WO2013149453A1 - Engin de chantier et appareil et procédé d'alerte précoce pour celui-ci à des fins de pilotage en toute sécurité - Google Patents

Engin de chantier et appareil et procédé d'alerte précoce pour celui-ci à des fins de pilotage en toute sécurité Download PDF

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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
Authority
WO
WIPO (PCT)
Prior art keywords
safety steering
vehicle
early warning
construction vehicle
warning device
Prior art date
Application number
PCT/CN2012/081690
Other languages
English (en)
Chinese (zh)
Inventor
易伟春
曾中炜
李学俊
王希翼
谭语
Original Assignee
中联重科股份有限公司
湖南中联重科专用车有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中联重科股份有限公司, 湖南中联重科专用车有限责任公司 filed Critical 中联重科股份有限公司
Publication of WO2013149453A1 publication Critical patent/WO2013149453A1/fr

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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
    • 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
    • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Structural Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

L'invention concerne un engin de chantier ainsi qu'un appareil et un procédé d'alerte précoce pour celui-ci à des fins de pilotage en toute sécurité. L'appareil d'alerte précoce à des fins de pilotage en toute sécurité comporte : un dispositif de commande, le dispositif de commande permettant d'obtenir la force résultante de la force de gravitation de l'engin de chantier et de la force centripète exercée sur l'engin de chantier dans l'état de conduite et permettant de juger si oui ou non le point d'intersection entre la ligne droite de la force résultante et la surface du sol se trouve dans une région supportée. Quand le point d'intersection se trouve dans une région supportée, l'engin de chantier est dans un état de sécurité. Quand le point d'intersection se trouve à l'extérieur d'une région supportée, l'engin de chantier est dans un état de danger. En fonction de la relation spatiale entre le point où la ligne droite de la force résultante de la force de gravitation et de la force centripète de l'engin de chantier croise la surface du sol et la région supportée de l'engin de chantier, il est possible de juger si oui ou non l'engin de chantier est dans un état de sécurité, et le conducteur peut effectuer une action appropriée en fonction du résultat du jugement, pour ainsi éviter le problème de capotage de l'engin.
PCT/CN2012/081690 2012-04-01 2012-09-20 Engin de chantier et appareil et procédé d'alerte précoce pour celui-ci à des fins de pilotage en toute sécurité WO2013149453A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN2012100960492A CN102601862A (zh) 2012-04-01 2012-04-01 工程车辆及其安全转向预警装置、方法
CN201210096049.2 2012-04-01

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WO2013149453A1 true WO2013149453A1 (fr) 2013-10-10

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WO (1) WO2013149453A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024023485A1 (fr) * 2022-07-25 2024-02-01 Total Vehicle Solutions Group Limited Système d'avertissement de retournement

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102601862A (zh) * 2012-04-01 2012-07-25 中联重科股份有限公司 工程车辆及其安全转向预警装置、方法
CN103303304B (zh) * 2013-07-02 2015-11-25 徐州徐工施维英机械有限公司 防倾翻装置、防倾翻方法及混凝土搅拌运输车
CN105739409B (zh) * 2016-02-20 2018-03-27 河北华运顺通专用汽车制造有限公司 一种风电叶片运输平衡监控装置及其监控方法
CN116279792B (zh) * 2023-05-22 2023-07-18 深圳市聚力得电子股份有限公司 一种车载智能转向控制系统

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