KR20200082874A - System and method for preventing overturn of working vehicle - Google Patents

Abstract

The present invention provides a system and a method for falling/overturning prevention of a work vehicle which can accurately and stably analyze and monitor falling or overturning of a work vehicle. According to an embodiment of the present invention, the method for falling/overturning prevention of a work vehicle comprises: a step in which a fixed parameter of a work vehicle is inputted through an input unit; a step in which a moving parameter of the work vehicle is sensed through a sensing unit during operation of the work vehicle; a step in which a control unit analyzes the fixed parameter to calculate a stable area of the work vehicle; a step in which the control unit analyzes the moving parameters and fixed parameters to calculate a ZMP position which is changed in accordance with an operating state of the work vehicle; a step in which the control unit compares the stable area of the work vehicle and the ZMP position; a step in which it is detected whether the ZMP position is arranged inside the stable area to determine the risk of falling/overturning of the work vehicle; and a step the ZMP position, the stable area, and the risk of falling/overturning of the work vehicle is provided to a worker of the work vehicle in real time through a display unit.

Description

Systems and methods for preventing fall/turnover of work vehicles{SYSTEM AND METHOD FOR PREVENTING OVERTURN OF WORKING VEHICLE}

The present invention relates to a system and method for preventing/overturning a work vehicle, and more specifically, it is possible to accurately analyze the fall or overturn of a work vehicle based on the ZMP (Zero Moment Point) theory, and to reduce the risk of overturn/overturn. The present invention relates to a system and method for preventing/overturning a work vehicle that can be provided in real time to a worker to prevent the fall or overturn of the work vehicle.

In general, in a work vehicle, a load is applied to an eccentric position according to the operation of the work, so that the work vehicle may fall or roll over during work.

For example, a cargo crane is a mechanical device composed of a vehicle, a crane, an outrigger, a hydraulic pump, a control valve, a safety device, and other parts. , Or performs the function of transporting in the front-rear direction.

The cargo crane as described above is a work vehicle, also called a'lifter', and has a structure in which a crane is mounted on a commercial vehicle. That is, the cargo crane corresponds to equipment that combines the general function of the crane with the movement function of the vehicle.

However, the cargo crane has a high risk of falling or tipping over depending on the attitude and motion of the crane, the load of the workpiece, and the inclination of the ground, and in fact, accidents due to tipping and tipping have been occurring for a long period of time.

It is a situation that causes a lot of casualties and material damages in the work site due to the fall or overturn of the cargo crane as described above.

In recent years, various technologies have been developed to warn of the danger of overturning or overturning of a work vehicle such as a cargo crane.

For example, in Korean Registered Patent No. 10-1858537 (invention name: mobile crane vehicle overturn prevention device, filing date: 2016.04.15), the tilt compensation method for the outrigger is further added using a separate air pressure. A technical idea is disclosed that can be compensated quickly and accurately and has a simple configuration, thereby providing convenience in manufacturing and use.

In addition, in Korean Patent No. 10-1653772 (Invention name: Boom control device for preventing overturning of a concrete pump truck, filing date: 2015.02.13), according to the degree of expansion of the outrigger to prevent overturning of the concrete pump truck Technical idea is disclosed to control the boom from extending and rotating so that it does not deviate from the safety range.

Despite the above efforts to develop technology to prevent overturning and overturning, accidents due to overturning and overturning of the work vehicle are still occurring at the work site, so the conduction/overturning of the work vehicle is more accurately and reliably prevented. Development of technology to do so is urgent.

An embodiment of the present invention provides a system and method for preventing/overturning a work vehicle that can more accurately and stably analyze and monitor the fall or overturn of a work vehicle based on the ZMP theory.

In addition, an embodiment of the present invention provides a system and method for preventing/overturning a work vehicle that can prevent the overturning or overturning of a work vehicle in advance by providing the operator with a real-time risk of overturning/overturning the work vehicle. do.

The present invention relates to a system and method for preventing fall/turnover of a work vehicle, informing a worker of the risk of falling or tipping over depending on the operating state of the work vehicle.

According to an embodiment of the present invention, an input unit that receives a fixed parameter of the work vehicle, a sensing unit that detects a flow parameter that is variable according to an operation state of the work vehicle, and receives the fixed parameter and the flow parameter It is connected to the input unit and the sensing unit, calculates the ZMP position and the stable area of the work vehicle using the fixed parameter and the flow parameter, and compares the ZMP position and the stable area to determine whether the work vehicle is inverted/turned over. A control unit for determining, and a display unit connected to the control unit and displaying a real-time change in the ZMP position on the stable area to visually provide the operator with a fall/overturn of the work vehicle. Provide a fall/fall protection system.

According to one aspect, the work vehicle includes a work vehicle body, a boom rotatably connected at one end to the work vehicle body, and the other end connected to the work body to be adjustable in length, and a circumference of the work vehicle body The plurality may be arranged to be adjustable in length and may include an outrigger that supports the working vehicle body on the ground.

The fixed parameter may include at least one of the weight of the work vehicle, the center of gravity of the work vehicle, the weight of the boom, the initial weight of the boom, the withdrawal length of the outrigger, or the distance between the outriggers. Can.

The flow parameter may include at least one of an elevation angle of the boom, an angle of rotation of the boom, a load of the workpiece, or a length of withdrawal of the boom.

According to one side, the sensing unit, a boom length sensor disposed on one side of the boom to detect the withdrawal length of the boom, is disposed between the other side of the boom and the working vehicle body to detect the elevation angle of the boom A first boom angle sensor, a second boom angle sensor disposed between the other side of the boom and the body of the work vehicle to sense the rotation angle of the boom, respectively disposed in the outriggers to sense the withdrawal length of the outrigger An outrigger length sensor, a load detection sensor disposed between the boom and the work vehicle body to sense the load of the work piece, and a tilt detection sensor disposed on the work vehicle body to sense the tilt of the work vehicle body Can.

According to one aspect, the control unit, if the ZMP position inside the stable area can be determined as a stable state with no risk of overturning/overturning of the work vehicle, and the ZMP outside the stable area If the location is present, it can be determined as a dangerous state with a risk for the fall/overturn of the work vehicle.

When the display unit is determined to be in a dangerous state by the control unit, the display unit may provide a warning signal for the conduction/overturn of the work vehicle.

On the other hand, according to another aspect of the present invention, inputting a fixed parameter of the working vehicle through an input unit, detecting a flow parameter of the working vehicle through a detection unit when the working vehicle is operating, and controlling the fixed parameter The unit analyzes to calculate a stable area of the work vehicle, the control unit analyzes the fixed parameter and the flow parameter to calculate a ZMP position that changes according to the operation state of the work vehicle, and the control unit Comparing a stable area of the work vehicle with a ZMP position, detecting whether the ZMP position is disposed inside the stable area, and determining whether there is a danger of overturning/overturning of the work vehicle, and the ZMP position, It provides a method for preventing the fall / overturn of the work vehicle, comprising providing the stable area and whether or not the work vehicle is at risk for fall/overturn in real time through a display unit to an operator of the work vehicle.

According to one aspect, the method for preventing fall/overturn of a work vehicle according to the present embodiment provides a warning signal to the worker about the fall/fall of the work vehicle when it is determined to be in the danger state during operation of the work vehicle. It may further include.

According to one aspect, the step of calculating the ZMP position may include deriving the current position of the ZMP position using the current value of the flow parameter sensed by the sensing unit, and setting time according to the change trend of the flow parameter The method may further include deriving an expected value of the flow parameter, and deriving an expected position of the ZMP location using the predicted value of the flow parameter.

In the step of determining whether the work vehicle is in danger of overturning/overturning, if the predicted position of the ZMP position exists inside the stable region, it can be determined as a stable state without risk of overturning/overturning of the working vehicle. In addition, if the expected position of the ZMP position is outside the stable area, it may be determined that there is a risk of falling/overturning of the work vehicle.

The system and method for preventing/overturning a work vehicle according to an embodiment of the present invention can more accurately and stably analyze and monitor conduction or overturning of a work vehicle based on ZMP theory, and use this to conduct and conduct a work vehicle conduction. Alternatively, accidents caused by overturning can be greatly reduced.

In addition, since the system and method for preventing/overturning a work vehicle according to an embodiment of the present invention provides a structure to a worker in real time and warns of the risk of overturning/overturning of the work vehicle, the operator may conduct a fall during operation of the work vehicle. / It is possible to prevent the tipping or tipping of the work vehicle in advance by checking the danger of tipping over.

In addition, the system and method for preventing fall/overturn of a work vehicle according to an exemplary embodiment of the present invention may be applied to the operation of the work vehicle through a detection unit in a state in which fixed parameters not related to the operation of the work vehicle are previously input through the input unit. Since it is a structure that detects the flow parameter that is changed in real time, it is possible to accurately calculate the stable area and the ZMP position of the work vehicle by using the fixed parameter preset in the input unit and the flow parameter detected in real time in the detection unit. By comparing and analyzing the stable area and the ZMP position of the vehicle, it is possible to accurately and stably determine the risk of overturning/overturning of the work vehicle.

In addition, the fall/fall protection system and method of a work vehicle according to an embodiment of the present invention derives the current position of the ZMP position using the current value of the flow parameter sensed by the detection unit, and according to the change trend of the flow parameter Since the predicted position of the ZMP position is derived using the predicted value of the flow parameter after the derived set time, the expected position of the ZMP position is compared with the stable area to reduce the risk of falling/overturning of the work vehicle occurring after the set time. It can be predicted in advance. Therefore, in the present embodiment, since the operation state of the work vehicle to be generated after the set time is analyzed based on the current operation state of the work vehicle, it is possible to confirm in advance the risk for the fall/overturn of the work vehicle by the set time, This allows the operator to more reliably cope with the risk of falling/turning over.

1 is a plan view schematically showing a work vehicle having a fall/fall protection system according to an embodiment of the present invention.
2 is a view schematically showing a fall/fall protection system of the work vehicle shown in FIG. 1.
3 is a flowchart illustrating a method for preventing fall/overturn of a work vehicle according to another embodiment of the present invention.
4 to 6 is a view showing the results of analyzing the allowable load of the work according to the working radius of the boom using the fall / overturn prevention method shown in FIG.
7 to 9 is a view showing the results of analyzing the change in ZMP position according to the load of the work using the fall / fall prevention method shown in FIG.
10 to 11 are diagrams illustrating a result of predicting the risk of the fall/turnover due to the rotation operation of the boom using the fall/turnover prevention method illustrated in FIG. 3.
12 to 13 is a view showing an example for informing the operator of the results of predicting the risk of the fall / fall using the fall / fall prevention method shown in FIG. 3.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited or limited by the embodiments. The same reference numerals in each drawing denote the same members.

1 is a plan view schematically showing a work vehicle 10 having a fall/turnover prevention system 100 according to an embodiment of the present invention, and FIG. 2 is a fall view of the work vehicle 10 shown in FIG. 1. / It is a diagram schematically showing the rollover prevention system 100.

1 and 2, the fall/turnover prevention system 100 of the work vehicle 10 according to an embodiment of the present invention is at risk of falling or tipping over to the operator depending on the operating state of the work vehicle 10 It is a device that accurately informs in real time.

That is, the fall/turnover prevention system 100 according to the present embodiment considers various factors that are variable during operation of the work vehicle 10, and the risk for the fall/overturn of the work vehicle 10 is based on the ZMP theory. It is possible to analyze and provide a real-time risk of tipping/turning over to the worker of the work vehicle 10 to prevent accidents due to tipping or tipping of the work vehicle 10 in advance.

On the other hand, the work vehicle 10 according to the present embodiment can be set as a vehicle having a long extending component such as a cargo crane, tracked crane, concrete pump car, aerial work vehicle, forklift, excavator, and the like. That is, the work vehicle 10 may include all vehicles with long elongated components for transporting the work in various construction machines, general work vehicles, special vehicles, or freight transport vehicles.

For example, the work vehicle 10 has a structure in which a crane mechanism, a lift mechanism, or a concrete supply mechanism (pump, hose, boom, etc.) is installed in the vehicle. Therefore, the work vehicle 10 is a structure having all of the mobility of the vehicle together with a specific operation such as a crane mechanism, a lift mechanism, or a concrete supply mechanism, and thereby, it is possible to perform a specific operation while freely moving or changing the operation position. have.

Hereinafter, in the present embodiment, for convenience of explanation, the work vehicle 10 is described as a cargo crane, but is not limited thereto, and can be applied to various work vehicles having a length-adjustable component.

For example, the work vehicle 10 may include a work vehicle body 12, a boom 14, and an outrigger 16.

The work vehicle body 12 is a device in which various driving mechanisms for operating the boom 14 and the outrigger 16 are installed in a commercial vehicle, and can perform the movement function of the work vehicle 10, and the boom 14 Power and control signals for the operation of the and outrigger 16 may be provided.

The boom 14 is a device for transporting or transporting the work of the work vehicle 10 in at least one of the up-down direction, the left-right direction, or the front-rear direction. Boom 14 is formed of a plurality of multi-stage structure can be adjusted in length in the longitudinal direction.

That is, one end of the boom 14 may be rotatably connected to the work vehicle body 12, and the other end of the boom 14 may be formed in a multi-stage structure to be adjustable in length in the longitudinal direction of the boom 14 . The work piece of the work vehicle 10 may be disposed at the other end of the boom 14.

The outrigger 16 is a device for stably supporting the work vehicle body 12 on the ground. The outrigger 16 may be formed to be adjustable in length in the longitudinal direction, such as the boom 14. A plurality of the outriggers 16 as described above may be arranged to be spaced apart from each other on the circumference of the work vehicle body 12. Hereinafter, in the present embodiment, although the outrigger 16 is described as being disposed on the front left and right sides and the rear left and right sides of the working vehicle body 12, respectively, the working vehicle body 12 is disposed only on the front left and right sides of the working vehicle body 12. It may be disposed only on the left and right rear.

1 and 2, the fall/fall protection system 100 of the work vehicle 10 according to an embodiment of the present invention includes an input unit 110, a detection unit 120, a control unit 130, And a display unit 140.

The fall/turnover prevention system 100 according to the present embodiment is produced through the work vehicle 10 when the work vehicle 10 is manufactured, or through a separate installation work on the completed work vehicle 10 It may be installed in the vehicle 10. Here, when the fall/turnover prevention system 100 is separately installed in the pre-completed work vehicle 10, it can be easily applied to various types of work vehicles 10 to realize common use of parts.

As described above, the input unit 110, the sensing unit 120, the control unit 130, and the display unit 140 may be installed in the work vehicle 10. In particular, the display unit 140 is preferably disposed at a position that can be visually confirmed from a position where an operator of the work vehicle 10 operates the operation of the boom 14.

1, 2, and 4, the input unit 110 according to the present embodiment is configured to receive fixed parameters of the work vehicle 10. As the input unit 110, various types of input devices such as a keyboard or a touch panel may be used, but it is described in this embodiment that the touch panel is used.

The fixed parameter as described above is a parameter having a fixed value among information necessary for ZMP calculation, and is information that always shows a constant value regardless of the operating state of the work vehicle 10. However, the fixed parameter can be easily modified through the input unit 110 to smoothly respond to parts replacement and design change of the work vehicle 10.

For example, the fixed parameters include the weight of the work vehicle 10, the center of gravity of the work vehicle 10, the weight of the boom 14, the initial weight of the boom 14, the length of the withdrawal of the outrigger 16, or It may include at least one of the distance between the outriggers (16).

As illustrated in FIG. 4, the input unit 110 may include a touch panel disposed on the screen of the display unit 140. Therefore, the operator can directly input the fixed parameter to the fixed parameter display unit 140a of the display unit 140 to be described later while checking the screen of the display unit 140. In the fixed parameter display unit 140a of the display unit 140 as described above, input windows may be formed for each type of fixed parameter to independently input or modify the fixed parameter.

1, 2, and 4, the sensing unit 120 according to the present embodiment is a device that detects a variable flow parameter according to the operating state of the work vehicle 10. The sensing unit 120 may be composed of a plurality of sensors for sensing flow parameters, and may be individually disposed at operating positions of the work vehicle 10.

The above-described flow parameter is a parameter for simulating the working operation of the work vehicle 10, and is information flowing in various sizes according to the operating state of the work vehicle 10. That is, the flow parameter may be sensed by various values in the sensing unit 120 according to the operation operation of the work vehicle 10. Accordingly, if the flow parameter is appropriately modified, a specific operation motion of the work vehicle 10 can be simulated.

For example, the flow parameter may include at least one of the elevation angle of the boom 14, the rotation angle of the boom 14, the load of the workpiece, or the withdrawal length of the boom 14.

1 and 2, the sensing unit 120 includes a boom length sensor 121, a first boom angle sensor 122, a second boom angle sensor 123, an outrigger length sensor 124, It may include a load detection sensor 125, and a tilt detection sensor 126.

The boom length sensor 121 is a sensor that detects the withdrawal length of the boom 14 and may be disposed on one side of the boom 14. Specifically, the boom length sensor 121 may be disposed at the other end of the boom 14 to which the load of the work is connected. The control unit 130 can accurately calculate the withdrawal length of the boom 14 using the sensed value of the boom length sensor 121, and also derive the working radius of the work vehicle 10.

The first boom angle sensor 122 is a sensor that detects the rising angle of the boom 14 and may be disposed between the other side of the boom 14 and the work vehicle body 12. Specifically, the first boom angle sensor 122 may be disposed at the other end of the boom 14 and the connecting portion of the work vehicle body 12. The control unit 130 can accurately calculate the undulation angle of the boom 14 using the sensed value of the first boom angle sensor 122, and also derive a working radius of the work vehicle 10.

The second boom angle sensor 123 is a sensor that senses a rotation angle of the boom 14 and may be disposed between the other side of the boom 14 and the body of the work vehicle 12. Like the first boom angle sensor 122 described above, the second boom angle sensor 123 may also be disposed at the other end of the boom 14 and the connection of the work vehicle body 12. The control unit 130 can accurately calculate the horizontal turning angle of the boom 14 using the sensed value of the second boom angle sensor 123, and also the work prohibition area set in front of the work vehicle 10 Can be derived.

The outrigger length sensor 124 is a sensor that detects the withdrawal length of the outrigger 16, and may be disposed on each of the four outriggers 16 provided in the work vehicle body 12. The control unit 130 can accurately calculate the withdrawal lengths of the outriggers 16 using the sensed value of the outrigger length sensor 124, and also derive the working radius of the work vehicle 10.

The load sensing sensor 125 is a sensor that senses the load of the work, and may be disposed on the boom 14. Specifically, the load detection sensor 125 is placed on the connecting portion of the boom 14 and the workpiece to directly detect the load of the workpiece, or placed on the connecting portion of the boom 14 and the work vehicle body 12 to boom It can be detected through the load change in (14).

The tilt detection sensor 126 is a sensor that detects a tilt of the work vehicle body 12 and may be disposed on the work vehicle body 12. The tilt sensor 126 is a device for measuring the tilt of the ground or the tilt of the work vehicle body 12 due to the structure of the work vehicle 10.

4, the detection value of the detection unit 120 may be displayed in real time on the screen of the display unit 140. That is, the detection value of the detection unit 120 may be displayed in real time according to the operation state of the work vehicle 10 on the flow parameter display unit 140b of the display unit 140 to be described later. Meanwhile, the sensed value of the sensed unit 120 may be corrected using the touch panel of the input unit 110 to sense the sensed value of the sensed unit 120 displayed on the flow parameter display unit 140b. In the flow parameter display unit 140b of the display unit 140 as described above, display windows may be formed for each type of flow parameter to independently display or modify the flow parameter.

1, 2, and 4, the control unit 130 according to the present exemplary embodiment is a device for determining whether a work vehicle 10 conducts/turns over by using a fixed parameter and a flow parameter. The control unit 130 may be connected to the input unit 110 and the sensing unit 120 to enable signal transmission. Accordingly, the control unit 130 can accurately receive the fixed parameter input to the input unit 110 and the flow parameter detected by the detection unit 120 in real time.

The control unit 130 can calculate the ZMP positions (P, P1, P2) and the stable area (A) of the work vehicle 10 using fixed parameters and flow parameters, and the ZMP positions (P, P1, P2) ) And the stable area A to determine whether the work vehicle 10 is inverted/overturned. For example, if the ZMP positions P, P1, and P2 exist inside the stable area A, the control unit 130 may determine that the work vehicle 10 is in a stable state without risk of conduction/overturn. When the ZMP positions P, P1, and P2 are present outside the stable area A, it may be determined that there is a risk of conduction/overturning of the work vehicle 10.

Here, the stable region A means a stable region in which no conduction or overturning of the work vehicle 10 occurs. The stable area A as described above may be variously set according to the design conditions and circumstances of the work vehicle 10. For example, in the case of a caterpillar excavator, a rectangular area formed by the length and width of the caterpillar may be set as a stable area, and in the case of the cargo crane 10 equipped with the outrigger 16, the outriggers of the front left and right sides And a rectangular area formed between the rear left and right outriggers may be set as the stable area A.

In addition, the ZMP positions P, P1, and P2 are positions analyzed based on the ZMP theory, which means a point where the sum of all reaction forces acting on the lower body of the work vehicle 10 becomes zero. The ZMP theory is to determine whether to conduct or not according to the position of the point where the sum of the gravity, inertia, and external forces generated by the dynamic center of gravity and the center of gravity of the object constituting the work vehicle 10 becomes zero. That is, if the ZMP positions P, P1, and P2 set corresponding to the working state of the work vehicle 10 are in the stable area A, it can be determined that the stable state is stable against conduction, and the stable area A If you go outside, you can judge that the danger is that evangelism occurs.

The calculation of the ZMP positions P, P1, and P2 as described above and the determination of the risk of conduction/overturn will be described in more detail below.

On the other hand, the control unit 130 determines whether or not the danger of the work vehicle 10 to fall/overturn, and at the same time calculates the allowable range of operation to not change from the stable state to the dangerous state, and the operator through the display unit 140 It can be provided in real time.

That is, the control unit 130 may calculate the safety distance formed between the ZMP positions P, P1, and P2 and the boundary of the stable area A in real time. Using the above ZMP positions (P, P1, P2) and the safety distance of the stable area (A), the operation allowable range of the work vehicle 10 capable of changing the ZMP positions (P, P1, P2) is calculated. Can.

In addition, the control unit 130 may also calculate a safety change range of flow parameters for maintaining the stable state of the work vehicle 10. In one example, when the control unit 130 changes any one of the elevation angle of the boom 14, the rotation angle of the boom 14, the load of the work, or the withdrawal length of the boom 14, the ZMP position P, P1 , P2) is changed, it is possible to calculate the safety change range of the flow parameter by comparing the change of the ZMP positions P, P1, P2 according to the change of the flow parameter to the operation allowable range of the work vehicle 10.

1, 2, and 4, the display unit 140 according to the present exemplary embodiment is a device that visually provides a worker with a fall/overturn of the work vehicle 10. The display unit 140 may be connected to the control unit 130 to enable signal transmission. That is, the display unit 140 may display various information received from the control unit 130 in real time to the operator.

The display unit 140 may include a display member for displaying various information. On the screen of the display member of the display unit 140, a fixed parameter input to the input unit 110, a flow parameter detected by the detection unit 120, and a stable area A analyzed by the control unit 130 and Both the ZMP positions (P, P1, P2) and the risk of conduction/overturn can be indicated.

That is, on the screen of the display member of the display unit 140, real-time changes in the ZMP positions P, P1, and P2 are displayed on the stable area A, so that the worker is visually informed whether the work vehicle 10 is inverted/overturned. Can be provided. At this time, if the control unit 130 is determined to be a dangerous state for the fall / overturn of the work vehicle 10, the display unit 140 provides a warning signal for the fall / overturn of the work vehicle 10 to the operator in various ways. Can provide. For example, the display unit 140 may be provided with a horn, a warning light, a warning message, etc. for generating a warning signal.

In addition, the display unit 140 provides numerically at least one of the ZMP positions P, P1, and P2 calculated by the control unit 130 and the safety distance of the stable region A or the safety change range of the flow parameter, or It can be provided by displaying areas of different colors. Accordingly, the operator is in a stable state of the work vehicle 10 while checking in real time the safety distance of the ZMP positions P, P1, and P2 provided from the display unit 140 and the safety distance of the stable area A and the safety change range of the flow parameter. The operation of the work vehicle 10 in the direction to maintain it can be appropriately adjusted.

As shown in FIG. 4, on the screen of the display unit 140, a fixed parameter display unit 140a, a flow parameter display unit 140b, an analysis result display unit 140c for conduction/turnover, a vehicle stability display unit 140d, and A warning display unit 140e for conduction/turnover may be formed.

The fixed parameter display unit 140a may display fixed parameters input to the input unit 110 for each item, and the flow parameter display unit 140b may display flow parameters sensed by the detection unit 120 for each item. Meanwhile, the fixed parameter display unit 140a and the flow parameter display unit 140b may modify the fixed parameter or the flow parameter using the touch panel of the input unit 110.

The result of the analysis of the conduction/turnover display unit 140c can display the stable region A and the ZMP positions P, P1, and P2 calculated by the control unit 130 together in a graph shape in real time, and the vehicle stability display unit (140d) may indicate the safety rate applied when analyzing the risk of the fall / overturn of the work vehicle 10, the warning display unit 140e of the fall / overturn risk of the fall / overturn by the control unit 130 If it is judged as the state, a warning signal can be displayed.

Looking at the method of preventing the fall / overturn of the work vehicle 10 according to another embodiment of the present invention configured as described above is as follows. 3 is a flowchart illustrating a method for preventing fall/overturn of a work vehicle according to another embodiment of the present invention.

1 to 3, a method for preventing fall/overturn of a work vehicle according to another embodiment of the present invention includes inputting a fixed parameter of the work vehicle 10 through the input unit 110 (S10), Step S11 of detecting the flow parameter of the work vehicle 10 through the detection unit 120 when the work vehicle 10 is operated, and the control unit 130 analyzes the fixed parameters to the stable area of the work vehicle 10 (A) calculating step (S12), the control unit 130 analyzes the fixed parameter and the flow parameter to calculate the ZMP position (P, P1, P2) that changes according to the operating state of the work vehicle (10) (S13), the control unit 130 compares the stable area (A) of the work vehicle 10 with the ZMP positions (P, P1, P2) (S14), and the ZMP positions (P, P1, P2) are stable Detecting whether it is disposed inside the area A to determine whether the work vehicle 10 is in danger of falling/overturning (S15, S16, S17), and ZMP positions (P, P1, P2), the stable area (A), and providing a real-time through the display unit 140 to the operator of the work vehicle 10 whether the danger of the fall / overturn of the work vehicle (S18).

In the step of inputting the fixed parameter (S10), the fixed parameter is individually set on the fixed parameter display unit 140a of the display unit 140 using the touch panel of the input unit 110 disposed on the display member of the display unit 140. Enter as The fixed parameter as described above is a fixed value that does not change according to the operating state of the work vehicle 10, and can be displayed to the operator through the fixed parameter display unit 140a of the display unit 140, and the input unit 110 It can also be modified using a touch panel.

In the step (S11) of detecting the flow parameter, various sensors of the detection unit 120 during operation of the work vehicle 10 detect a flow parameter that varies according to the operation state of the work vehicle 10. Since the flow parameter as described above continuously changes during operation of the work vehicle 10, it is continuously measured in the operation state of the work vehicle 10. Meanwhile, the flow parameter may be displayed in real time to an operator through the flow parameter display unit 140b of the display unit 140.

In the step (S12) of calculating the stable area A, the control unit 130 analyzes the fixed parameter to calculate the stable area A with no risk of falling/turnover when the work vehicle 10 is operated. Since the stable area A as described above is a rectangular area formed by the outriggers 16 drawn out from the work vehicle 10, the control unit 130 has a length out of the outriggers 16 among various information of fixed parameters. And analyzing the distance between the outriggers 16 to calculate a stable area A of the work vehicle 10.

As shown in FIG. 1, the control unit 130 displays the stable region A by setting analysis coordinates when the stable region A is set. For example, the analysis coordinates can be set around the rotation point of the boom 14 connected to the work vehicle body 12. The Z-axis of the analysis coordinates may be set in the vertical direction of the work vehicle body 12, the Y-axis of the analysis coordinates may be set in the horizontal direction of the work vehicle body 12, the X-axis of the analysis coordinates the work vehicle body. It can be set in the horizontal direction before and after (12). However, it is not limited to the analysis coordinates of the present embodiment, and coordinates may be set at various positions according to design conditions and situations of the work vehicle 10.

In the step (S13) of calculating the ZMP positions P, P1, and P2, the control unit 130 analyzes the fixed parameter and the flow parameter, and the ZMP positions P, P1 changed according to the operation state of the work vehicle 10 , P2). Here, the ZMP positions P, P1, and P2 are calculated based on the ZMP theory, and detailed description thereof will be described again below.

Meanwhile, step S13 of calculating the ZMP positions P, P1, and P2 derives the current position P1 of the ZMP position P using the current value of the flow parameter sensed by the sensing unit 120. Step, deriving the predicted value of the flow parameter after the set time according to the change trend of the flow parameter, and deriving the predicted position (P2) of the ZMP position (P) using the predicted value of the flow parameter Can.

The current position P1 of the ZMP positions P, P1, P2 is the actual position corresponding to the current operation of the work vehicle 10, and the predicted position P2 of the ZMP positions P, P1, P2 is the work vehicle ( 10) is a virtual predicted location corresponding to the future operation. For example, if the set time is set to 1 second in the control unit 130, the predicted position P2 of the ZMP positions P, P1, and P2 is the ZMP of the work vehicle 10 for a future time point that is 1 second past the current time point. Corresponds to the location.

The set time as described above can be variously changed according to the taste of the operator and the state of the work vehicle 10. That is, when it is determined that the reaction of the worker or the work vehicle 10 is slow or the work progress rate of the work vehicle 10 is fast, the setting time can be increased to secure a time to sufficiently deal with the risk of falling/turnover, and the worker Alternatively, when it is determined that the reaction of the work vehicle 10 is fast or the work progress rate of the work vehicle 10 is slow, the setting time can be shortened to immediately respond to the risk of falling/turnover in real time.

For reference, the current position P1 and the predicted position P2 of the ZMP positions P, P1, and P2 are set according to the same analysis coordinates as the stable area A. Therefore, the stable region A and the ZMP positions P, P1, and P2 can be displayed together on the same analysis coordinates.

In the step (S14) of comparing the stable area A and the ZMP positions P, P1, and P2, the control unit 130 compares the ZMP positions P, P1, and P2 to the stable area A, and the ZMP position It is determined whether the current position (P1) or the expected position (P2) of the (P, P1, P2) is located inside or outside the stable area (A).

In the step (S15, S16, S17) of determining whether the work vehicle 10 is in danger of overturning/overturning, the current position P1 and the expected position P2 of the ZMP positions P, P1, and P2 are stable areas It detects whether it is disposed inside (A) and determines in real time whether there is a danger of overturning/overturning when the work vehicle 10 is operated.

As described above, the control unit 130 uses the current position P1 and the predicted position P2 of the ZMP positions P, P1, and P2 to determine whether there is a current danger for conduction/overturn of the work vehicle 10 and 1 At the same time, it is possible to judge whether or not the danger after the second. Therefore, it is possible for the control unit 130 to determine in advance whether there is a danger of overturning/overturning before the operation of the work vehicle 10 is actually executed.

That is, in the step (S15, S16, S17) of determining whether the work vehicle 10 is in danger of overturning/overturning, the predicted position (P2) of the ZMP positions (P, P1, P2) of the stable area (A) When present inside, it is determined that the work vehicle 10 is in a stable state (S15, S16) without risk of falling/overturn, and the predicted position (P2) of the ZMP positions (P, P1, P2) is the stable area (A) If it is located outside of the work vehicle 10, it is determined as a dangerous state (S15, S17) with a risk of falling/overturning.

In the step (S18) of displaying whether the ZMP position (P, P1, P2), the stable area (A), and whether the work vehicle 10 is in danger of falling/overturning, the control unit (130) through the display unit (140) ) Provides the information calculated by) to the operator of the work vehicle 10 in real time.

Accordingly, the operator of the work vehicle 10 can confirm in real time the ZMP positions P, P1, and P2 with respect to the stable region A through the display unit 140c as a result of analysis of the fall/overturn of the display unit 140. , It is also possible to operate the work vehicle 10 in advance in a direction in which the fall/overturn of the work vehicle 10 does not occur.

On the other hand, the method for preventing the fall/overturn of the work vehicle 10 according to the present embodiment provides a warning signal to the worker about the fall/overturn of the work vehicle 10 when it is determined to be in a dangerous state during operation of the work vehicle 10 It may further include a step.

In the step of providing a warning signal for the fall/turnover of the work vehicle 10, a warning sign may be provided to the operator through the display unit 140, but the present invention is not limited thereto. Further warning elements may be used.

In the present embodiment, when it is determined that the operation vehicle 10 is in a dangerous state, the danger indication of the fall/turnover is provided to the operator through the warning display unit 140e of the fall/turnover of the display unit 140. Therefore, even if the operator of the work vehicle 10 does not continuously check the display unit 140 in real time, it is possible to display the danger of the fall/turnover displayed on the fall/overturn warning display 140e of the display unit 140. Through the work vehicle 10 can be prevented from falling / overturning.

Meanwhile, in the following (S13) for calculating the ZMP position (P, P1, P2), a specific calculation method according to the ZMP theory is as follows.

The object (mass m) system can be expressed in a vector relationship, and the equation for a specific point P for the object system is expressed as Equation 1 when D'Alembert Principle is expressed.

Here, each parameter of [Equation 1] is as follows.

The ZMP of the work vehicle 10 is the same as the following [Equation 2] by [Equation 1].

To determine the conductivity of a moving object, expressing ZMP for acceleration and rotation speed is as shown in [Equation 3].

When the moment and the external force do not act from the outside of the work vehicle 10, [Equation 3] can be simply expressed as [Equation 4] below. The ZMP positions P, P1, and P2 according to the present embodiment can also be calculated using [Equation 4].

For reference, except for the dynamic component in [Equation 4], as in the Center of Gravity (COG) theory, ZMP is equal to the overall center of gravity position of the work vehicle 10.

That is, the COG theory uses the gravity center of gravity of an object, and determines that it is stable with respect to conduction when the center of gravity is located within the support surface, and determines that conduction occurs when it is outside the support surface. However, the COG theory has a limitation that it is valid only when the object is stationary without moving.

4 to 6 is a view showing the results of analyzing the allowable load of the work according to the working radius of the boom 14 using the fall / overturn prevention method shown in Figure 3, Figure 7 to Figure 9 is a diagram The results of analyzing the change of the ZMP position according to the load of the work using the fall/overturn prevention method shown in the drawing are illustrated, and FIGS. 10 to 11 are booms using the fall/overturn prevention method shown in FIG. 3 It is a diagram showing the results of predicting the risk of conduction/overturning due to the rotational motion of.

4 to 11 show an example of using a method of simulating a method of preventing fall/overturn of a work vehicle 10 according to the present embodiment.

4 to 6, in FIGS. 4 to 6, an allowable load of a work piece for each work radius of the work vehicle 10 is analyzed by using a method for preventing fall/overturn of the work vehicle 10 according to the present embodiment. The results are shown.

That is, the working radius is adjusted by adjusting the 4th, 5th, and 6th stages of the boom 14 while the working vehicle 10 is stopped. Hereinafter, in this embodiment, it will be described that the boom 14 of the work vehicle 10 is formed in six stages. At this time, the elevation angle and rotation angle of the boom 14 are set to 0 degrees (0°), and the outriggers 16 are drawn out to the maximum.

FIG. 4 shows the result of calculating the allowable load when the working radius is 13 m, and FIG. 5 shows the result of calculating the allowable load when the working radius is 16 m, and FIG. 6, the working radius is 19 m. The result of calculating the allowable load at the time is shown.

In fact, in FIGS. 4 to 6, only the lengths indicated in the "4, 5, and 6-step elongation length (mm)" of the flow parameter display unit 140b are varied to different sizes, and the warning display unit 140e for conduction/overturning The allowable load and the work radius of the work are respectively indicated in "Maximum lifting load (kg)" and "Work radius (m)".

In conclusion, it can be seen that when the working radius is long, the allowable load must be reduced in order to prevent the work vehicle 10 from falling/overturning.

7 to 9, in FIGS. 7 to 9, ZMP positions (P, P1, and P2) are changed for each load of a work using the method of preventing fall/overturn of the work vehicle 10 according to the present embodiment. The results of the analysis are shown.

That is, the working radius is adjusted by adjusting the 4th, 5th, and 6th stages of the boom 14 while the working vehicle 10 is stopped. At this time, the elevation angle and rotation angle of the boom 14 are set to 0 degrees (0°), and the working radius is set to 16 m. In addition, the outriggers 16 are in a state where they are withdrawn to the maximum.

Fig. 7 shows the result of calculating the ZMP positions (P, P1, P2) when the work load is 10 tons (10 ton), and Fig. 8 shows when the work load is 13 tons (13 ton). The result of calculating the ZMP position (P, P1, P2) is shown, and FIG. 9 shows the result of calculating the ZMP position (P, P1, P2) when the load of the work piece is 16 tons (16 ton). have.

In fact, in FIGS. 7 to 9, the "main load weight (ton) of the flow parameter display unit 140b in a state in which the "4, 5, and 6-step elongation length (mm)" of the flow parameter display unit 140b is fixed at a constant value )" is changing to different sizes. In particular, the analysis part of the conduction/overturn is displayed on the display unit 140c in which the ZMP positions P, P1, and P2 are changed according to the load change of the work while the stable region A is fixed.

In conclusion, it can be seen that when the load of the work piece is increased, the risk for the conduction/overturn of the work vehicle 10 increases because the ZMP positions P, P1, and P2 are close to the boundary of the stable region A. .

Referring to FIGS. 10 to 11, FIGS. 10 to 11 show the results of analyzing the risk of falling/falling using the falling/falling prevention method of the work vehicle 10 according to the present embodiment.

That is, as the working radius of the work vehicle 10, the load of the work, and the rotation angle of the boom 14, etc. are changed, it is analyzed whether the work vehicle 10 is in danger of falling/overturning. In this embodiment, for the convenience of explanation, the analysis is performed by varying only the rotation angle of the boom 14 in a state where the elevation angle of the boom 14, the working radius of the work vehicle 10, and the load of the work are set to fixed values. Did.

FIG. 10 shows the current position P1 and the expected position P2 of the stable area A and the ZMP positions P, P1, and P2 when the rotation angle of the boom 14 is 9 degrees (9°). 11, the current position P1 and the predicted position P2 of the stable area A and the ZMP positions P, P1, and P2 when the rotation angle of the boom 14 is -14 degrees (-14°). ) Is shown.

In fact, in Figs. 10 to 11, the "boom elevation angle (deg)" and "main load weight (ton)" and "4,5,6 stage elongation length (mm)" of the flow parameter display unit 140b are constant values. In the fixed state, only the "boom rotation angle (deg)" of the flow parameter display unit 140b is varied to different sizes.

In particular, the current position (P1) and prediction of the ZMP position (P, P1, P2) according to the change in the rotation angle of the boom (14) while the stable area (A) is fixed on the display part (140c) as a result of the analysis of the fall/turnover It is indicated that the position P2 is variable. For reference, in the analysis result display section 140c of conduction/overturn, the current position P1 of the ZMP positions P, P1, and P2 is indicated by a red dot, and the prediction of the ZMP positions P, P1, P2 is expected. The position P2 is indicated by a yellow dot.

In conclusion, when the rotation angle of the boom 14 is changed, even if the current position P1 of the ZMP positions P, P1, P2 exists inside the stable area A, the ZMP positions P, P1, P2 Since the expected position P2 of) is outside the stable area A, it is possible to predict the conduction/overturn of the work vehicle 10 that will occur after the set time.

Therefore, the "conduction warning (after 1 second)" of the warning/overturn warning display unit 140e indicates that the worker is in danger of falling/overturning in red color to warn the operator of the falling or overturning of the work vehicle 10. .

12 to 13 is a view showing an example for informing the operator of the results of predicting the risk of the fall / fall using the fall / fall prevention method shown in FIG. 3.

3, 12, and 13, in the step of determining whether the work vehicle 10 is in danger of falling/overturning (15, S16, S17), the ZMP positions (P, P1, P2) and the stable region A safety distance formed between the boundaries of (A) can be calculated, and a safety change range of flow parameters for maintaining a stable state can be calculated. The display unit 140 may provide the operator with at least one of a safe distance or a safety change range of a flow parameter numerically, or may provide the operator with areas displayed in different colors.

That is, the control unit 130 can calculate the safety distance formed between the ZMP positions P, P1, and P2 by comparing the boundary between the stable region A. As illustrated in FIG. 12, a display window for displaying “remaining safety distance” in real time may be formed on a screen of the display unit 140.

The control unit 130 as described above may check in real time the risk of overturning/overturning according to the safety distance according to a predetermined safety factor. As illustrated in FIG. 12, a display window for setting a “safety rate” may be formed on a screen of the display unit 140, and a status bar for displaying a risk of a safety distance may be formed according to the safety rate. . In the above status bar,'safety (green)','caution (yellow)', and'danger (red)' may be displayed according to the danger level of the safety distance.

In particular, the display unit 140 visually displays the'attention area (yellow)' and'dangerous area (red)' of the safety distance based on the boundary of the stable area A in the display unit 140c as a result of the analysis of conduction/overturn. Can be displayed. Therefore, the operator of the work vehicle 10 operates the operation of the work vehicle 10 so that the ZMP positions P, P1, and P2 do not approach the'attention zone (yellow)' and'danger zone (red)' of the safety distance. It is possible to appropriately adjust to prevent the work vehicle 10 from falling or tipping over.

On the other hand, the control unit 130 may calculate the safety change range of the flow parameter for maintaining the stable state of the work vehicle 10 by comparing the boundary between the ZMP positions P, P1, P2 and the stable area A have. Specifically, the control unit 130 may detect a change in the safety distance according to the change of the flow parameter, and by using this, the safety change range of the flow parameter for maintaining the safety state of the work vehicle 10 may be derived have.

Although the display unit 140 may provide the operator with a safety change range of the flow parameter numerically, as shown in FIG. 13, while providing the size of the flow parameter in a slide bar type, the color coded safety of the flow parameter slide bar is provided. You can provide a range of changes.

As shown in FIG. 12, the flow parameter display unit 140b of the display unit 140 includes the elevation angle of the boom 14, the rotation angle of the boom 14, the load of the work, and the withdrawal length of the boom 14. A plurality of corresponding slide bars can be provided. As shown in FIG. 13, the area indicating the safety change range of the flow parameter is indicated in color next to the slide bar of the flow parameter.

For example, the safety change range of the flow parameter may be indicated by a'green bar', and a danger range other than the safety change range of the flow parameter may be indicated by a'red bar'. In FIG. 13, a slide bar of “boom elevation angle” corresponding to the elevation angle of the boom 14 among the flow parameters is illustrated, and the safety change range and the danger range according to the elevation angle of the boom 14 are indicated by green bars and red bars. It is done. As the rising angle of the boom 14 as described above decreases, the risk of falling/overturning of the work vehicle 10 increases, thereby indicating a safety change range in the area of the slide bar where the rising angle of the boom 14 increases. A green bar may be arranged, and a red bar indicating a danger range may be arranged in an area of the slide bar where the boom 14 has a small rising angle.

Accordingly, the operator of the work vehicle 10 can stably change the flow parameter while visually checking the display unit 140 in real time, thereby preventing the work vehicle 10 from falling or overturning due to the change of the flow parameter. To prevent. That is, when adjusting the undulation angle of the boom 14, the working vehicle 10 is configured so that the position of the slide bar indicating the rising angle of the boom 14 is disposed within the safety change range of the green bar and does not move to the danger range of the red bar. ) Can operate the boom 14.

The above ZMP positions (P, P1, P2) and the safety distance of the stable area (A) and the safety change range of the flow parameter can be changed in real time according to the operation and working environment of the work vehicle 10, so that the operator Through the display unit 140, the safety distance and the color gamut indicated by the safety change range can be continuously monitored to easily prevent the danger of the work vehicle 10 from falling/overturning in advance.

As described above, in the embodiments of the present invention, specific matters such as specific components and the like have been described by the limited embodiments and drawings, but these are provided only to help the overall understanding of the present invention, and the present invention is limited to the above embodiments It will not be, and those skilled in the art to which the present invention pertains can make various modifications and variations from these descriptions. Accordingly, the spirit of the present invention should not be limited to the described embodiments, and should not be determined, and all claims that are equivalent to or equivalent to the claims, as well as the claims to be described later, belong to the scope of the spirit of the present invention. .

10: vehicle
14: Boom
16: Outrigger
100: fall/fall protection system of the work vehicle
110: input unit
120: detection unit
130: control unit
140: display unit
A: stable area
P: ZMP position

Claims (8)

In the fall/fall protection system of the work vehicle, informing the operator of the danger of falling or tipping over according to the operation state of the work vehicle,
An input unit that receives fixed parameters of the working vehicle;
A sensing unit that senses a flow parameter variable according to the operating state of the working vehicle;
The input unit and the sensing unit are connected to receive the fixed parameter and the flow parameter, and the ZMP position and the stable area of the work vehicle are calculated using the fixed parameter and the flow parameter, and the ZMP position and the stable A control unit comparing areas to determine whether the work vehicle is inverted/turned over; And
A display unit connected to the control unit, and displaying a real-time change of the ZMP position on the stable area to visually provide the operator with a fall/overturn of the work vehicle;
Fall / fall protection system of a work vehicle comprising a.
According to claim 1,
The work vehicle includes: a work vehicle body; A boom rotatably connected to the main body of the work vehicle, the other end of which is connected to the work so as to be adjustable in length; And a plurality of lengths of the work vehicle main body being arranged to be adjustable in length, and including an outrigger supporting the work vehicle body on the ground.
The fixed parameter includes at least one of the weight of the work vehicle, the center of gravity of the work vehicle, the weight of the boom, the initial weight of the boom, the withdrawal length of the outrigger, or the distance between the outriggers. ,
The flow parameter includes at least one of an elevation angle of the boom, an angle of rotation of the boom, a load of the workpiece, or a length of withdrawal of the boom.
According to claim 2,
The sensing unit,
A boom length sensor disposed on one side of the boom so as to sense the withdrawal length of the boom; A first boom angle sensor disposed between the other side of the boom and the main body of the work vehicle to sense an upward angle of the boom; A second boom angle sensor disposed between the other side of the boom and the body of the work vehicle to sense the rotation angle of the boom; An outrigger length sensor disposed in each of the outriggers to sense the withdrawal length of the outrigger; A load sensing sensor disposed on the boom to sense the load of the workpiece; And a tilt detection sensor disposed on the work vehicle body to sense the tilt of the work vehicle body.
Fall / fall protection system of a work vehicle comprising a.
According to claim 2,
The control unit determines that the ZMP position is inside the stable area, and determines that the work vehicle is in a stable state without risk of tipping/overturning, and if the ZMP position is outside the stable area, the work vehicle It is judged as a dangerous state with a risk of falling/overturning,
The display unit, if determined to be in a dangerous state by the control unit, the fall/fall protection system of the work vehicle, characterized in that to provide a warning signal for the fall/fall of the work vehicle to the worker.
In the method for preventing the fall / overturn of a work vehicle using the fall / overturn prevention system of the work vehicle according to any one of claims 1 to 4,
Inputting a fixed parameter of the work vehicle through the input unit;
Detecting a flow parameter of the work vehicle through a sensing unit when the work vehicle is in operation;
Calculating a stable area of the work vehicle by analyzing the fixed parameter by a control unit;
Analyzing the fixed parameter and the flow parameter by the control unit to calculate a ZMP position changed according to an operation state of the work vehicle;
Comparing, by the control unit, a stable area of the work vehicle and a ZMP position;
Detecting whether the ZMP position is disposed inside the stable area to determine whether the work vehicle is in danger of falling/overturning; And
Providing the ZMP location, the stable area, and whether the work vehicle is in danger of tipping/overturning in real time through a display unit to an operator of the work vehicle;
Method for preventing the fall / overturn of a work vehicle comprising a.
The method of claim 5,
Providing the worker with a warning signal for overturning/overturning of the work vehicle when it is determined that the danger condition occurs during operation of the work vehicle;
Falling / overturning prevention method of a work vehicle further comprising a.
The method of claim 5,
The step of calculating the ZMP position,
Deriving the current position of the ZMP position using the current value of the flow parameter sensed by the sensing unit;
Deriving an expected value of the flow parameter after a set time according to the change trend of the flow parameter; And
Deriving the predicted position of the ZMP position using the predicted value of the flow parameter;
Falling / overturning prevention method of a work vehicle comprising a.
The method of claim 7,
In the step of determining whether the work vehicle is at risk of falling/overturning, if the predicted position of the ZMP position exists inside the stable area, it is determined as a stable state without risk of falling/overturning of the working vehicle, If the predicted position of the ZMP position is outside the stable area, it is determined that the work vehicle is in danger of falling/overturning.

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