WO2013149453A1 - Construction vehicle and safe steering early warning apparatus and method therefor - Google Patents
Construction vehicle and safe steering early warning apparatus and method therefor Download PDFInfo
- Publication number
- WO2013149453A1 WO2013149453A1 PCT/CN2012/081690 CN2012081690W WO2013149453A1 WO 2013149453 A1 WO2013149453 A1 WO 2013149453A1 CN 2012081690 W CN2012081690 W CN 2012081690W WO 2013149453 A1 WO2013149453 A1 WO 2013149453A1
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- WIPO (PCT)
- Prior art keywords
- safety steering
- vehicle
- early warning
- construction vehicle
- warning device
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
- B28C5/4206—Control apparatus; Drive systems, e.g. coupled to the vehicle drive-system
- B28C5/422—Controlling or measuring devices
- B28C5/4224—Roll-over prevention
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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
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
- B60P1/045—Levelling or stabilising systems for tippers
Definitions
- the present invention relates to the field of vehicle safety alarm devices, and more particularly to an engineering vehicle and a safety steering warning device and method thereof.
- Engineering vehicles such as concrete mixer trucks
- objects to be transported e.g., concrete
- the engineering vehicle has a large weight and a high center of gravity in the running state, the problem of tipping is likely to occur during steering.
- the present invention is directed to an engineering vehicle and a safety steering warning device and method thereof, which solve the problem that the engineering vehicle in the prior art has a large weight, a high center of gravity during driving, and is prone to tipping during cornering.
- a safety steering early warning device for an engineering vehicle is provided.
- the early warning device comprises: a controller, the controller obtains the combined force of the gravity of the engineering vehicle in the running state and the centripetal force received by the engineering vehicle, and determines whether the intersection between the line where the resultant force is located and the surface where the ground is located is in the support region; When the support area is inside, the construction vehicle is in a safe state; when the intersection point is outside the support area, the construction vehicle is in an unsafe state. Further, the controller derives the position of the center of mass of the engineering vehicle according to the structural parameters of the pre-stored engineering vehicle.
- the safety steering warning device further includes a detecting unit for measuring a physical quantity corresponding to the mass of the object to be transported, and the detecting unit transmits the value of the physical quantity detected by the detecting unit to the controller.
- the physical quantity is the mass of the object to be transported or the level of the liquid to be transported.
- the safety steering warning device further includes an alarm device, and the controller controls the alarm device to issue an alarm when the construction vehicle is in an unsafe state.
- an engineering vehicle comprising a safety steering warning device, which is the above-described safety steering warning device.
- a safety steering early warning method for an engineering vehicle is provided, wherein a plurality of support points are provided between the engineering vehicle and the ground, and a plurality of support points enclose a support area, wherein the safety steering early warning method
- the method includes: obtaining the combined force of the gravity of the construction vehicle and the centripetal force of the engineering vehicle in the running state, and determining whether the intersection between the line where the resultant force is located and the surface where the ground is located is in the support area; when the intersection point is located in the support area, the construction vehicle In a safe state; when the intersection is outside the support area, the construction vehicle is in an unsafe state.
- the safety steering early warning method further includes: obtaining a position of a center of mass of the engineering vehicle according to a structural parameter of the pre-stored engineering vehicle. Further, gravity is the sum of the gravity generated by the body of the construction vehicle and the gravity generated by the object being transported by the engineering vehicle. Further, the safety steering early warning method further includes measuring a physical quantity corresponding to the mass of the object to be transported, and obtaining the mass of the transported object according to the physical quantity. Further, the physical quantity is the mass of the object to be transported or the level of the liquid to be transported. Further, the safety steering early warning method further includes: issuing an alarm when the construction vehicle is in an unsafe state.
- the invention can determine the positional relationship between the intersection between the line where the gravity of the engineering vehicle and the centripetal force are located and the surface where the ground is located and the support area of the engineering vehicle; and determine whether the vehicle is in a safe state, the driver can The result of the judgment is performed accordingly, thereby avoiding the problem of tipping.
- Fig. 1 is a schematic view showing the mass and center of mass of each part of a concrete mixer truck
- Fig. 2 is a schematic view showing the total mass and center of mass of a concrete mixer truck
- FIG. 1 is a schematic view showing the mass and center of mass of each part of a concrete mixer truck
- Fig. 2 is a schematic view showing the total mass and center of mass of a concrete mixer truck
- FIG. 1 is a schematic view showing the mass and
- FIG. 4 schematically shows a schematic view when the intersection point is located in the support area;
- FIG. 5 schematically shows the intersection point when it is outside the support area
- FIG. 6 is a schematic view showing the structure of a preferred embodiment of the safety steering warning device of the present invention.
- DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention are described in detail below with reference to the accompanying drawings.
- a safety steering early warning device for an engineering vehicle is provided.
- the engineering vehicle and the ground have a plurality of support points, and the plurality of support points enclose a support area.
- the safety steering early warning device comprises: a controller, the controller obtains the combined force of the gravity of the engineering vehicle in the running state and the centripetal force received by the engineering vehicle, and determines whether the intersection between the straight line where the resultant force is located and the surface where the ground is located is in the support region. When the intersection is located in the support area, the construction vehicle is in a safe state; when the intersection is outside the support area, the construction vehicle is in an unsafe state.
- the safety steering warning device further comprises a storage unit for storing structural parameters of the construction machine, and the storage unit may be integrated in the controller or may be a storage unit independent of the controller.
- the controller obtains the position of the center of mass of the engineering vehicle according to the structural parameters of the pre-stored engineering vehicle (for example: the structure of the whole vehicle, the installation position of each component, the quality and the size, etc., may also be the wheel pitch, the height, etc.) .
- Gravity includes the gravity generated by the body of the construction vehicle and the gravity generated by the object being transported by the construction vehicle.
- the safety steering warning device of the present invention can also realize the function of the safety steering warning.
- the concrete mixing truck is taken as an example to explain the principle of the safety steering warning device. As shown in Fig.
- M, Ml, M2, and M3 are vectors, which represent both the mass and the mass. Indicates the position of the center of mass.
- the mass M1 of the chassis is constant, and the mass M2 of the material and the mass M3 of the water tank may be different (for example, the amount of material and water loaded each time is different).
- the quality and center of mass of the chassis can be directly calculated from the structural parameters of the chassis.
- Fig. 3 is a view showing the relationship between the gravity of the concrete mixer truck and the support region when the centripetal force is generated, wherein LF represents the left front tire, RF represents the right front tire, LB represents the right rear tire, RB represents the right rear tire, and the left front tire
- LF represents the left front tire
- RF represents the right front tire
- LB represents the right rear tire
- RB represents the right rear tire
- the contact points of the right front tire, the right rear tire and the right rear tire with the ground ie the support points) together define the support area of the concrete mixer truck.
- the centripetal force When the centripetal force is generated, the resultant force of the centripetal force F ⁇ and the gravity G of the concrete mixer truck is F, and the intersection between the line where the resultant force F is located and the plane where the support region lies is P.
- the centripetal force In the case shown in Fig. 4, the centripetal force is small, and the intersection point P is located within the support area. At this time, the running of the concrete mixer truck is stable and no tipping occurs.
- the centripetal force In the case shown in Fig. 5, the centripetal force is large, and the intersection point P is outside the support area. At this time, the running state of the concrete mixer truck is unstable, and there is a risk of tipping.
- the safety steering warning device further includes a detecting unit for measuring a physical quantity corresponding to the mass of the object to be transported.
- the physical quantity is the mass of the object to be transported or the liquid level of the object to be transported, and the like.
- the position of the centroid corresponding to each mass can be obtained in advance by statistics, so that the position of the centroid can be known from the measured mass.
- the safety steering warning device further includes an alarm device, and the alarm device is electrically connected to the controller.
- the alarm device includes one or more of an alarm indicator, a buzzer, a display, or a voice alarm to feed back the results of the evaluation to the driver in at least one form.
- Fig. 6 is a view showing the construction of a preferred embodiment of the safety steering warning device of the present invention. As shown in FIG.
- the safety steering warning device includes a plurality of sensors connected to an input port of the controller, and an output port of the controller is connected to at least one alarm device.
- the safety steering warning device further includes a storage unit in which the above-described structural parameters are stored.
- the controller obtains the speed of the concrete mixer truck and the physical quantity corresponding to the mass of the object to be transported through the above plurality of sensors, and then calculates the line where the resultant force is located and the surface where the ground is located in real time in combination with the structural parameters stored in the storage unit. The relationship between the intersection point and the support area, and the corresponding prompt information can be sent to the driver through the alarm device.
- a safety steering early warning method for an engineering vehicle is provided.
- the engineering vehicle and the ground have a plurality of support points, and the plurality of support points enclose a support area.
- the safety steering early warning method includes: obtaining the resultant force of the engineering vehicle under driving and the centripetal force of the engineering vehicle, and determining whether the intersection between the line where the resultant force is located and the surface where the ground is located is in the support area; when the intersection is located in the support area At the time, the construction vehicle is in a safe state; when the intersection is outside the support area, the construction vehicle is in an unsafe state.
- the gravity is the sum of the gravity generated by the body of the construction vehicle and the gravity generated by the transported object carried by the engineering vehicle.
- the safety steering warning method of the present invention can also realize the function of the safety steering warning.
- the safety steering early warning method further comprises: obtaining the engineering according to the structural parameters of the pre-stored engineering vehicle (for example: the structure of the whole vehicle, the installation position of each component, the quality and the size, etc., may also be the wheel spacing, the height, etc.) The position of the center of mass of the vehicle.
- the safety steering early warning method further comprises measuring a physical quantity corresponding to the mass of the object to be transported, and obtaining the mass of the transported object according to the physical quantity.
- the physical quantity is the mass of the object being transported or the level of the liquid being transported.
- the safety steering warning method further comprises: issuing an alarm when the construction vehicle is in an unsafe state to remind the driver to perform appropriate operations to ensure driving safety.
- an engineering vehicle comprising a safety steering early warning device, the safety steering early warning device being the above-described safety steering early warning device.
- the object to be transported may be concrete, or other materials or mechanical equipment to be transported.
- the construction vehicle is a concrete mixer truck.
- the safety steering warning device of the present invention can be used not only for the worker who is loaded with the object to be transported but also for the construction machine that is not loaded with the object to be transported. In addition, it can also be applied to other non-engineered vehicles.
- the above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.
Abstract
Disclosed are a construction vehicle and a safe steering early warning apparatus and method therefor. The safe steering early warning apparatus comprises: a controller, wherein the controller obtains the resultant force of the gravitational force of the construction vehicle and the centripetal force exerted on the construction vehicle in the driving state and judges whether or not the point of intersection between the straight line of the resultant force and the surface of the ground is in a supported region. When the point of intersection is located in a supported region, the construction vehicle is in a safe state. When the point of intersection is located outside a supported region, the construction vehicle is in an unsafe state. According to the locational relationship between the point where the straight line of the resultant force of the gravitational force and centripetal force of the construction vehicle intersects with the surface of the ground and the supported region of the construction vehicle, it is possible to judge whether or not the construction vehicle is in a safe state, and the driver can perform an appropriate action according to the result of the judgement, thereby avoiding the problem of the vehicle overturning.
Description
工程车辆及其安全转向预警装置、 方法 技术领域 本发明涉及车辆安全报警装置领域， 更具体地， 涉及一种工程车辆及其安全转向 预警装置、 方法。 背景技术 工程车辆（例如混凝土搅拌运输车）上经常装载有被运输对象（例如混凝土）， 且 需要长距离行驶。 由于工程车辆在行驶状态下重量大、 重心较高， 因此， 在转向时容 易发生倾翻的问题。 以混凝土搅拌运输车为例， 其用于运输混凝土物料， 需要穿梭于城郊之间。 相对 一般的行驶车辆来说， 混凝土搅拌运输车具有重量大、 重心高的特点， 其驾驶要求不 同于一般的车辆， 尤其在转向时， 需要注意防止倾翻的问题， 以免造成车辆损毁及人 员伤亡。 现有技术只能依靠驾驶员的技能和经验来防止事故的发生。 因此， 如何避免 车辆， 例如混凝土搅拌运输车， 在行驶过程中的失控（尤其是在转弯过程中）， 做到提 前预防是本领域需要解决的技术问题。 发明内容 本发明旨在提供一种工程车辆及其安全转向预警装置、 方法， 以解决现有技术中 工程车辆在行驶过程中重量大、 重心较高， 在转弯时容易发生倾翻的问题。 为解决上述技术问题， 根据本发明的第一个方面， 提供了一种工程车辆的安全转 向预警装置， 工程车辆与地面之间具有多个支撑点， 多个支撑点围成支撑区域， 安全 转向预警装置包括： 控制器， 控制器获得行驶状态下工程车辆的重力和工程车辆受到 的向心力的合力， 并判断合力所在的直线与地面所在的面之间的交点是否处于支撑区 域内； 当交点位于支撑区域内时， 工程车辆处于安全状态； 当交点位于支撑区域外时， 工程车辆处于非安全状态。 进一步地， 控制器根据预先存储的工程车辆的结构参数得出工程车辆的质心的位 置。 进一步地， 重力是工程车辆的车体所产生的重力和工程车辆所运载的被运输对象 所产生的重力之和。
进一步地， 安全转向预警装置还包括用于测量与被运输对象的质量相对应的物理 量的检测单元， 检测单元将其检测到的物理量的值发送给控制器。 进一步地， 物理量是被运输对象的质量或被运输对象的液面高度。 进一步地， 安全转向预警装置还包括报警装置， 当工程车辆处于非安全状态时， 控制器控制报警装置发出警报。 根据本发明的第二个方面， 提供了一种工程车辆， 包括安全转向预警装置， 该安 全转向预警装置是上述的安全转向预警装置。 进一步地， 工程车辆是混凝土搅拌运输车。 根据本发明的第三个方面， 提供了一种工程车辆的安全转向预警方法， 工程车辆 与地面之间具有多个支撑点， 多个支撑点围成支撑区域， 其特征在于， 安全转向预警 方法包括： 获得行驶状态下工程车辆的重力和工程车辆受到的向心力的合力， 并判断 合力所在的直线与地面所在的面之间的交点是否处于支撑区域内； 当交点位于支撑区 域内时， 工程车辆处于安全状态； 当交点位于支撑区域外时， 工程车辆处于非安全状 态。 进一步地， 安全转向预警方法还包括： 根据预先存储的工程车辆的结构参数得出 工程车辆的质心的位置。 进一步地， 重力是工程车辆的车体所产生的重力和工程车辆所运载的被运输对象 所产生的重力之和。 进一步地， 安全转向预警方法还包括测量与被运输对象的质量相对应的物理量， 并根据物理量得到被运输对象的质量。 进一步地， 物理量是被运输对象的质量或被运输对象的液面高度。 进一步地， 安全转向预警方法还包括： 当工程车辆处于非安全状态时发出警报。 本发明可根据工程车辆的重力和向心力的合力所在的直线与地面所在的面之间的 交点与工程车辆的支撑区域之间的位置关系； 判断出该工程车辆是否处于安全状态， 驾驶员可根据判断的结果进行相应的操作， 从而避免发生倾翻的问题。
附图说明 构成本申请的一部分的附图用来提供对本发明的进一步理解， 本发明的示意性实 施例及其说明用于解释本发明， 并不构成对本发明的不当限定。 在附图中： 图 1示意性示出了混凝土搅拌运输车的各部分的质量及质心的示意图； 图 2示意性示出了混凝土搅拌运输车的总质量及质心的示意图； 图 3示意性示出了产生向心力时的混凝土搅拌运输车的重力与支撑区域之间的关 系示意图； 图 4示意性示出了交点位于支撑区域内时的示意图； 图 5示意性示出了交点位于支撑区域外时的示意图； 以及 图 6 示意性示出了本发明中的安全转向预警装置的一个优选实施例的结构示意 图。 具体实施方式 以下结合附图对本发明的实施例进行详细说明， 但是本发明可以由权利要求限定 和覆盖的多种不同方式实施。 作为本发明的第一个方面， 提供了一种工程车辆的安全转向预警装置， 工程车辆 与地面之间具有多个支撑点， 多个支撑点围成支撑区域。 安全转向预警装置包括： 控制器， 控制器获得行驶状态下工程车辆的重力和工程 车辆受到的向心力的合力， 并判断合力所在的直线与地面所在的面之间的交点是否处 于支撑区域内。 当交点位于支撑区域内时， 工程车辆处于安全状态； 当交点位于支撑 区域外时， 工程车辆处于非安全状态。 优选地， 安全转向预警装置还包括存储单元， 其用于存放工程机械的结构参数， 存储单元既可以集成在该控制器内， 也可以是独立 于该控制器之外的存储单元。 优选地， 控制器根据预先存储的工程车辆的结构参数 （例如： 整车的架构、 各部 件的安装位置、 质量和大小等， 还可以是轮间距、 高度等） 得出工程车辆的质心的位 置。 重力包括工程车辆的车体所产生的重力和工程车辆所运载的被运输对象所产生的 重力。 当然， 当工程车辆空载时， 重力也可以是工程车辆的车体所产生的重力， 在这 种情况下， 本发明中的安全转向预警装置也能实现安全转向预警的功能。
下面， 以混凝土搅拌运输车为例， 对安全转向预警装置的原理进行说明。 如图 1 所示， 混凝土搅拌运输车包括底盘、 水箱和物料， 其中， 底盘的质量为 Ml、 水箱的质量为 M3、 物料的质量为 M2。 因此， 如图 2所示， 混凝土搅拌运输车 的总质量为 M， 且 M = M1+M2+M3 公式（1 ) 特别地， M、 Ml、 M2、 M3是矢量， 既表示质量的大小， 也表示质心的位置。 其中， 底盘的质量 Ml是不变的， 物料的质量 M2和水箱的质量 M3可能是不同 的（例如， 每次装入的物料和水的量不同）。底盘的质量和质心可以通过底盘的结构参 数直接运算获得。 物料和水箱的质量和质心也可以根据传感器测量得到的相关数据经 过计算获取， 从而得到整车的质量和质心。 图 3示出了产生向心力时的混凝土搅拌运输车的重力与支撑区域之间的关系示意 图， 其中， LF表示左前轮胎、 RF表示右前轮胎、 LB表示右后轮胎、 RB表示右后轮 胎， 左前轮胎、 右前轮胎、 右后轮胎和右后轮胎与地面的接触点 （即支撑点） 共同限 定出了该混凝土搅拌运输车的支撑区域。 在产生向心力时， 向心力 F ^与混凝土搅拌运输车的重力 G的合力为 F合，合力 F 所在的直线与支撑区域所在平面之间的交点为 P。 在图 4所示的情况下， 向心力 心较小， 交点 P位于支撑区域之内， 此时， 混凝土搅拌运输车的行驶是稳定的， 不会发 生倾翻。 在图 5所示的情况下， 向心力 较大， 交点 P位于支撑区域之外， 此时， 混凝土搅拌运输车的行驶状态是不稳定的， 可能发生倾翻的风险。 特别地， 导致向心 力 F ^较大的原因可能是转弯速度过大或转弯半径过小等。 优选地， 安全转向预警装置还包括用于测量与被运输对象的质量相对应的物理量 的检测单元。 例如， 该物理量是被运输对象的质量或被运输对象的液面高度等。 特别 地， 当直接测量被运输对象的质量时， 可预先通过统计得到每个质量所对应的质心的 位置， 这样即可通过测得的质量得知质心的位置。 另外， 当被运输对象是类似于混凝 土的物质时， 由于其液位与质量之间存在一定的映射关系， 因此通过测量被运输对象 的液面的高度， 也可间接获得被运输对象的质量。 优选地， 安全转向预警装置还包括报警装置， 报警装置与控制器电连接。 报警装 置包括报警指示灯、 蜂鸣器、 显示屏、 或语音报警装置中的一种或多种， 以将评估的 结果以至少一种形式反馈给驾驶员。
图 6给出了本发明中的安全转向预警装置的一个优选实施例的结构示意图。 如图 6所示， 安全转向预警装置包括多个传感器， 该多个传感器与控制器的输入端口连接， 控制器的输出端口与至少一个报警装置连接。 安全转向预警装置还包括存储单元， 在 该存储单元内存储有上述的结构参数。 工作时， 控制器通过上述多个传感器获得混凝 土搅拌运输车的速度和与被运输对象的质量相对应的物理量， 然后结合存储单元内存 储的结构参数实时计算出合力所在的直线与地面所在的面之间的交点与支撑区域之间 的关系， 并可通过报警装置向驾驶员发出相应的提示信息。 在上述实施例的基础上， 作为本发明的第二个方面， 提供了一种工程车辆的安全 转向预警方法， 工程车辆与地面之间具有多个支撑点， 多个支撑点围成支撑区域。 安 全转向预警方法包括： 获得行驶状态下工程车辆的重力和工程车辆受到的向心力的合 力， 并判断合力所在的直线与地面所在的面之间的交点是否处于支撑区域内； 当交点 位于支撑区域内时， 工程车辆处于安全状态； 当交点位于支撑区域外时， 工程车辆处 于非安全状态。 优选地， 重力是工程车辆的车体所产生的重力和工程车辆所运载的被 运输对象所产生的重力之和。 当然， 当工程车辆空载时， 重力也可以是工程车辆的车 体所产生的重力， 在这种情况下， 本发明中的安全转向预警方法也能实现安全转向预 警的功能。 优选地， 安全转向预警方法还包括： 根据预先存储的工程车辆的结构参数（例如： 整车的架构、 各部件的安装位置、 质量和大小等， 还可以是轮间距、 高度等） 得出工 程车辆的质心的位置。 优选地， 安全转向预警方法还包括测量与被运输对象的质量相对应的物理量， 并 根据物理量得到被运输对象的质量。 特别地， 物理量是被运输对象的质量或被运输对 象的液面高度。 例如， 当该物理量是液面高度时， 不同的液面高度代表不同的质量及 质心的位置， 因此， 可以通过对液面高度的检测得到与质量相关的数据。 优选地， 安全转向预警方法还包括： 当工程车辆处于非安全状态时发出警报， 以 提醒驾驶人员进行适当的操作， 保证行车安全。 作为本发明的第三个方面， 提供了一种工程车辆， 包括安全转向预警装置， 该安 全转向预警装置是上述的安全转向预警装置。 当然， 被运输对象可以是混凝土， 也可 以是其它被运输的物料或机械设备等。 特别地， 工程车辆是混凝土搅拌运输车。 当然，本发明中的安全转向预警装置不仅可以用于装载有被运输对象的工 也可以是未装载被运输对象的工程机械。 另外， 还可适用于其它非工程车辆。
以上所述仅为本发明的优选实施例而已， 并不用于限制本发明， 对于本领域的技 术人员来说， 本发明可以有各种更改和变化。 凡在本发明的精神和原则之内， 所作的 任何修改、 等同替换、 改进等， 均应包含在本发明的保护范围之内。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the field of vehicle safety alarm devices, and more particularly to an engineering vehicle and a safety steering warning device and method thereof. BACKGROUND OF THE INVENTION Engineering vehicles (such as concrete mixer trucks) are often loaded with objects to be transported (e.g., concrete) and require long distance travel. Since the engineering vehicle has a large weight and a high center of gravity in the running state, the problem of tipping is likely to occur during steering. Take the concrete mixer truck as an example. It is used to transport concrete materials and needs to travel between the suburbs. Compared with general vehicles, the concrete mixer truck has the characteristics of heavy weight and high center of gravity. Its driving requirements are different from those of ordinary vehicles. Especially when steering, it is necessary to pay attention to prevent the problem of tipping, so as to avoid vehicle damage and casualties. . The prior art relies only on the skill and experience of the driver to prevent accidents. Therefore, how to avoid the loss of control of vehicles, such as concrete mixer trucks during driving (especially during cornering), prevention in advance is a technical problem to be solved in the field. SUMMARY OF THE INVENTION The present invention is directed to an engineering vehicle and a safety steering warning device and method thereof, which solve the problem that the engineering vehicle in the prior art has a large weight, a high center of gravity during driving, and is prone to tipping during cornering. In order to solve the above technical problem, according to a first aspect of the present invention, a safety steering early warning device for an engineering vehicle is provided. A plurality of support points are provided between the engineering vehicle and the ground, and a plurality of support points enclose a support area, and the safety steering is performed. The early warning device comprises: a controller, the controller obtains the combined force of the gravity of the engineering vehicle in the running state and the centripetal force received by the engineering vehicle, and determines whether the intersection between the line where the resultant force is located and the surface where the ground is located is in the support region; When the support area is inside, the construction vehicle is in a safe state; when the intersection point is outside the support area, the construction vehicle is in an unsafe state. Further, the controller derives the position of the center of mass of the engineering vehicle according to the structural parameters of the pre-stored engineering vehicle. Further, gravity is the sum of the gravity generated by the body of the construction vehicle and the gravity generated by the object being transported by the engineering vehicle. Further, the safety steering warning device further includes a detecting unit for measuring a physical quantity corresponding to the mass of the object to be transported, and the detecting unit transmits the value of the physical quantity detected by the detecting unit to the controller. Further, the physical quantity is the mass of the object to be transported or the level of the liquid to be transported. Further, the safety steering warning device further includes an alarm device, and the controller controls the alarm device to issue an alarm when the construction vehicle is in an unsafe state. According to a second aspect of the present invention, an engineering vehicle is provided, comprising a safety steering warning device, which is the above-described safety steering warning device. Further, the construction vehicle is a concrete mixer truck. According to a third aspect of the present invention, a safety steering early warning method for an engineering vehicle is provided, wherein a plurality of support points are provided between the engineering vehicle and the ground, and a plurality of support points enclose a support area, wherein the safety steering early warning method The method includes: obtaining the combined force of the gravity of the construction vehicle and the centripetal force of the engineering vehicle in the running state, and determining whether the intersection between the line where the resultant force is located and the surface where the ground is located is in the support area; when the intersection point is located in the support area, the construction vehicle In a safe state; when the intersection is outside the support area, the construction vehicle is in an unsafe state. Further, the safety steering early warning method further includes: obtaining a position of a center of mass of the engineering vehicle according to a structural parameter of the pre-stored engineering vehicle. Further, gravity is the sum of the gravity generated by the body of the construction vehicle and the gravity generated by the object being transported by the engineering vehicle. Further, the safety steering early warning method further includes measuring a physical quantity corresponding to the mass of the object to be transported, and obtaining the mass of the transported object according to the physical quantity. Further, the physical quantity is the mass of the object to be transported or the level of the liquid to be transported. Further, the safety steering early warning method further includes: issuing an alarm when the construction vehicle is in an unsafe state. The invention can determine the positional relationship between the intersection between the line where the gravity of the engineering vehicle and the centripetal force are located and the surface where the ground is located and the support area of the engineering vehicle; and determine whether the vehicle is in a safe state, the driver can The result of the judgment is performed accordingly, thereby avoiding the problem of tipping. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in FIG. In the drawings: Fig. 1 is a schematic view showing the mass and center of mass of each part of a concrete mixer truck; Fig. 2 is a schematic view showing the total mass and center of mass of a concrete mixer truck; A schematic diagram of the relationship between the gravity of the concrete mixer truck and the support area when the centripetal force is generated; FIG. 4 schematically shows a schematic view when the intersection point is located in the support area; FIG. 5 schematically shows the intersection point when it is outside the support area FIG. 6 is a schematic view showing the structure of a preferred embodiment of the safety steering warning device of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention are described in detail below with reference to the accompanying drawings. As a first aspect of the present invention, a safety steering early warning device for an engineering vehicle is provided. The engineering vehicle and the ground have a plurality of support points, and the plurality of support points enclose a support area. The safety steering early warning device comprises: a controller, the controller obtains the combined force of the gravity of the engineering vehicle in the running state and the centripetal force received by the engineering vehicle, and determines whether the intersection between the straight line where the resultant force is located and the surface where the ground is located is in the support region. When the intersection is located in the support area, the construction vehicle is in a safe state; when the intersection is outside the support area, the construction vehicle is in an unsafe state. Preferably, the safety steering warning device further comprises a storage unit for storing structural parameters of the construction machine, and the storage unit may be integrated in the controller or may be a storage unit independent of the controller. Preferably, the controller obtains the position of the center of mass of the engineering vehicle according to the structural parameters of the pre-stored engineering vehicle (for example: the structure of the whole vehicle, the installation position of each component, the quality and the size, etc., may also be the wheel pitch, the height, etc.) . Gravity includes the gravity generated by the body of the construction vehicle and the gravity generated by the object being transported by the construction vehicle. Of course, when the construction vehicle is unloaded, the gravity can also be the gravity generated by the body of the engineering vehicle. In this case, the safety steering warning device of the present invention can also realize the function of the safety steering warning. Next, the concrete mixing truck is taken as an example to explain the principle of the safety steering warning device. As shown in Fig. 1, the concrete mixer truck includes a chassis, a water tank and materials, wherein the mass of the chassis is M1, the mass of the water tank is M3, and the mass of the material is M2. Therefore, as shown in Fig. 2, the total mass of the concrete mixer truck is M, and M = M1 + M2 + M3. Equation (1) In particular, M, Ml, M2, and M3 are vectors, which represent both the mass and the mass. Indicates the position of the center of mass. Wherein, the mass M1 of the chassis is constant, and the mass M2 of the material and the mass M3 of the water tank may be different (for example, the amount of material and water loaded each time is different). The quality and center of mass of the chassis can be directly calculated from the structural parameters of the chassis. The quality and center of mass of the material and water tank can also be calculated and calculated based on the relevant data measured by the sensor, so as to obtain the quality and center of mass of the whole vehicle. Fig. 3 is a view showing the relationship between the gravity of the concrete mixer truck and the support region when the centripetal force is generated, wherein LF represents the left front tire, RF represents the right front tire, LB represents the right rear tire, RB represents the right rear tire, and the left front tire The contact points of the right front tire, the right rear tire and the right rear tire with the ground (ie the support points) together define the support area of the concrete mixer truck. When the centripetal force is generated, the resultant force of the centripetal force F^ and the gravity G of the concrete mixer truck is F, and the intersection between the line where the resultant force F is located and the plane where the support region lies is P. In the case shown in Fig. 4, the centripetal force is small, and the intersection point P is located within the support area. At this time, the running of the concrete mixer truck is stable and no tipping occurs. In the case shown in Fig. 5, the centripetal force is large, and the intersection point P is outside the support area. At this time, the running state of the concrete mixer truck is unstable, and there is a risk of tipping. In particular, the cause of the centripetal force F^ may be that the turning speed is too large or the turning radius is too small. Preferably, the safety steering warning device further includes a detecting unit for measuring a physical quantity corresponding to the mass of the object to be transported. For example, the physical quantity is the mass of the object to be transported or the liquid level of the object to be transported, and the like. In particular, when the mass of the object to be transported is directly measured, the position of the centroid corresponding to each mass can be obtained in advance by statistics, so that the position of the centroid can be known from the measured mass. In addition, when the object to be transported is a material similar to concrete, since there is a certain mapping relationship between the liquid level and the mass, the mass of the object to be transported can also be obtained indirectly by measuring the height of the liquid surface of the object to be transported. Preferably, the safety steering warning device further includes an alarm device, and the alarm device is electrically connected to the controller. The alarm device includes one or more of an alarm indicator, a buzzer, a display, or a voice alarm to feed back the results of the evaluation to the driver in at least one form. Fig. 6 is a view showing the construction of a preferred embodiment of the safety steering warning device of the present invention. As shown in FIG. 6, the safety steering warning device includes a plurality of sensors connected to an input port of the controller, and an output port of the controller is connected to at least one alarm device. The safety steering warning device further includes a storage unit in which the above-described structural parameters are stored. During operation, the controller obtains the speed of the concrete mixer truck and the physical quantity corresponding to the mass of the object to be transported through the above plurality of sensors, and then calculates the line where the resultant force is located and the surface where the ground is located in real time in combination with the structural parameters stored in the storage unit. The relationship between the intersection point and the support area, and the corresponding prompt information can be sent to the driver through the alarm device. Based on the above embodiment, as a second aspect of the present invention, a safety steering early warning method for an engineering vehicle is provided. The engineering vehicle and the ground have a plurality of support points, and the plurality of support points enclose a support area. The safety steering early warning method includes: obtaining the resultant force of the engineering vehicle under driving and the centripetal force of the engineering vehicle, and determining whether the intersection between the line where the resultant force is located and the surface where the ground is located is in the support area; when the intersection is located in the support area At the time, the construction vehicle is in a safe state; when the intersection is outside the support area, the construction vehicle is in an unsafe state. Preferably, the gravity is the sum of the gravity generated by the body of the construction vehicle and the gravity generated by the transported object carried by the engineering vehicle. Of course, when the construction vehicle is unloaded, the gravity can also be the gravity generated by the body of the engineering vehicle. In this case, the safety steering warning method of the present invention can also realize the function of the safety steering warning. Preferably, the safety steering early warning method further comprises: obtaining the engineering according to the structural parameters of the pre-stored engineering vehicle (for example: the structure of the whole vehicle, the installation position of each component, the quality and the size, etc., may also be the wheel spacing, the height, etc.) The position of the center of mass of the vehicle. Preferably, the safety steering early warning method further comprises measuring a physical quantity corresponding to the mass of the object to be transported, and obtaining the mass of the transported object according to the physical quantity. In particular, the physical quantity is the mass of the object being transported or the level of the liquid being transported. For example, when the physical quantity is the liquid level, different liquid level heights represent different masses and centroid positions, and therefore, quality-related data can be obtained by detecting the liquid level. Preferably, the safety steering warning method further comprises: issuing an alarm when the construction vehicle is in an unsafe state to remind the driver to perform appropriate operations to ensure driving safety. As a third aspect of the present invention, there is provided an engineering vehicle comprising a safety steering early warning device, the safety steering early warning device being the above-described safety steering early warning device. Of course, the object to be transported may be concrete, or other materials or mechanical equipment to be transported. In particular, the construction vehicle is a concrete mixer truck. Of course, the safety steering warning device of the present invention can be used not only for the worker who is loaded with the object to be transported but also for the construction machine that is not loaded with the object to be transported. In addition, it can also be applied to other non-engineered vehicles. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.
Claims
1. 一种工程车辆的安全转向预警装置，所述工程车辆与地面之间具有多个支撑点， 所述多个支撑点围成支撑区域， 其特征在于， 所述安全转向预警装置包括： 控制器， 所述控制器获得行驶状态下所述工程车辆的重力和所述工程车辆 受到的向心力的合力， 并判断所述合力所在的直线与地面所在的面之间的交点 是否处于所述支撑区域内； A safety steering early warning device for an engineering vehicle, wherein the engineering vehicle and the ground have a plurality of support points, and the plurality of support points enclose a support area, wherein the safety steering early warning device comprises: The controller obtains the resultant force of the gravity of the engineering vehicle in the running state and the centripetal force received by the engineering vehicle, and determines whether the intersection between the line where the resultant force is located and the surface where the ground is located is in the support area. Inside;
当所述交点位于所述支撑区域内时， 所述工程车辆处于安全状态； 当所述 交点位于所述支撑区域外时， 所述工程车辆处于非安全状态。 The work vehicle is in a safe state when the intersection is located within the support area; the construction vehicle is in an unsecured state when the intersection is outside the support area.
2. 根据权利要求 1所述的安全转向预警装置， 其特征在于， 所述控制器根据预先 存储的所述工程车辆的结构参数得出所述工程车辆的质心的位置。 The safety steering warning device according to claim 1, wherein the controller obtains a position of a center of mass of the construction vehicle based on a structural parameter of the construction vehicle stored in advance.
3. 根据权利要求 1所述的安全转向预警装置， 其特征在于， 所述重力是所述工程 车辆的车体所产生的重力和所述工程车辆所运载的被运输对象所产生的重力之 禾口。 3. The safety steering warning device according to claim 1, wherein the gravity is a gravity generated by a body of the construction vehicle and a gravity generated by the object to be transported by the engineering vehicle mouth.
4. 根据权利要求 3所述的安全转向预警装置， 其特征在于， 所述安全转向预警装 置还包括用于测量与所述被运输对象的质量相对应的物理量的检测单元， 所述 检测单元将其检测到的所述物理量的值发送给所述控制器。 4. The safety steering early warning device according to claim 3, wherein the safety steering early warning device further comprises a detecting unit for measuring a physical quantity corresponding to the mass of the transported object, the detecting unit The value of the physical quantity it detects is sent to the controller.
5. 根据权利要求 4所述的安全转向预警装置， 其特征在于， 所述物理量是所述被 运输对象的质量或所述被运输对象的液面高度。 The safety steering warning device according to claim 4, wherein the physical quantity is a mass of the object to be transported or a liquid level of the object to be transported.
6. 根据权利要求 1-5中任一项所述的安全转向预警装置， 其特征在于， 所述安全 转向预警装置还包括报警装置， 当所述工程车辆处于所述非安全状态时， 所述 控制器控制所述报警装置发出警报。 The safety steering early warning device according to any one of claims 1 to 5, wherein the safety steering early warning device further comprises an alarm device, when the engineering vehicle is in the non-safe state, The controller controls the alarm device to issue an alarm.
7. 一种工程车辆， 包括安全转向预警装置， 其特征在于， 所述安全转向预警装置 是权利要求 1-6中任一项所述的安全转向预警装置。 An engineering vehicle, comprising a safety steering warning device, wherein the safety steering warning device is the safety steering warning device according to any one of claims 1-6.
8. 根据权利要求 7所述的工程车辆， 其特征在于， 所述工程车辆是混凝土搅拌运 输车。 8. The construction vehicle according to claim 7, wherein the construction vehicle is a concrete agitation truck.
9. 一种工程车辆的安全转向预警方法，所述工程车辆与地面之间具有多个支撑点， 所述多个支撑点围成支撑区域， 其特征在于， 所述安全转向预警方法包括：
获得行驶状态下所述工程车辆的重力和所述工程车辆受到的向心力的合 力， 并判断所述合力所在的直线与地面所在的面之间的交点是否处于所述支撑 区域内； A safety steering early warning method for an engineering vehicle, wherein the engineering vehicle and the ground have a plurality of support points, and the plurality of support points enclose a support area, wherein the safety steering early warning method comprises: Obtaining a resultant force of the gravity of the engineering vehicle in the running state and a centripetal force received by the engineering vehicle, and determining whether an intersection between the straight line where the resultant force is located and the surface where the ground is located is in the support region;
当所述交点位于所述支撑区域内时， 所述工程车辆处于安全状态； 当所述 交点位于所述支撑区域外时， 所述工程车辆处于非安全状态。 The work vehicle is in a safe state when the intersection is located within the support area; the construction vehicle is in an unsecured state when the intersection is outside the support area.
10. 根据权利要求 9所述的安全转向预警方法， 其特征在于， 所述安全转向预警方 法还包括： 根据预先存储的所述工程车辆的结构参数得出所述工程车辆的质心 的位置。 The safety steering pre-alarming method according to claim 9, wherein the safety steering pre-police method further comprises: obtaining a position of a center of mass of the construction vehicle according to a structural parameter of the construction vehicle stored in advance.
11. 根据权利要求 9所述的安全转向预警方法， 其特征在于， 所述重力是所述工程 车辆的车体所产生的重力和所述工程车辆所运载的被运输对象所产生的重力之 禾口。 The safety steering warning method according to claim 9, wherein the gravity is a gravity generated by a vehicle body of the construction vehicle and a gravity generated by the transported object carried by the engineering vehicle mouth.
12. 根据权利要求 11所述的安全转向预警方法，其特征在于，所述安全转向预警方 法还包括测量与所述被运输对象的质量相对应的物理量， 并根据所述物理量得 到所述被运输对象的质量。 The safety steering warning method according to claim 11, wherein the safety steering early warning method further comprises measuring a physical quantity corresponding to the mass of the transported object, and obtaining the transported according to the physical quantity. The quality of the object.
13. 根据权利要求 12所述的安全转向预警方法，其特征在于，所述物理量是所述被 运输对象的质量或所述被运输对象的液面高度。 The safety steering warning method according to claim 12, wherein the physical quantity is a mass of the object to be transported or a liquid level of the object to be transported.
14. 根据权利要求 9-13中任一项所述的安全转向预警方法， 其特征在于， 所述安全 转向预警方法还包括： 当所述工程车辆处于非安全状态时发出警报。
The safety steering early warning method according to any one of claims 9 to 13, characterized in that the safety steering early warning method further comprises: issuing an alarm when the construction vehicle is in an unsafe state.
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| CN201210096049.2 | 2012-04-01 | ||
| CN2012100960492A CN102601862A (en) | 2012-04-01 | 2012-04-01 | Engineering vehicle, alerting device and alerting method for safe steering of engineering vehicle |
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| CN116279792B (en) * | 2023-05-22 | 2023-07-18 | 深圳市聚力得电子股份有限公司 | Vehicle-mounted intelligent steering control system |
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