CN102915045A - Control method and device for arm support type engineering vehicle - Google Patents

Control method and device for arm support type engineering vehicle Download PDF

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Publication number
CN102915045A
CN102915045A CN2012104280233A CN201210428023A CN102915045A CN 102915045 A CN102915045 A CN 102915045A CN 2012104280233 A CN2012104280233 A CN 2012104280233A CN 201210428023 A CN201210428023 A CN 201210428023A CN 102915045 A CN102915045 A CN 102915045A
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arm support
engineering truck
gravity
support engineering
center
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CN102915045B (en
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郑庆华
周润珈
赵健
姚丽娟
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Hunan Zoomlion Intelligent Technology Co ltd
Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Abstract

The invention discloses a control method and a control device for an arm support type engineering vehicle, which are used for solving the problem that the safety of operation cannot be ensured in the prior art. The method comprises the steps of arranging a force transducer on each supporting leg of the cantilever crane type engineering vehicle, measuring the reaction force borne by each supporting leg, determining the projection position of the gravity center of the cantilever crane type engineering vehicle according to the reaction force, taking a polygonal area with each supporting leg as a vertex as a safety domain, and controlling the cantilever crane type engineering vehicle to enable the projection position of the gravity center of the cantilever crane type engineering vehicle to be within the safety domain. According to the method, the counter force borne by each supporting leg is measured through the force measuring sensor, so that even if the counter force borne by each supporting leg is additionally restrained, the force measuring sensor can still accurately measure the current counter force borne by each supporting leg, and the current actual center of gravity can also be accurately determined according to the measured counter force borne by each supporting leg, so that the cantilever type engineering vehicle is controlled to enable the projection position of the center of gravity to be within a safety domain, and the safety of operation can be guaranteed.

Description

A kind of control method of arm support engineering truck and device
Technical field
The present invention relates to engineering machinery field, relate in particular to a kind of control method and device of arm support engineering truck.
Background technology
At highly-mechanized society, the engineering truck such as the arm support such as concrete mixer, crane is the indispensable visual plant of building trade, and the security performance of arm support engineering truck receives people's concern day by day.
Describe as an example of concrete mixer (abbreviation pump truck) example.Pump truck usually can be because following former thereby cause rollover or overthrow accident in operation process:
Reason one is because the problem such as roadbed is uneven, Subgrade Subsidence or soft roadbed and can't support pump truck complete machine weight causes pump truck unbalance;
Reason two is because the variation of the variation of the variation of the jib extension elongation of pump truck, change angle, angle of revolution and so that the center of gravity of pump truck complete machine changes, cause pump truck unbalance.
In the prior art, in order to prevent that pump truck from rollover or overthrow accident occuring in operation process, the method of control pump truck generally is: in advance according to the theoretic center of gravity of pump truck, the binding equilibrium equation, determine that pump truck is in critical rollover situation, adjacent two supporting legs that are positioned at side flanging be subject to ground supports counter-force and value, should and be worth as critical value, and in the process of pump truck operation, control pumping vehicle arm rack attitude so that the counter-force that these adjacent two supporting legs are subject to be no more than predetermined critical value with value.
Yet because in fact the center of gravity of pump truck can be subject to the impact of jib extension elongation, change angle, angle of revolution, therefore, pump truck is actual center of gravity and theoretic center of gravity difference to some extent in operation process.And, the suffered counter-force of each supporting leg of pump truck is except the constraint that is subjected to pump truck self structure and weight, also can be subject to supporting the multiple extra constraint such as character, jib dynamic loading, vibratory impulse, wind load on ground, therefore, problem how to calculate the suffered counter-force of pump truck each supporting leg in critical rollover situation is actually a statically indeterminate problem, depends merely on balance equation and can not obtain accurately the suffered counter-force of each supporting leg.
In sum, the critical value of only determining according to the theoretic center of gravity of arm support engineering truck and binding equilibrium equation in the prior art is inaccurate, if according to the critical value control arm support engineering truck that is inaccurate, just probably can cause the arm support engineering truck that rollover or overthrow accident occur, can't guarantee the security of operation.
Summary of the invention
The embodiment of the invention provides a kind of control method and device of arm support engineering truck, in order to solve the problem of the security that can't guarantee the operation of arm support engineering truck in the prior art.
The embodiment of the invention provides a kind of control method of arm support engineering truck, comprising:
In the operation process of arm support engineering truck, determine the suffered counter-force of each supporting leg that force cell that each supporting leg at described arm support engineering truck arranges measures;
According to the suffered counter-force of each supporting leg that measures, determine the projected position of center of gravity on surface level of described arm support engineering truck;
Determine polygonal region take each supporting leg of described arm support engineering truck as the summit at surface level, with the security domain of described polygonal region as described arm support engineering truck;
According to described projected position and the described security domain determined, control described arm support engineering truck, the center of gravity of described arm support engineering truck is in the described security domain at the projected position on the surface level.
The embodiment of the invention provides a kind of control device of arm support engineering truck, comprising:
Measurement module is used for the process in the operation of arm support engineering truck, determines the suffered counter-force of each supporting leg that force cell that each supporting leg at described arm support engineering truck arranges measures;
The machine gravity determination module is used for determining the projected position of center of gravity on surface level of described arm support engineering truck according to the suffered counter-force of each supporting leg that measures;
The security domain determination module is used for determining polygonal region take each supporting leg of described arm support engineering truck as the summit at surface level, with the security domain of described polygonal region as described arm support engineering truck;
Control module is used for controlling described arm support engineering truck according to described projected position and the described security domain determined, and the center of gravity of described arm support engineering truck is in the described security domain at the projected position on the surface level.
The embodiment of the invention provides a kind of control method and device of arm support engineering truck, the method arranges force cell at each supporting leg of arm support engineering truck, to measure the suffered counter-force of each supporting leg, and determine the projected position of center of gravity on surface level of arm support engineering truck according to the suffered counter-force of each supporting leg, as security domain, control arm support engineering truck makes its center of gravity be in the security domain at the projected position on the surface level with the polygonal region take each supporting leg of arm support engineering truck as the summit.Because said method is measured the suffered counter-force of each supporting leg by force cell, even therefore the suffered counter-force of each supporting leg can be subject to extra constraint, force cell still can be measured the current suffered counter-force of each supporting leg accurately, and, the counter-force that is subject to according to each supporting leg of measuring also can be determined the center of gravity of current arm support class engineering truck reality accurately, thereby, control arm support engineering truck makes its center of gravity be in the security domain at the projected position on the surface level, just can guarantee the security of operation.
Description of drawings
The control procedure of the pump truck that Fig. 1 provides for the embodiment of the invention;
The schematic diagram of the rectangular coordinate system of the foundation that Fig. 2 provides for the embodiment of the invention;
The first schematic diagram of jib to secure side to luffing of the pump truck that Fig. 3 A provides for the embodiment of the invention;
The second schematic diagram of jib to secure side to luffing of the pump truck that Fig. 3 B provides for the embodiment of the invention;
Fig. 4 for the embodiment of the invention provide when pump truck when its jib only has the angle of revolution to change in operation process, the control procedure of pump truck;
The schematic diagram of the rectangular coordinate system of setting up during definite projected footprint that Fig. 5 provides for the embodiment of the invention;
The control device structural representation of the arm support engineering truck that Fig. 6 provides for the embodiment of the invention.
Embodiment
In the prior art according to the theoretic center of gravity of arm support engineering truck, and binding equilibrium equation, determine suffered counter-force and the value (critical value) of adjacent two supporting legs of arm support engineering truck in critical rollover situation, and control accordingly the arm support engineering truck, but because the center of gravity of arm support engineering truck reality and theoretic center of gravity difference to some extent, and depend merely on balance equation and can not obtain accurately the suffered counter-force of each supporting leg, therefore the critical value of determining in the prior art is inaccurate, according to inaccurate critical value control arm support engineering truck, cause possibly the arm support engineering truck that rollover or overthrow accident occur, can't guarantee the security of operation.Rollover occurs when the operation or tumbles for fear of the arm support engineering truck in the embodiment of the invention, by the force cell that arranges at each supporting leg of arm support engineering truck the suffered counter-force of each supporting leg is measured in real time, determine again the center of gravity of arm support engineering truck reality according to the counter-force that measures, follow-up as long as control arm support engineering truck is in the security domain its center of gravity, just can guarantee the security of operation.
Below in conjunction with Figure of description, be the embodiment of the invention to be described in detail example take the arm support engineering truck as pump truck.
The control procedure of the pump truck that Fig. 1 provides for the embodiment of the invention specifically may further comprise the steps:
S101: in the operation process of pump truck, determine the suffered counter-force of each supporting leg that force cell that each supporting leg at pump truck arranges measures.
In embodiments of the present invention, each supporting leg at pump truck arranges force cell, be used for the suffered counter-force of each supporting leg (anchorage force on ground) is measured, thereby, even the suffered counter-force of supporting leg can be subject to extra constraint, the force cell that is arranged on the supporting leg also can be measured the suffered counter-force of supporting leg in real time accurately.
S102: according to the suffered counter-force of each supporting leg that measures, determine the projected position of center of gravity on surface level of pump truck.
In embodiments of the present invention, can be according to the suffered counter-force of each supporting leg that measures, and the binding equilibrium principle, determine the projected position of center of gravity on surface level of pump truck reality.
Concrete determine that the center of gravity of pump truck in the method for the projected position on the surface level is: on surface level, set up rectangular coordinate system take the centre of gyration of the jib of pump truck as true origin, wherein, the transverse axis of this rectangular coordinate system is the longitudinal centre line on the chassis of pump truck; Based on equilibrium principle, according to the suffered counter-force of each supporting leg that measures, the coordinate of each supporting leg in this rectangular coordinate system, the total force of pump truck, determine the coordinate of center of gravity in this rectangular coordinate system of this pump truck.
Concrete, can be according to formula ( Σ i = 1 n F i ) - F G = 0 ( Σ i = 1 n F i x i ) - F G x G = 0 ( Σ i = 1 n F i y i ) - F G y G = 0 Determine the coordinate (x of center of gravity in this rectangular coordinate system of pump truck G, y G), wherein, i represents i supporting leg of described pump truck, n represents that described pump truck has n supporting leg, F iBe this i counter-force that supporting leg is suffered that the force cell on i the supporting leg that is arranged on described pump truck measures, x iBe the horizontal ordinate of this i supporting leg in described rectangular coordinate system, y iBe the ordinate of this i supporting leg in described rectangular coordinate system, F GTotal force for described pump truck.
The below is elaborated as an example of the pump truck of four supporting legs example, as shown in Figure 2.
The schematic diagram of the rectangular coordinate system of the foundation that Fig. 2 provides for the embodiment of the invention, in Fig. 2, A, B, C, four points of D are respectively four supporting legs of pump truck, and be an isosceles trapezoid take these four points as the quadrilateral that the summit was consisted of, also be, look up from the vertical of pump truck, pump truck is symmetrical.Suppose the O point for the centre of gyration of pumping vehicle arm rack (general, the centre of gyration of pumping vehicle arm rack is on the longitudinal centre line of pump truck), then take the O point as true origin, set up rectangular coordinate system as shown in Figure 2 take the longitudinal centre line of pump truck as transverse axis (x axle).In this rectangular coordinate system, the coordinate of A, B, C, four points of D is respectively (x 1, y 1), (x 2, y 2), (x 3, y 3), (x 4, y 4).
Because pump truck need to satisfy following 3 conditions when balance, that is:
Counter-force sum and pump truck self total force that condition one, each supporting leg of pump truck are subject to equates;
The counter-force that condition two, each supporting leg of pump truck are subject to equates in the moment of self total force of moment sum and pump truck on the x direction of principal axis on the x direction of principal axis;
The counter-force that condition three, each supporting leg of pump truck are subject to equates with the moment of pump truck self gravitation on the y direction of principal axis in the moment sum on the y direction of principal axis;
Therefore, in rectangular coordinate system shown in Figure 2, suppose four points of A, B, C, D of measuring by step S101 respectively the suffered counter-force of four supporting legs of corresponding pump truck be F 1, F 2, F 3, F 4, then:
Can be got by condition one: ( Σ i = 1 4 F i ) - F G = 0 ;
Can be got by condition two: ( Σ i = 1 4 F i x i ) - F G x G = 0 ;
Can be got by condition three: ( Σ i = 1 4 F i y i ) - F G y G = 0 .
At last, by above-mentioned 3 balance equations independently, just can obtain the coordinate (x of center of gravity in this rectangular coordinate system of pump truck G, y G).
S103: determine polygonal region take each supporting leg of pump truck as the summit at surface level, with the security domain of this polygonal region as pump truck.
Continuation describes as an example of Fig. 2 example, because four supporting legs of pump truck correspond respectively to A, B, C, four points of D in rectangular coordinate system as shown in Figure 2, therefore, the zone of quadrilateral (isosceles trapezoid) ABCD take these four points as the summit is exactly the security domain of this pump truck.
S104: according to projected position and the security domain determined, the control pump truck makes the center of gravity of pump truck be in the security domain at the projected position on the surface level.
In embodiments of the present invention, as long as the attitude of control pumping vehicle arm rack makes the center of gravity of pump truck be in all the time in the security domain at the projected position on the surface level, just can guarantee that rollover or overthrow accident do not occur pump truck, and then guarantee the security of pump truck operation.
Continuation describes as an example of Fig. 2 example.Because in rectangular coordinate system shown in Figure 2, A point and B point are about the x rotational symmetry, C point and D point are about the x rotational symmetry, therefore the straight line at the straight line at AD place and BC place is about the x rotational symmetry, therefore, the projection position Ge of center of gravity on surface level that judges pump truck whether be in security domain take interior method can as: judge the coordinate (x of center of gravity in this rectangular coordinate system by the pump truck of determining among the step S102 G, y G) whether satisfy x 1 ≤ x G ≤ x 4 - k x G - b AD ≤ y G ≤ kx G + b AD , If satisfy, then determine (x G, y G) in the zone of quadrilateral ABCD, also, determine that the center of gravity of pump truck is in the security domain at the projection Wei Ge on the surface level, otherwise, determine (x G, y G) not in the zone of quadrilateral ABCD, also, determine that the center of gravity of pump truck is not in the security domain at the projected position on the surface level.Wherein, k is the slope of the straight line at AD place, b ADOrdinate for the intersection point of the straight line at AD place and y axle.
Concrete, method according to the projected position of determining and security domain control pump truck comprises: when the center of gravity of pump truck projected position and the minor increment on the border of security domain during less than the first setting threshold on surface level, illustrate that pump truck has been in critical rollover state, at this moment, the jib of control pump truck is to secure side to luffing, and this secure side is to being: the direction of absolute value increase that makes the angle of jib and surface level.Shown in Fig. 3 A and Fig. 3 B.
The first schematic diagram of jib to secure side to luffing of the pump truck that Fig. 3 A provides for the embodiment of the invention, in Fig. 3 A, pumping vehicle arm rack is positioned at above water, therefore, when the center of gravity of pump truck projected position and the minor increment on the border of security domain during less than the first setting threshold on surface level, can control the jib luffing that makes progress, the absolute value of the angle of jib and surface level is increased, like this, just the center of gravity of pump truck complete machine can be pulled in the security domain, thus the security of assurance pump truck operation.
The second schematic diagram of jib to secure side to luffing of the pump truck that Fig. 3 B provides for the embodiment of the invention, in Fig. 3 B, pumping vehicle arm rack is positioned at below the surface level, therefore, when the center of gravity of pump truck projected position and the minor increment on the border of security domain during less than the first setting threshold on surface level, can control the downward luffing of jib, the absolute value of the angle of jib and surface level is increased, like this, also the center of gravity of pump truck complete machine can be pulled to safety with in, thereby guarantee the security of pump truck operation.
Certainly, the control pump truck makes the projected position of its center of gravity on surface level be in security domain and is not limited in said method with interior method in the embodiment of the invention, can also comprise other control methods, for example shorten extension elongation of jib etc., just give unnecessary details no longer one by one here.
Further, consider in actual applications, some or certain several supporting leg of pump truck can not be subject to any counter-force owing to the change of pump truck center of gravity, even liftoff situation.If take perpendicular to surface level direction straight up as positive dirction, then when the supporting leg of pump truck was not subject to any counter-force, the suffered counter-force of this supporting leg that the force cell that arranges on this supporting leg measures was exactly to be not more than 0 numerical value, also is non-positive number.At this moment, in order to improve the accuracy of the definite projected position of pump truck center of gravity on surface level, security with the operation of further assurance pump truck, determining the coordinate time of center of gravity in rectangular coordinate system of pump truck based on equilibrium principle among the step S102, should the counter-force that this supporting leg is suffered set to 0, participate in again calculating.Also be, determine the coordinate time of center of gravity in rectangular coordinate system of pump truck by above-mentioned steps S102, take perpendicular to surface level direction straight up as positive dirction, be not more than 0 if be arranged on this i suffered counter-force of supporting leg that the force cell on i the supporting leg of pump truck measures, then this i suffered counter-force of supporting leg is defined as 0, and based on equilibrium principle, according to suffered counter-force, the coordinate of each supporting leg in rectangular coordinate system, the total force of pump truck of each supporting leg of determining, determine the coordinate of center of gravity in rectangular coordinate system of this pump truck.Concrete, according to formula ( Σ i = 1 n F i ) - F G = 0 ( Σ i = 1 n F i x i ) - F G x G = 0 ( Σ i = 1 n F i y i ) - F G y G = 0 Determine the coordinate (x of center of gravity in rectangular coordinate system of pump truck G, y G) time, take perpendicular to surface level direction straight up as positive dirction, be not more than 0 if be arranged on this i suffered counter-force of supporting leg that the force cell on i the supporting leg of pump truck measures, then with F iBe defined as 0, again according to formula ( Σ i = 1 n F i ) - F G = 0 ( Σ i = 1 n F i x i ) - F G x G = 0 ( Σ i = 1 n F i y i ) - F G y G = 0 Determine the coordinate (x of center of gravity in rectangular coordinate system of pump truck G, y G).
In embodiments of the present invention, in order further to guarantee the security of pump truck operation, except the center of gravity that will guarantee pump truck by said method is in the security domain at the projected position on the surface level, the suffered counter-force of each supporting leg of pump truck is kept in balance as far as possible, therefore, in the embodiment of the invention control pump truck method also comprise: take perpendicular to surface level direction straight up as positive dirction, when the suffered counter-force of supporting leg that measures setting quantity is not more than 0, the jib of control pump truck is to secure side to luffing, and this secure side is to being: the direction of absolute value increase that makes the angle of jib and surface level; Perhaps, take perpendicular to surface level direction straight up as positive dirction, during greater than the second setting threshold, send unbalance early warning with ratio value with the suffered counter-force of value and all supporting legs when what measure the suffered counter-force of two adjacent supporting legs.
Still describe as an example of the pump truck of four supporting legs example.Take perpendicular to surface level direction straight up as positive dirction, when measuring the suffered counter-force of two or more supporting legs and be not more than 0, the jib of control pump truck is to secure side to luffing, perhaps, when measure counter-force that two adjacent supporting legs are subject to value with suffered counter-force and ratio value of all supporting legs greater than 90% the time, send unbalance early warning, close on rollover with this pump truck of operator of prompting operation pump truck.
Better, because the jib of pump truck can carry out the variation of extension elongation, change angle and angle of revolution, therefore, in the embodiment of the invention in the center of gravity of determining pump truck by step S102 shown in Figure 1 before the projected position on the surface level, also will determine first this pump truck in operation process, extension elongation and/or the change angle of the jib of pump truck change.Also be, when the extension elongation of pumping vehicle arm rack and/or change angle change, adopt said method according to the suffered counter-force of each supporting leg that measures, the projected position of the center of gravity of real-time definite pump truck on surface level, and according to the projected position of determining and security domain control pump truck.
Further, jib only has the angle of revolution to change in the process of pump truck in operation, and extension elongation and change angle are when all constant (also jib only turns round action), because the center of gravity of the jib of pump truck is as can be known, the center of gravity of closing of the chassis of pump truck and all supporting legs also is as can be known, therefore, this moment be except can determining according to the counter-force of being measured by force cell the center of gravity of pump truck, can also be according to the center of gravity that center of gravity is determined pump truck of closing of the center of gravity of jib and chassis and all supporting legs.And because the variation of angle of revolution is in the scope of 0 ~ 360 degree, therefore, not only can determine the center of gravity of pump truck this moment, in the time of can also determining the angle of revolution and in the scope of 0 ~ 360 degree, change, and the track of the center of gravity of pump truck.Thereby, in order further to guarantee the security of pump truck operation, when pump truck only has the angle of revolution to change in operation process, except controlling pump truck its center of gravity is in the security domain at the projected position on the surface level, also will control pump truck its center of gravity also is in the security domain at the projected footprint on the surface level, detailed process as shown in Figure 4.
Fig. 4 for the embodiment of the invention provide when pump truck when its jib only has the angle of revolution to change in operation process, the control procedure of pump truck specifically comprises:
S401: when definite pump truck in operation process, when the jib of pump truck only has the angle of revolution to change, according to the center of gravity of the jib of current this pump truck, and the chassis of this pump truck and all supporting legs close center of gravity, determine the projected footprint of center of gravity on surface level of jib this pump truck in turning course.
Wherein, the center of gravity of determining jib this pump truck in turning course among the step S401 is specially in the method for the projected footprint on the surface level: on surface level, set up rectangular coordinate system take the centre of gyration of the jib of pump truck as true origin, wherein, the transverse axis of this rectangular coordinate system is the longitudinal centre line on the chassis of this pump truck; Determine the coordinate that center of gravity is fastened at rectangular coordinate that closes of the chassis of pump truck and all supporting legs, determine the coordinate that the center of gravity of the jib of pump truck is fastened at rectangular coordinate; Coordinate, chassis and all supporting legs of fastening at rectangular coordinate according to the center of gravity of closing coordinate that center of gravity fastens at rectangular coordinate, jib of chassis and all supporting legs the gravity that closes gravity, jib, the total force of pump truck, determine the projected footprint of center of gravity on surface level of jib pump truck in turning course, wherein, the gravity addition of closing gravity and jib of chassis and all supporting legs is the total force of pump truck with value.
Concrete, determine the coordinate (x that center of gravity is fastened at this rectangular coordinate that closes of the chassis of pump truck and all supporting legs P1, y P1), determine the coordinate (x that the jib of pump truck is fastened at this rectangular coordinate P2, y P2); The projected footprint of center of gravity on surface level of determining jib this pump truck in turning course is
Figure BDA00002340249700101
Wherein, x GBe the horizontal ordinate of center of gravity in this rectangular coordinate system of pump truck, y GBe the ordinate of center of gravity in this rectangular coordinate system of pump truck, F G1Close gravity, F for the chassis of pump truck and all supporting legs G2Be the gravity of the jib of pump truck, F GBe the total force of pump truck, and F G=F G1+ F G2, R is the coordinate (x that the center of gravity of the jib of pump truck is fastened at this rectangular coordinate P2, y P2) to the distance of true origin.
Still be elaborated as an example of the pump truck of four supporting legs example, as shown in Figure 5.
The schematic diagram of the rectangular coordinate system of setting up during definite projected footprint that Fig. 5 provides for the embodiment of the invention, similar with Fig. 2, in Fig. 5, A, B, C, four points of D are respectively four supporting legs of pump truck, and be an isosceles trapezoid take these four points as the quadrilateral that the summit was consisted of, also namely, look up from the vertical of pump truck, pump truck is symmetrical.Suppose the O point for the centre of gyration of pumping vehicle arm rack (general, the centre of gyration of pumping vehicle arm rack is on the longitudinal centre line of pump truck), then take the O point as true origin, set up rectangular coordinate system as shown in Figure 5 take the longitudinal centre line of pump truck as transverse axis (x axle).
In this rectangular coordinate system, the coordinate of A, B, C, four points of D is respectively (x 1, y 1), (x 2, y 2), (x 3, y 3), (x 4, y 4).The center of gravity of closing of the chassis of pump truck and all supporting legs is O 1Point, coordinate are (x P1, y P1)=(x P1, 0), O 1The ordinate of point is that 0 reason is, the chassis of general pump truck and all supporting legs are about the longitudinal centre line symmetry, so the center of gravity of closing of the chassis of pump truck and all supporting legs generally also drops on longitudinal center and make progress, so O among Fig. 5 1The ordinate of point is 0.The center of gravity of the jib of pump truck is O 2Point, coordinate are (x P2, y P2).
The center of gravity O of connection coordinate initial point O and jib 2, then jib is spent in the turning course OO 0 ~ 360 2Namely around O point rotation 0 ~ 360 degree, suppose OO 2With OO 1The angle of (the x axle also is the longitudinal centre line of pump truck) is α, OO 2Distance be
Figure BDA00002340249700111
Then:
Because on the x direction of principal axis and on the y direction of principal axis, the moment that the moment of the gravity of pump truck complete machine is equal to the gravity of jib adds the moment sum of the gravity of top bottom-disc and all supporting legs, therefore, can get F Gx G=F G1x P1+ F G2x P2And F Gx G=F G1y P1+ F G2y P2Thereby,,
Figure BDA00002340249700112
y G = ( F G 1 y p 1 + F G 2 y p 2 ) F G = ( F G 1 y p 1 + F G 2 R sin α ) F G ; Because sin 2α+cos 2α: 1, therefore, ( F G x G - F G 1 x p 1 F G 2 R ) 2 + ( F G y G - F G 1 y p 1 F G 2 R ) 2 = 1 , Can get thus ( x G - F G 1 x p 1 F G ) 2 + ( y G - F G 1 y p 1 F G ) 2 = ( F G 2 R F G ) 2 . As seen, when the jib of pump truck turns round in the scope of 0 ~ 360 degree, the projected footprint of the center of gravity of pump truck on surface level be take coordinate as O 3The point for the center of circle, with
Figure BDA00002340249700117
Be a circle of radius, circle as shown in phantom in Figure 5 is the projected footprint of center of gravity on surface level of the pump truck of determining.
S402: according to this projected footprint and the security domain determined, the control pump truck makes the center of gravity of pump truck be in the security domain at the projected footprint on the surface level.
Continuation is take Fig. 5 as example, determine after the projected footprint by above-mentioned steps S401, then because the security domain of pump truck is exactly the zone take A, B, C, four points of D as quadrilateral (isosceles trapezoid) ABCD on summit, therefore, except adopt as shown in Figure 1 method control pump truck make its center of gravity at the projected position on the surface level in this security domain, can also control pump truck its center of gravity also is in this security domain at the projected footprint on the surface level.Concrete control method can be: adjust change angle and/or the extension elongation of jib, so that when only having the angle of revolution to change in the operation process, the center of gravity of pump truck is in this security domain at the projected footprint on the surface level.
Better, when pump truck in operation process, when jib only has the angle of revolution to change, except the control pump truck makes its center of gravity remain on security domain with interior at the projected footprint on the surface level, also to control the scope of activities of the center of gravity of pump truck as far as possible, to keep the stability of pump truck as far as possible, improve the security of pump truck operation.Concrete, when jib only has the angle of revolution to change, except the control pump truck makes its center of gravity remain on security domain with interior at the projected footprint on the surface level, when the ratio of the area of determining area that this projected footprint surrounds and security domain during greater than the 3rd setting threshold, send unbalance early warning, this pump truck of operator with the prompting operation pump truck may be turned on one's side, perhaps, when the ratio of determining area that this projected footprint surrounds and the area of security domain during greater than the 4th setting threshold, pump truck is carried out lock machine control.
Continuation describes as an example of Fig. 5 example, if the ratio of the area in the area that this projected footprint (circle shown in dotted lines in Figure 5) surrounds and the zone of quadrilateral ABCD is greater than 70%, then send unbalance early warning, if ratio greater than 90%, then carries out lock machine control to pump truck.
More than be the control method of the arm support engineering truck that describes take the arm support engineering truck as pump truck as example, certainly, above-mentioned control method also can be applied to other arm support engineering trucks except pump truck, such as crane etc.Based on same invention thinking, the embodiment of the invention also provides a kind of control device of arm support engineering truck, as shown in Figure 6.
The control device structural representation of the arm support engineering truck that Fig. 6 provides for the embodiment of the invention specifically comprises:
Measurement module 601 is used for the process in the operation of arm support engineering truck, determines the suffered counter-force of each supporting leg that force cell that each supporting leg at described arm support engineering truck arranges measures;
Machine gravity determination module 602 is used for determining the projected position of center of gravity on surface level of described arm support engineering truck according to the suffered counter-force of each supporting leg that measures;
Security domain determination module 603 is used for determining polygonal region take each supporting leg of described arm support engineering truck as the summit at surface level, with the security domain of described polygonal region as described arm support engineering truck;
Control module 604 is used for controlling described arm support engineering truck according to described projection Wei Ge and the described security domain determined, and the center of gravity of described arm support engineering truck is in the described security domain at the projection Wei Ge on the surface level.
Described machine gravity determination module 602 specifically is used for, on surface level, the centre of gyration take the jib of described arm support engineering truck is set up rectangular coordinate system as true origin, and wherein, the transverse axis of described rectangular coordinate system is the longitudinal centre line on the chassis of described arm support engineering truck; Based on equilibrium principle, according to the suffered counter-force of each supporting leg that measures, the coordinate of each supporting leg in described rectangular coordinate system, the total force of described arm support engineering truck, determine the coordinate of center of gravity in described rectangular coordinate system of described arm support engineering truck.
Described machine gravity determination module 602 specifically is used for, take perpendicular to surface level direction straight up as positive dirction, if this i suffered counter-force of supporting leg that the force cell of She Ge on i supporting leg of described arm support engineering truck measures is not more than 0, then this i suffered counter-force of supporting leg is defined as 0, and based on equilibrium principle, according to the suffered counter-force of each supporting leg of determining, the coordinate of each supporting leg in described rectangular coordinate system, the total force of described arm support engineering truck is determined the coordinate of center of gravity in described rectangular coordinate system of described arm support engineering truck.
Described machine gravity determination module 602 also is used for, according to the suffered counter-force of each supporting leg that measures, determine that the center of gravity of described arm support engineering truck is before the projection Wei Ge on the surface level, determine described arm support engineering truck in operation process, extension elongation and/or the change angle of the jib of described arm support engineering truck change.
Described control module 604 specifically is used for, when the minor increment on the border of described projection Wei Ge and described security domain during less than the first setting threshold, control the jib of described arm support engineering truck to secure side to luffing, described secure side is to being: the direction that the absolute value of the angle of described jib and surface level is increased.
Described control module 604 also is used for, take perpendicular to surface level direction straight up as positive dirction, when the suffered counter-force of supporting leg that measures setting quantity is not more than 0, control the jib of described arm support engineering truck to secure side to luffing, described secure side is to being: the direction that the absolute value of the angle of described jib and surface level is increased; Perhaps, take perpendicular to surface level direction straight up as positive dirction, during greater than the second setting threshold, send unbalance early warning with ratio value with the suffered counter-force of value and all supporting legs when what measure the suffered counter-force of two adjacent supporting legs.
Described device also comprises:
Track determination module 605, be used for when determining that described arm support engineering truck is at operation process, when the jib of described arm support engineering truck only has the angle of revolution to change, center of gravity according to the jib of current described arm support engineering truck, and the chassis of described arm support engineering truck and all supporting legs close center of gravity, determine that described jib is at the projected footprint of center of gravity on surface level of the engineering truck of arm support described in the turning course;
Described control module 604 also is used for, and according to described projected footprint and the described security domain determined, controls described arm support engineering truck, and the center of gravity of described arm support engineering truck is in the described security domain at the projected footprint on the surface level.
Described track determination module 605 specifically is used for, on surface level, the centre of gyration take the jib of described arm support engineering truck is set up rectangular coordinate system as true origin, and wherein, the transverse axis of described rectangular coordinate system is the longitudinal centre line on the chassis of described arm support engineering truck; Determine the coordinate that center of gravity is fastened at described rectangular coordinate that closes of the chassis of described arm support engineering truck and all supporting legs, determine the coordinate that the center of gravity of the jib of described arm support engineering truck is fastened at described rectangular coordinate; Coordinate, chassis and all supporting legs of fastening at described rectangular coordinate according to the center of gravity of closing the coordinate that center of gravity fastens at described rectangular coordinate, described jib of chassis and all supporting legs the gravity that closes gravity, described jib, the total force of described arm support engineering truck, determine that described jib is at the projected footprint of center of gravity on surface level of the engineering truck of arm support described in the turning course, wherein, the gravity addition of closing gravity and described jib of described chassis and all supporting legs is the total force of described arm support engineering truck with value.
Described control module 604 also is used for, and when the ratio of the area of determining area that described projected footprint surrounds and described security domain during greater than the 3rd setting threshold, sends unbalance early warning; Perhaps, when the ratio of determining area that described projected footprint surrounds and the area of described security domain during greater than the 4th setting threshold, described arm support engineering truck is carried out lock machine control.
The embodiment of the invention provides a kind of control method and device of arm support engineering truck, the method arranges force cell at each supporting leg of arm support engineering truck, to measure the suffered counter-force of each supporting leg, and determine the projected position of center of gravity on surface level of arm support engineering truck according to the suffered counter-force of each supporting leg, as security domain, control arm support engineering truck makes its center of gravity be in the security domain at the projected position on the surface level with the polygonal region take each supporting leg of arm support engineering truck as the summit.Because said method is measured the suffered counter-force of each supporting leg by force cell, even therefore the suffered counter-force of each supporting leg can be subject to extra constraint, force cell still can be measured the current suffered counter-force of each supporting leg accurately, and, the counter-force that is subject to according to each supporting leg of measuring also can be determined the center of gravity of current arm support class engineering truck reality accurately, thereby, control arm support engineering truck makes its center of gravity be in the security domain at the projected position on the surface level, just can guarantee the security of operation.
Those skilled in the art should understand, the application's embodiment can be provided as method, system or computer program.Therefore, the application can adopt complete hardware implementation example, complete implement software example or in conjunction with the form of the embodiment of software and hardware aspect.And the application can adopt the form of the computer program of implementing in one or more computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) that wherein include computer usable program code.
The application is that reference is described according to process flow diagram and/or the block scheme of method, equipment (system) and the computer program of the embodiment of the present application.Should understand can be by the flow process in each flow process in computer program instructions realization flow figure and/or the block scheme and/or square frame and process flow diagram and/or the block scheme and/or the combination of square frame.Can provide these computer program instructions to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device producing a machine, so that the instruction of carrying out by the processor of computing machine or other programmable data processing device produces the device that is used for realizing in the function of flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame appointments.
These computer program instructions also can be stored in energy vectoring computer or the computer-readable memory of other programmable data processing device with ad hoc fashion work, so that the instruction that is stored in this computer-readable memory produces the manufacture that comprises command device, this command device is realized the function of appointment in flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame.
These computer program instructions also can be loaded on computing machine or other programmable data processing device, so that carry out the sequence of operations step producing computer implemented processing at computing machine or other programmable devices, thereby be provided for realizing the step of the function of appointment in flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame in the instruction that computing machine or other programmable devices are carried out.
Although described the application's preferred embodiment, in a single day those skilled in the art get the basic creative concept of cicada, then can make other change and modification to these embodiment.So claims are intended to all changes and the modification that are interpreted as comprising preferred embodiment and fall into the application's scope.
Obviously, those skilled in the art can carry out various changes and modification and the spirit and scope that do not break away from the application to the application.Like this, if these of the application are revised and modification belongs within the scope of the application's claim and equivalent technologies thereof, then the application also is intended to comprise these changes and modification interior.

Claims (18)

1. the control method of an arm support engineering truck is characterized in that, comprising:
In the operation process of arm support engineering truck, determine the suffered counter-force of each supporting leg that force cell that each supporting leg at described arm support engineering truck arranges measures;
According to the suffered counter-force of each supporting leg that measures, determine the projected position of center of gravity on surface level of described arm support engineering truck;
Determine polygonal region take each supporting leg of described arm support engineering truck as the summit at surface level, with the security domain of described polygonal region as described arm support engineering truck;
According to described projected position and the described security domain determined, control described arm support engineering truck, the center of gravity of described arm support engineering truck is in the described security domain at the projected position on the surface level.
2. the method for claim 1 is characterized in that, according to the suffered counter-force of each supporting leg that measures, determines the projected position of center of gravity on surface level of described arm support engineering truck, specifically comprises:
On surface level, set up rectangular coordinate system take the centre of gyration of the jib of described arm support engineering truck as true origin, wherein, the transverse axis of described rectangular coordinate system is the longitudinal centre line on the chassis of described arm support engineering truck;
Based on equilibrium principle, according to the suffered counter-force of each supporting leg that measures, the coordinate of each supporting leg in described rectangular coordinate system, the total force of described arm support engineering truck, determine the coordinate of center of gravity in described rectangular coordinate system of described arm support engineering truck.
3. method as claimed in claim 2 is characterized in that, determines the coordinate of center of gravity in described rectangular coordinate system of described arm support engineering truck, specifically comprises:
Take perpendicular to surface level direction straight up as positive dirction, be not more than 0 if be arranged on this i suffered counter-force of supporting leg that the force cell on i the supporting leg of described arm support engineering truck measures, then this i suffered counter-force of supporting leg is defined as 0, and based on equilibrium principle, according to suffered counter-force, the coordinate of each supporting leg in described rectangular coordinate system, the total force of described arm support engineering truck of each supporting leg of determining, determine the coordinate of center of gravity in described rectangular coordinate system of described arm support engineering truck.
4. the method for claim 1 is characterized in that, according to the suffered counter-force of each supporting leg that measures, determines the center of gravity of described arm support engineering truck before the projected position on the surface level, and described method also comprises:
Determine described arm support engineering truck in operation process, extension elongation and/or the change angle of the jib of described arm support engineering truck change.
5. the method for claim 1 is characterized in that, controls described arm support engineering truck, specifically comprises:
When the minor increment on the border of described projected position and described security domain during less than the first setting threshold, control the jib of described arm support engineering truck to secure side to luffing, described secure side is to being: the direction that the absolute value of the angle of described jib and surface level is increased.
6. the method for claim 1 is characterized in that, described method also comprises:
Take perpendicular to surface level direction straight up as positive dirction, when the suffered counter-force of supporting leg that measures setting quantity is not more than 0, control the jib of described arm support engineering truck to secure side to luffing, described secure side is to being: the direction that the absolute value of the angle of described jib and surface level is increased; Perhaps
Take perpendicular to surface level direction straight up as positive dirction, during greater than the second setting threshold, send unbalance early warning with ratio value with the suffered counter-force of value and all supporting legs when what measure the suffered counter-force of two adjacent supporting legs.
7. the method for claim 1 is characterized in that, described method also comprises:
When definite described arm support engineering truck in operation process, when the jib of described arm support engineering truck only has the angle of revolution to change, center of gravity according to the jib of current described arm support engineering truck, and the chassis of described arm support engineering truck and all supporting legs close center of gravity, determine that described jib is at the projected footprint of center of gravity on surface level of the engineering truck of arm support described in the turning course;
According to described projected footprint and the described security domain determined, control described arm support engineering truck, the center of gravity of described arm support engineering truck is in the described security domain at the projected footprint on the surface level.
8. method as claimed in claim 7 is characterized in that, determines that described jib at the projected footprint of center of gravity on surface level of the engineering truck of arm support described in the turning course, specifically comprises:
On surface level, set up rectangular coordinate system take the centre of gyration of the jib of described arm support engineering truck as true origin, wherein, the transverse axis of described rectangular coordinate system is the longitudinal centre line on the chassis of described arm support engineering truck;
Determine the coordinate that center of gravity is fastened at described rectangular coordinate that closes of the chassis of described arm support engineering truck and all supporting legs, determine the coordinate that the center of gravity of the jib of described arm support engineering truck is fastened at described rectangular coordinate;
Coordinate, chassis and all supporting legs of fastening at described rectangular coordinate according to the center of gravity of closing the coordinate that center of gravity fastens at described rectangular coordinate, described jib of chassis and all supporting legs the gravity that closes gravity, described jib, the total force of described arm support engineering truck, determine that described jib is at the projected footprint of center of gravity on surface level of the engineering truck of arm support described in the turning course, wherein, the gravity addition of closing gravity and described jib of described chassis and all supporting legs is the total force of described arm support engineering truck with value.
9. method as claimed in claim 7 is characterized in that, described method also comprises:
When the ratio of the area of determining area that described projected footprint surrounds and described security domain during greater than the 3rd setting threshold, send unbalance early warning; Perhaps
When the ratio of determining area that described projected footprint surrounds and the area of described security domain during greater than the 4th setting threshold, described arm support engineering truck is carried out lock machine control.
10. the control device of an arm support engineering truck is characterized in that, comprising:
Measurement module is used for the process in the operation of arm support engineering truck, determines the suffered counter-force of each supporting leg that force cell that each supporting leg at described arm support engineering truck arranges measures;
The machine gravity determination module is used for determining the projected position of center of gravity on surface level of described arm support engineering truck according to the suffered counter-force of each supporting leg that measures;
The security domain determination module is used for determining polygonal region take each supporting leg of described arm support engineering truck as the summit at surface level, with the security domain of described polygonal region as described arm support engineering truck;
Control module is used for controlling described arm support engineering truck according to described projected position and the described security domain determined, and the center of gravity of described arm support engineering truck is in the described security domain at the projected position on the surface level.
11. device as claimed in claim 10, it is characterized in that, described machine gravity determination module specifically is used for, on surface level, set up rectangular coordinate system take the centre of gyration of the jib of described arm support engineering truck as true origin, wherein, the transverse axis of described rectangular coordinate system is the longitudinal centre line on the chassis of described arm support engineering truck; Based on equilibrium principle, according to the suffered counter-force of each supporting leg that measures, the coordinate of each supporting leg in described rectangular coordinate system, the total force of described arm support engineering truck, determine the coordinate of center of gravity in described rectangular coordinate system of described arm support engineering truck.
12. device as claimed in claim 11, it is characterized in that, described machine gravity determination module specifically is used for, take perpendicular to surface level direction straight up as positive dirction, be not more than 0 if be arranged on this i suffered counter-force of supporting leg that the force cell on i the supporting leg of described arm support engineering truck measures, then this i suffered counter-force of supporting leg is defined as 0, and based on equilibrium principle, according to the suffered counter-force of each supporting leg of determining, the coordinate of each supporting leg in described rectangular coordinate system, the total force of described arm support engineering truck is determined the coordinate of center of gravity in described rectangular coordinate system of described arm support engineering truck.
13. device as claimed in claim 10, it is characterized in that, described machine gravity determination module also is used for, according to the suffered counter-force of each supporting leg that measures, determine that the center of gravity of described arm support engineering truck is before the projected position on the surface level, determine described arm support engineering truck in operation process, extension elongation and/or the change angle of the jib of described arm support engineering truck change.
14. device as claimed in claim 10, it is characterized in that, described control module specifically is used for, when the minor increment on the border of described projected position and described security domain during less than the first setting threshold, control the jib of described arm support engineering truck to secure side to luffing, described secure side is to being: the direction that the absolute value of the angle of described jib and surface level is increased.
15. device as claimed in claim 10, it is characterized in that, described control module also is used for, take perpendicular to surface level direction straight up as positive dirction, when the suffered counter-force of supporting leg that measures setting quantity is not more than 0, control the jib of described arm support engineering truck to secure side to luffing, described secure side is to being: the direction that the absolute value of the angle of described jib and surface level is increased; Perhaps, take perpendicular to surface level direction straight up as positive dirction, during greater than the second setting threshold, send unbalance early warning with ratio value with the suffered counter-force of value and all supporting legs when what measure the suffered counter-force of two adjacent supporting legs.
16. device as claimed in claim 10 is characterized in that, described device also comprises:
The track determination module, be used for when determining that described arm support engineering truck is at operation process, when the jib of described arm support engineering truck only has the angle of revolution to change, center of gravity according to the jib of current described arm support engineering truck, and the chassis of described arm support engineering truck and all supporting legs close center of gravity, determine that described jib is at the projected footprint of center of gravity on surface level of the engineering truck of arm support described in the turning course;
Described control module also is used for, and according to described projected footprint and the described security domain determined, controls described arm support engineering truck, and the center of gravity of described arm support engineering truck is in the described security domain at the projected footprint on the surface level.
17. device as claimed in claim 16, it is characterized in that, described track determination module specifically is used for, on surface level, set up rectangular coordinate system take the centre of gyration of the jib of described arm support engineering truck as true origin, wherein, the transverse axis of described rectangular coordinate system is the longitudinal centre line on the chassis of described arm support engineering truck; Determine the coordinate that center of gravity is fastened at described rectangular coordinate that closes of the chassis of described arm support engineering truck and all supporting legs, determine the coordinate that the center of gravity of the jib of described arm support engineering truck is fastened at described rectangular coordinate; Coordinate, chassis and all supporting legs of fastening at described rectangular coordinate according to the center of gravity of closing the coordinate that center of gravity fastens at described rectangular coordinate, described jib of chassis and all supporting legs the gravity that closes gravity, described jib, the total force of described arm support engineering truck, determine that described jib is at the projected footprint of center of gravity on surface level of the engineering truck of arm support described in the turning course, wherein, the gravity addition of closing gravity and described jib of described chassis and all supporting legs is the total force of described arm support engineering truck with value.
18. device as claimed in claim 16 is characterized in that, described control module also is used for, and when the ratio of the area of determining area that described projected footprint surrounds and described security domain during greater than the 3rd setting threshold, sends unbalance early warning; Perhaps, when the ratio of determining area that described projected footprint surrounds and the area of described security domain during greater than the 4th setting threshold, described arm support engineering truck is carried out lock machine control.
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CN111498698A (en) * 2020-04-08 2020-08-07 中联重科股份有限公司 Method and device for judging safety of boom rotation direction and engineering machinery
CN111608392A (en) * 2020-05-08 2020-09-01 中联重科股份有限公司 Anti-tipping control method and system for concrete equipment and concrete equipment
CN111608392B (en) * 2020-05-08 2022-04-12 中联重科股份有限公司 Anti-tipping control method and system for concrete equipment and concrete equipment
WO2021237765A1 (en) * 2020-05-28 2021-12-02 中联重科股份有限公司 Method and apparatus for determining safety of operation which can be carried out by crane boom, and engineering machinery
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