four outriggers of the pump truck, wherein the degrees of opening can be measured by an outrigger sensor, including a bracing wire sensor and an angle sensor, in real time; a first determining module 20, configured for determining the boundary of the safe operating area of the pump truck according to the degrees of opening, wherein the end points of the outriggers are connected to form a quadrangle to form the boundary of the safe operating area of the whole pump truck; a first calculation module 30, configured for calculating the metacenter of the whole pump truck according to the gravity of the base of the pump truck, the coordinates of the center of gravity of the base and the gravity of the whole pump truck; a second calculation module 40, configured for calculating the center of gravity of the whole pump truck according to the gravity of the base of the pump truck, the gravity of the boom of the pump truck, the gravity
  • the safety coefficient of the whole pump truck can be dynamically calculated, and according to the safety coefficient of the whole pump truck, the overturn danger level of the whole pump truck is judged, and the action of the boom in the dangerous overturning direction is correspondingly limited, therefore, the anti-overturning function of the pump truck is more intelligent, the using flexibility of the pump truck is improved, pumping can be still implemented automatically in a safe range when the opening space of the outriggers is limited, and the safety, stability and continuity of the construction of the pump truck are ensured.
  • the revolving angle of the boom can be obtained by an angle sensor.
  • the arm of force of the cylinder is related to the angle of inclination and structure size of the main arm of the pump truck, and Fig. 4 is a diagram showing calculation of the arm of force of the cylinder of the pump truck according to one embodiment of the invention, thereby needing no further description.
  • the third calculation module 50 includes: a first calculation sub-module, configured for calculating a first distance, and the first distance is the distance between the center of gravity and the metacenter of the whole pump truck; a second calculation sub-module, configured for calculating a second distance, and the second distance is the minimum distance between the center of gravity of the whole pump truck and the boundary of the safe operating area, and a third calculation sub-module, configured for calculating the safety coefficient according to the first and second distances.
  • the distance between the center of gravity and the metacenter of the whole pump truck is a safe distance, i.e., the first distance; the minimum distance between the center of gravity of the whole pump truck and the relative position of the boundary of the safe operating area is the second distance; and the safe coefficient is obtained by dividing the minimum distance by the safe distance.
  • the control module 60 includes: a first control sub-module, configured for controlling the pump truck to lock action of the pump truck according to the safety coefficient, a second control sub-module, configured for controlling the pump truck to implement an opposite action of the locked action, and a third control sub-module, configured for controlling the pump truck to unlock the locked action.
  • the action of the pump truck is correspondingly locked according to the danger level at first, and then, the pump truck is controlled to actuate the boom in a safe revolving direction or the unlocked action direction of a boom section by implementing the opposite action of the locked action, so that the safety coefficient is increased, the pump truck enters the safe area and the action limited by the anti-overturning function of the whole pump truck is restored.
  • the first control sub-module controls the pump truck to lock action of the pump truck: specifically, lock the high gear of the boom, enter a low gear mode, lock the downward action of a first boom section, and lock the rotation on one side in the dangerous direction when the safety coefficient is less than a first safety coefficient and greater than or equal to a second safety coefficient; lock the action of the boom to continue for predetermined time, lock the high gear of the boom, enter a low gear mode, lock the downward action of the first and second boom sections, and lock the rotation on one side in the dangerous direction when the safety coefficient is less than the second safety coefficient and greater than or equal to a third safety coefficient, and lock the action of the boom in a safe rotation direction and lock pumping when the safety coefficient is less than the third safety coefficient and greater than or equal to 1.
  • the danger is divided into three levels to be correspondingly controlled according to the condition of the pump truck, in order that the pump truck can be prevented from overturning by least measures under different conditions.
  • a pump truck includes: any control device for the pump truck as defined in claims 6 or 7, and a display interface, which is connected with the control device and used for displaying the state of the whole pump truck.
  • the coordinates of the outriggers, the coordinates of the center of gravity, the coordinates of the metacenter and the like are sent to the display interface to form a top view showing the safety of the pump truck.
  • a safety man-machine interface is formed in combination with the parameters of a sensor, so that a driver can know the state of the whole pump truck in time to perform corresponding adjustment. Therefore, the safety of the driver is ensured, equipment is saved and the service life of the pump truck is prolonged.
  • the safety coefficient of the whole pump truck can be dynamically calculated, and according to the safety coefficient of the whole pump truck, the overturn danger level of the whole pump truck is judged and the action of the boom in the overturn dangerous direction is correspondingly limited, therefore, the control flexibility of the pump truck is improved, particularly, pumping can be still implemented automatically in a safe range when the opening space of the outriggers is limited, and the safety, stability and continuity of the construction of the pump truck are ensured.
  • models or steps of the invention may be implemented by general computing devices and centralized in a single computing device or allocated in a network consisting of multiple computing devices.
  • the models or steps may be implemented by program codes executable by the computing devices, so that they may be stored in a storage device and executed by the computing device, or respectively made into integrated circuit modules or a single integrated circuit module.
  • the invention is not limited to any specific combination of hardware and software.
EP11869207.8A 2011-07-14 2011-10-18 Pump truck and control method and device thereof Active EP2733281B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201110197427A CN102330498B (zh) 2011-07-14 2011-07-14 泵车及其控制方法和装置
PCT/CN2011/080899 WO2013007069A1 (zh) 2011-07-14 2011-10-18 泵车及其控制方法和装置

Publications (3)

Publication Number Publication Date
EP2733281A1 EP2733281A1 (en) 2014-05-21
EP2733281A4 EP2733281A4 (en) 2015-03-25
EP2733281B1 true EP2733281B1 (en) 2021-07-07

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EP (1) EP2733281B1 (zh)
CN (1) CN102330498B (zh)
BR (1) BR112013006558B1 (zh)
RU (1) RU2013115571A (zh)
WO (1) WO2013007069A1 (zh)

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CN112499533A (zh) * 2020-10-30 2021-03-16 徐州海伦哲特种车辆有限公司 一种臂架类作业车动态幅度限制方法
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CN112723201B (zh) * 2021-01-08 2022-03-04 中联重科股份有限公司 获取支撑位置的方法、装置及工程机械、可读存储介质
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Publication number Publication date
EP2733281A4 (en) 2015-03-25
CN102330498A (zh) 2012-01-25
RU2013115571A (ru) 2015-11-27
BR112013006558B1 (pt) 2020-06-30
CN102330498B (zh) 2012-10-17
EP2733281A1 (en) 2014-05-21
BR112013006558A2 (pt) 2017-10-24
WO2013007069A1 (zh) 2013-01-17

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