CN105883622B - Control method of tumbling and system and lorry-mounted crane - Google Patents

Control method of tumbling and system and lorry-mounted crane Download PDF

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CN105883622B
CN105883622B CN201510035571.3A CN201510035571A CN105883622B CN 105883622 B CN105883622 B CN 105883622B CN 201510035571 A CN201510035571 A CN 201510035571A CN 105883622 B CN105883622 B CN 105883622B
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current
support
support force
tire
leg
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CN105883622A (en
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赵云亮
马超
陆永能
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Construction Machinery Branch of XCMG
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Construction Machinery Branch of XCMG
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Abstract

The present invention discloses one kind and tumbled control method and system and lorry-mounted crane.Methods described includes：Front suspension system length is worked as in displacement transducer collection, and pressure sensor gathers current pressure of support leg；Controller is according to when front suspension system length and current pressure of support leg, and control warning device sends corresponding indication signal.What the present invention can be gathered according to sensor works as front suspension system length and current pressure of support leg, timely and effectively reminds driver's careful driving, the possibility that reduction lorry-mounted crane overthrow accident occurs；Simple to operate, control is reliable, and human pilot can grasp the holding state of vehicle in real time, can preferably perceive vehicle, so as to better control over vehicle, it is to avoid dangerous generation.

Description

Control method of tumbling and system and lorry-mounted crane
Technical field
The present invention relates to engineering machinery field, more particularly to one kind is tumbled control method and system and lorry-mounted crane.
Background technology
Lorry-mounted crane uses flexible, convenient engineering machinery as one kind, is widely used in station, warehouse, harbour, work The places such as ground, field rescue.
When lorry-mounted crane works, got on the bus by supporting leg and tire shared and lift heavy load, the strong point is more, simultaneously There is the problem of hard and soft joint is supported, and gross combination weight and position of centre of gravity can change according to vehicle cargo situation, therefore, Its specific rollover stability performance is more difficult to get from theoretical side.But lorry-mounted crane usually requires to carry out long-armed operating mode work Industry, when lift heavy is larger, if operating personnel lift by crane simply, lorry-mounted crane is likely to exceed its safe condition range.
However, existing lorry-mounted crane does not take related restriction for slide-out, i.e., supported without each Put and always support condition prompting, be also not equipped with roll-over protection device, fully rely on the experience of driver to judge the work of vehicle Make state.In long-armed operating mode and larger lift heavy, because no hommization is reminded and current holding state signal, operating personnel are not The support situation of Current vehicle can be fully understood by, it is careless slightly during operation, it may occur that overturning situation.
Existing lorry-mounted crane tumbles control program mainly by the mounted angle sensor on vehicle, to judge car Current working condition.After jib angle exceeds limit value, stop lifting operation, it is to avoid the generation of accident.
Obliquity sensor is to understand the angle of vehicle currently with horizontal plane, can not fully obtain current each strong point Holding state, meanwhile, the dangerous working condition basis for estimation of this technology is transfinited for vehicle angles, but the determination of specific limit value size is deposited In certain difficulty.
The content of the invention
In view of above technical problem, tumbled control method and system and lorry-mounted crane the invention provides one kind, can and When effectively remind driver's careful driving, the possibility that reduction lorry-mounted crane overthrow accident occurs.
Tumbled control method there is provided one kind according to an aspect of the present invention, including：
Front suspension system length is worked as in displacement transducer collection, and pressure sensor gathers current pressure of support leg；
Controller is according to when front suspension system length and current pressure of support leg, and control warning device sends corresponding instruction letter Number.
In one embodiment of the invention, front suspension system length is worked as in displacement transducer collection, pressure sensor is adopted Collect after current pressure of support leg, methods described also includes：
Wave filter, when front suspension system length and current pressure of support leg are filtered processing, performs control afterwards to collection Device is according to when front suspension system length and current pressure of support leg, the step of control warning device sends corresponding indication signal.
In one embodiment of the invention, controller is indicated according to when front suspension system length and current pressure of support leg The step of warning device sends corresponding indication signal includes：
Determine that present tire support force is more than the tire branch of the first predetermined tire support force according to when front suspension system length Support point quantity m；
Determine that current pressure of support leg is more than the supporting leg support points of the first predetermined supporting leg support force according to current pressure of support leg Measure n；
Judge whether current strong point sum m+n is more than 3；
If current strong point sum m+n is more than 3, it indicates that warning device sends the first indication signal, to point out driver Current engineering machinery is working properly.
In one embodiment of the invention, methods described also includes：
If current strong point sum m+n is less than 3, it indicates that warning device sends the second indication signal, and indicates that control is opened The current operation for terminating engineering machinery is closed, continues to operate to limit driver, prevents dangerous generation.
In one embodiment of the invention, methods described also includes：
If current strong point sum m+n is equal to 3, it indicates that warning device sends the 3rd indication signal, to point out driver Current working is dangerous, need to adjust the state of getting on the bus.
In one embodiment of the invention, determine that present tire support force is more than first according to when front suspension system length The step of Tire support point quantity m of predetermined tire support force, includes：
Determine that present tire support force is more than the tire branch of the first predetermined tire support force according to when front suspension system length Support point quantity m and present tire support force are more than the Tire support point quantity m of the second predetermined tire support force1, wherein, the Two predetermined tire support forces are more than the first predetermined tire support force；
Determine that current pressure of support leg is more than the supporting leg support points of the first predetermined supporting leg support force according to current pressure of support leg The step of amount n, includes：
Determine that current pressure of support leg is more than the supporting leg support points of the first predetermined supporting leg support force according to current pressure of support leg Measure n and current pressure of support leg is more than the supporting leg number of support points n of the second predetermined supporting leg support force1, wherein, the second predetermined branch Leg support force is more than the first predetermined supporting leg support force；
When current strong point sum m+n is equal to 3, methods described also includes：
Judge current number of support points m1+n1Whether 3 are equal to；
If current number of support points m1+n1Equal to 3, then perform indicating alarm device and send the 3rd indication signal, to point out to drive The person's of sailing current working is dangerous, need to adjust the step of getting on the bus state；
If current number of support points m1+n1It is not equal to 3, then performs indicating alarm device and send the second indication signal, and indicate Controlling switch terminates the current operation of engineering machinery, continues to operate to limit driver, the step of preventing dangerous generation.
According to another aspect of the present invention there is provided a kind of rollover control system, including displacement transducer, pressure sensor, Controller and warning device, wherein：
Displacement transducer, works as front suspension system length for gathering；
Pressure sensor, for gathering current pressure of support leg；
Controller, for according to front suspension system length and current pressure of support leg is worked as, control warning device to send corresponding finger Show signal；
Warning device, for sending corresponding indication signal according to the control of controller.
In one embodiment of the invention, the system also includes wave filter, wherein：
Wave filter, for being gathered to displacement transducer when front suspension system length and the current branch of pressure sensor collection Leg pressure is filtered processing, indicates that controller performs controller according to when front suspension system length and when front leg strut pressure afterwards Power, control warning device sends the operation of corresponding indication signal.
In one embodiment of the invention, the system also include warning device, controller include the first determining unit, Second determining unit, the first recognition unit, control unit, wherein：
First determining unit, for determining that present tire support force is more than the first predetermined wheel according to when front suspension system length The Tire support point quantity m of tire support force；
Second determining unit, for determining that current pressure of support leg is more than the first predetermined supporting leg and supported according to current pressure of support leg The supporting leg number of support points n of power；
First recognition unit, for judging whether current strong point sum m+n is more than 3；
Control unit, for the judged result according to the first recognition unit, when current strong point sum m+n is more than 3, refers to Show that warning device sends the first indication signal, to point out the current engineering machinery of driver working properly；
Warning device is specifically for the instruction according to control unit, when current strong point sum m+n is more than 3, sends the One indication signal, to point out the current engineering machinery of driver working properly.
In one embodiment of the invention, the system also includes controlling switch, wherein：
Control unit is additionally operable to the judged result according to the first recognition unit, when current strong point sum m+n is less than 3, Indicating alarm device sends the second indication signal, and indicating control switch terminates the current operation of engineering machinery, to limit driving Member continues to operate, and prevents dangerous generation；
Warning device is additionally operable to the instruction according to control unit, when current strong point sum m+n is less than 3, sends second Indication signal；
Controlling switch, for the instruction according to control unit, when current strong point sum m+n is less than 3, terminates engineering machine The current operation of tool, continues to operate, prevents dangerous generation to limit driver.
In one embodiment of the invention, control unit is additionally operable to the judged result according to the first recognition unit, is working as When front support point sum m+n is equal to 3, indicating alarm device sends the 3rd indication signal, to point out driver's current working to have danger Danger, need to adjust the state of getting on the bus；Warning device is additionally operable to the instruction according to control unit, is equal to 3 in current strong point sum m+n When, the 3rd indication signal is sent, to point out driver's current working dangerous, the state of getting on the bus need to be adjusted.
In one embodiment of the invention, controller also includes the second recognition unit, wherein：
First determining unit is additionally operable to according to when front suspension system length determines that present tire support force is more than first and made a reservation for The Tire support point quantity m and present tire support force of Tire support power are more than the tire branch of the second predetermined tire support force Support point quantity m1, wherein, the second predetermined tire support force is more than the first predetermined tire support force；
Second determining unit is additionally operable to determine that current pressure of support leg is more than the first predetermined supporting leg branch according to current pressure of support leg The supporting leg number of support points n of support force and current pressure of support leg are more than the supporting leg number of support points of the second predetermined supporting leg support force n1, wherein, the second predetermined supporting leg support force is more than the first predetermined supporting leg support force；
Second recognition unit, for the judged result according to the first recognition unit, is equal to 3 in current strong point sum m+n When, judge current number of support points m1+n1Whether 3 are equal to；
Control unit is additionally operable to the judged result according to the second recognition unit, in current number of support points m1+n1During equal to 3, Perform indicating alarm device and send the 3rd indication signal, to point out driver's current working dangerous, the state of getting on the bus need to be adjusted Operation；In current number of support points m1+n1When being not equal to 3, perform indicating alarm device and send the second indication signal, and indicate control System switch terminates the current operation of engineering machinery, continues to operate to limit driver, prevents the dangerous operation occurred；
Warning device is additionally operable to the instruction according to control unit, in current number of support points m1+n1During equal to 3, the 3rd is sent Indication signal, to point out driver's current working dangerous, need to adjust the state of getting on the bus；In current number of support points m1+n1It is not equal to When 3, the second indication signal is sent；
Controlling switch is additionally operable to the instruction according to control unit, in current number of support points m1+n1When being not equal to 3, work is terminated The current operation of journey machinery, continues to operate, prevents dangerous generation to limit driver.
According to another aspect of the present invention there is provided a kind of lorry-mounted crane, including tumbling described in any of the above-described embodiment Control system.
What the present invention can be gathered according to sensor works as front suspension system length and current pressure of support leg, timely and effectively carries Awake driver's careful driving, the possibility that reduction lorry-mounted crane overthrow accident occurs；Simple to operate, control is reliable, and drives Personnel can grasp the holding state of vehicle in real time, can preferably perceive vehicle, so as to better control over vehicle, it is to avoid dangerous hair It is raw.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the schematic diagram of rollover control system one embodiment of the present invention.
Fig. 2 is the scheme of installation of displacement transducer and pressure sensor in one embodiment of the invention.
Fig. 3 is the scheme of installation of displacement transducer in one embodiment of the invention.
Fig. 4 is the schematic diagram of another embodiment of rollover control system of the present invention.
Fig. 5 is the schematic diagram of controller in one embodiment of the invention.
Fig. 6 is the schematic diagram of the first determining unit in one embodiment of the invention.
Fig. 7 is the schematic diagram of the second determining unit in one embodiment of the invention.
Fig. 8 is the schematic diagram of control method one embodiment of the invention of tumbling.
Fig. 9 is the schematic diagram of control method another embodiment of the invention of tumbling.
Figure 10 is that the schematic diagram of indication signal is sent according to sensing data in one embodiment of the invention.
Figure 11 is that the schematic diagram of indication signal is sent according to sensing data in another embodiment of the present invention.
Figure 12 is the schematic diagram of determination Tire support point quantity in one embodiment of the invention.
Figure 13 is the schematic diagram of determination supporting leg number of support points in one embodiment of the invention.
Figure 14 is the schematic diagram of the another embodiment of rollover control system of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Below Description only actually at least one exemplary embodiment is illustrative, is never used as to the present invention and its application or makes Any limitation.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise Lower obtained every other embodiment, belongs to the scope of protection of the invention.
Unless specifically stated otherwise, the part and positioned opposite, the digital table of step otherwise illustrated in these embodiments Do not limited the scope of the invention up to formula and numerical value.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality Proportionate relationship draw.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable In the case of, the technology, method and apparatus should be considered as authorizing a part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
Fig. 1 is the schematic diagram of rollover control system one embodiment of the present invention.In one embodiment of the invention, it is described Rollover control system can apply in the engineering machinery such as lorry-mounted crane.
Shown in Fig. 1, the rollover control system, including displacement transducer 1, pressure sensor 2, controller 3 and alarm dress 4 are put, wherein：
Displacement transducer 1, works as front suspension system length for gathering.
In a specific example of the invention, as shown in Figures 2 and 3, displacement transducer 1 has 6, is respectively arranged in 6 × 2 At chassis, 6 tires of lorry-mounted crane without rear support leg, specifically, displacement transducer 1 is installed on each car of lorry-mounted crane At wheel between vehicle frame and vehicle bridge, pin type or stay-supported can be used, the length for gathering vehicle suspension system herein.
Pressure sensor 2, for gathering current pressure of support leg.
In a specific example of the invention, as shown in Fig. 2 pressure sensor 2 there are two, 6 × 2 bottoms are respectively arranged in 2 supporting leg bottoms of disk, lorry-mounted crane without rear support leg, for gathering pressure of support leg.
Controller 3, for according to front suspension system length and current pressure of support leg is worked as, determining the engineering machines such as lorry-mounted crane The current holding state of tool vehicle, and when the engineering machinery such as lorry-mounted crane reach the dangerous working condition of setting, control alarm dress Put 4 and send corresponding indication signal.
Warning device 4, for sending corresponding indication signal according to the control of controller 3.
In one embodiment of the invention, warning device 4 can include the instruction dress such as buzzer, indicator lamp, display Put, the indication signal such as sound, light for sending different frequency, to point out the current engineering machinery of user to be in different grades of danger Operating mode.
The current suspension system that the rollover control system provided based on the above embodiment of the present invention can be gathered according to sensor Length of uniting and current pressure of support leg, the current holding state of comprehensive descision lorry-mounted crane, so as to timely and effectively remind Driver's careful driving, reduces the possibility that the engineering machinery overthrow accidents such as lorry-mounted crane occur.
In embodiment shown in Fig. 2 and Fig. 3, the rollover control system described in Fig. 1 is applied to 6 × 2 chassis, without rear support leg Lorry-mounted crane.
In one embodiment of the invention, the rollover control system described in Fig. 1 can also be applied to other forms chassis And the lorry-mounted crane with rear support leg.
In one embodiment of the invention, it would however also be possible to employ related force snesor device replaces the displacement described in Fig. 1 to pass Sensor obtains the support force at off-the-road tyre.
Fig. 4 is the schematic diagram of another embodiment of rollover control system of the present invention.Compared with embodiment illustrated in fig. 1, in Fig. 4 institutes Show in embodiment, the system also includes wave filter 5, wherein：
Wave filter 5, for gathering to displacement transducer 1 when working as that front suspension system length and pressure sensor 2 are gathered Front leg strut pressure is filtered processing, indicates that controller 3 performs controller 3 according to when front suspension system length and current branch afterwards Leg pressure, control warning device 4 sends the operation of corresponding indication signal.
In the above embodiment of the present invention, wave filter can filter out the data fluctuations of engine luggine generation, so as to eliminate pair The influence sensor that the data that engine luggine can be collected to displacement transducer and pressure sensor during vehicle operation are produced is adopted Collect data, so that whole system is more stablized, reliably.
In one embodiment of the invention, the wave filter 5 can be with integrated or be external in the controller 3.
In one embodiment of the invention, as shown in figure 4, the system also includes controlling switch 6, wherein：
Controlling switch, for the instruction according to controller, the dangerous work of setting is reached in engineering machinery such as lorry-mounted cranes During condition, the current operation of the engineering machinery such as lorry-mounted crane is terminated, continues to operate to limit driver, prevents dangerous generation.
In one embodiment of the invention, controlling switch 6 can include hydraulic system magnetic valve, wherein：
When hydraulic system magnetic valve, dangerous working condition for reaching setting in engineering machinery such as lorry-mounted cranes, cut-out oil Pump is contacted with each executing agency, while each executing agency is locked, limitation driver continues to operate, and prevents dangerous generation.
In one embodiment of the invention, as shown in figure 4, the system also includes state indicating device 7, wherein：
Controller 3, for according to when the comparison of front suspension system length and predetermined length value, and current pressure of support leg and The comparison of scheduled pressure value, it is determined that the status of support of current each supporting leg and tire, and instruction state instruction device 7 is shown currently The holding state of each supporting leg and tire.
State indicating device 7, for the instruction according to controller, the holding state of display current each supporting leg and tire.
In one embodiment of the invention, state indicating device 7 can include the finger such as buzzer, indicator lamp, display Showing device, the indication signal such as sound, light for sending different frequency, to point out at user current each supporting leg and tire Different holding states.
The above embodiment of the present invention is simple to operate, control is reliable, and human pilot can grasp the holding state of vehicle in real time, Vehicle can be preferably perceived, so as to better control over vehicle, it is to avoid dangerous generation.
Fig. 5 is the schematic diagram of controller in one embodiment of the invention.As shown in figure 5, the controller 3 in Fig. 1 or Fig. 4 is wrapped The first determining unit 31, the second determining unit 32, the first recognition unit 33, control unit 34 are included, wherein：
First determining unit 31, for determining present tire support force F according to when front suspension system lengthiIt is pre- more than first Fixed wheel tire support force FbiTire support point quantity m.
Second determining unit 32, for determining current pressure of support leg F according to current pressure of support legjMore than the first predetermined supporting leg Support force FbjSupporting leg number of support points n.
First recognition unit 33, for judging whether current strong point sum m+n is more than 3.
Control unit 34, for the judged result according to the first recognition unit 33, is more than 3 in current strong point sum m+n When, indicating alarm device 4 sends the first indication signal, to point out the current engineering machinery of driver working properly.
Warning device 4, when current strong point sum m+n is more than 3, judges specifically for the instruction according to control unit 34 Current working is normal, the first indication signal is sent, to point out the current engineering machinery of driver working properly.
In one embodiment of the invention, warning device 4 can include green signaling lamp, wherein：Control unit 34, When current strong point sum m+n is more than 3, indicate that green signaling lamp lights, to point out current lorry-mounted crane holding state normal.
In one embodiment of the invention, as shown in figure 5, control unit 34 is additionally operable to according to the first recognition unit 33 Judged result, when current strong point sum m+n is less than 3, judges current working as high-grade dangerous working condition, indicating alarm device 4 send the second indication signal, and indicating control switch 6 terminates the current operation of engineering machinery, continue to operate to limit driver, Prevent dangerous generation.
Warning device 4 is additionally operable to the instruction according to control unit 34, when current strong point sum m+n is less than 3, sends the Two indication signals.
Controlling switch 6, when current strong point sum m+n is less than 3, is terminated specifically for the instruction according to control unit 34 The current operation of engineering machinery, continues to operate, prevents dangerous generation to limit driver.
In one embodiment of the invention, warning device 4 also includes red alarm lamp and the first buzzer, controlling switch Including hydraulic system battery valve, wherein：
Control unit is additionally operable to, when current strong point sum m+n is less than 3, indicate that red alarm lamp lights, buzzer is high Frequency pipes, while indicating contacting for hydraulic system magnetic valve cut-out oil pump and each executing agency, while each executing agency is locked, limits Driver processed continues to operate, and prevents dangerous generation.
In one embodiment of the invention, as shown in figure 5, control unit 34 is additionally operable to according to the first recognition unit 33 Judged result, when current strong point sum m+n is equal to 3, judges current working as inferior grade dangerous working condition, indicating alarm device 4 send the 3rd indication signal, to point out driver's current working dangerous, need to adjust the state of getting on the bus；Warning device 4 is additionally operable to root According to the instruction of control unit 34, when current strong point sum m+n is equal to 3, the 3rd indication signal is sent, to point out driver to work as Preceding operating mode is dangerous, need to adjust the state of getting on the bus.
In one embodiment of the invention, warning device 4 also includes yellow alarm lamp and the second buzzer, wherein：
Control unit is additionally operable to, when current strong point sum m+n is equal to 3, indicate that yellow alarm lamp lights, indicate simultaneously Second buzzer low frequency pipes, and points out current working relatively hazardous, and driver need to adjust posture of getting on the bus, and reduces lifting amplitude or hangs Weight, while stopping revolution or turning round round about, alarm release after adjustment.
In one embodiment of the invention, as shown in figure 5, controller 3 also includes the second recognition unit 35, wherein：
First determining unit 31 is additionally operable to according to as front suspension system length LiDetermine present tire support force FiMore than first Predetermined tire support force FbiTire support point quantity m and present tire support force be more than the second predetermined tire support force Fci Tire support point quantity m1, wherein, the second predetermined tire support force FciTire support force F predetermined more than firstbi。
Second determining unit 32 is additionally operable to according to current pressure of support leg FjIt is determined that current pressure of support leg is more than the first predetermined branch Leg support force FbjSupporting leg number of support points n and current pressure of support leg be more than the second predetermined supporting leg support force FcjSupporting leg branch Support point quantity n1, wherein, the second predetermined supporting leg support force FcjSupporting leg support force F predetermined more than firstbj。
Second recognition unit 35, for the judged result according to the first recognition unit 33, in current strong point sum m+n etc. When 3, current number of support points m is judged1+n1Whether 3 are equal to.
Control unit 34 is additionally operable to the judged result according to the second recognition unit 35, in current number of support points m1+n1It is equal to When 3, perform indicating alarm device 4 and send the 3rd indication signal, to point out driver's current working dangerous, shape of getting on the bus need to be adjusted The operation of state；In current number of support points m1+n1When being not equal to 3, perform indicating alarm device 4 and send the second indication signal, and refer to Show that controlling switch 6 terminates the current operation of engineering machinery, continue to operate to limit driver, prevent the dangerous operation occurred.
Warning device 4 is additionally operable to the instruction according to control unit 34, in current number of support points m1+n1During equal to 3, send 3rd indication signal, to point out driver's current working dangerous, need to adjust the state of getting on the bus；In current number of support points m1+n1No During equal to 3, the second indication signal is sent.
Controlling switch 6 is additionally operable to the instruction according to control unit 34, in current number of support points m1+n1When being not equal to 3, eventually Only the current operation of engineering machinery, continues to operate, prevents dangerous generation to limit driver.
In one embodiment of the invention, the system can also include manual cancel switch, wherein：
When manual cancel switch disconnects, control of the breaking controller to hydraulic system magnetic valve, when each executing agency is protected After pressure is locked, driver can open manual cancel switch, be opened after the power-off of hydraulic system magnetic valve, on driver now can adjust Car posture, after closing manual cancel switch after alarm release.
Fig. 6 is the schematic diagram of the first determining unit in one embodiment of the invention.As shown in fig. 6, in Fig. 5 embodiments One determining unit 31 can include predetermined length acquisition module 311, the first comparison module 312, the first indicating module 313, first Determining module 314, the state indicating device 7 shown in Fig. 4 can include tire condition instruction device, wherein：
Predetermined length acquisition module 311, for obtaining and the first predetermined tire support force Fbi, the second predetermined tire support force FciWith the 3rd predetermined tire support force FaiThe first corresponding predetermined length Lbi, the second predetermined length LciWith the 3rd predetermined length Lai, wherein, Fai<Fbi<Fci, Lai>Lbi>Lci。
First comparison module 312, for i-th tire to be worked as into front suspension system length LiWith the first predetermined length Lbi、 Second predetermined length LciWith the 3rd predetermined length LaiIt is compared, wherein i is natural number, and 1≤i≤M, M is such as with car lifting The tire sum of the engineering machinery of machine.
First indicating module 313, for the comparative result according to the first comparison module 312, works as front overhang in i-th tire Frame system length LiMore than the 3rd predetermined length LaiWhen, judge tire holding power FiTire support force F predetermined less than the 3rdai, refer to Show that the state indicating device of i-th of tire sends first state indication signal (for example sending red instruction light), to point out user The support force F of i-th of tireiVery little, the tire has lost supporting role；Work as front suspension system length L in i-th tirei Less than the 3rd predetermined length LaiAnd more than the first predetermined length LbiWhen, judge tire holding power FiMore than the 3rd predetermined tire branch Support force FaiAnd less than the first predetermined tire support force Fbi, indicate that the state indicating device of i-th of tire sends the second state and referred to Show signal (for example send yellow and indicate light), to point out the support force F of i-th of tire of useriIt is smaller；And in i-th tire As front suspension system length LiLess than the first predetermined length LbiWhen, judge tire holding power FiMore than the first predetermined tire support force Fbi, indicate that the state indicating device of i-th of tire sends third state indication signal (for example sending green indicator light), to point out The support force F of i-th of tire of useriNormally.
First determining module 314, for the comparative result according to the first comparison module 312, works as front overhang in i-th tire Frame system length LiLess than the first predetermined length LbiAnd more than the second predetermined length LciWhen, judge tire holding power FiMore than One predetermined tire support force FbiAnd less than the second predetermined tire support force Fci, by present tire support force FiIt is predetermined more than first Tire support power FbiTire support point quantity m add 1；And work as front suspension system length L in i-th tireiIt is pre- less than second Measured length LciWhen, judge tire holding power FiTire support force F predetermined more than secondci, by present tire support force FiMore than One predetermined tire support force FbiTire support point quantity m add 1, and by present tire support force FiMore than the second predetermined tire branch Support force FciTire support point quantity m1 add 1.
Fig. 7 is the schematic diagram of the second determining unit in one embodiment of the invention.As shown in fig. 7, in Fig. 5 embodiments Two determining units 32 include the second comparison module 321, the second indicating module 322, the second determining module 323, the state shown in Fig. 4 Instruction device 7 can include supporting leg state indicating device, wherein：
Second comparison module 321, for j-th supporting leg to be worked as into front leg strut support force FjWith the first predetermined supporting leg support force Fbj, the second predetermined supporting leg support force FcjWith the 3rd predetermined supporting leg support force FajIt is compared, wherein, Faj<Fbj<Fcj, j is nature Number, 1≤j≤N, N is total for the supporting leg of the engineering machinery of such as lorry-mounted crane.
Second indicating module 322, for the comparative result according to the second comparison module 321, in the current branch of j-th of supporting leg Leg pressure FjSupporting leg support force F predetermined less than the 3rdajWhen, indicate that the supporting leg state indicating device of j-th of supporting leg sends the first shape State indication signal (for example sends red instruction light), to point out the support force F of j-th of supporting leg of userjVery little, the supporting leg has lost Go supporting role；In the current pressure of support leg F of j-th of supporting legjSupporting leg support force F predetermined more than the 3rdajAnd make a reservation for less than first Supporting leg support force FbjWhen, indicate that the supporting leg state indicating device of j-th of supporting leg sends the second condition indicative signal and (for example sends Huang Color indicates light), to point out the support force F of j-th of supporting leg of userjIt is smaller；And in the current pressure of support leg F of j-th of supporting legjIt is more than First predetermined supporting leg support force FbjWhen, indicate that the supporting leg state indicating device of j-th of supporting leg sends third state indication signal (example Such as send green indicator light), to point out the support force F of j-th of supporting leg of userjNormally.
Second determining module 323, for the comparative result according to the second comparison module 321, in the current branch of j-th of supporting leg Leg pressure FjSupporting leg support force F predetermined more than firstbjAnd less than the second predetermined supporting leg support force FcjWhen, front leg strut support will be worked as Power FjSupporting leg support force F predetermined more than firstbjSupporting leg number of support points n add 1；And in the current pressure of support leg of j-th of supporting leg Supporting leg support force F predetermined more than secondcjWhen, front leg strut support force F will be worked asjSupporting leg support force F predetermined more than firstbjSupporting leg branch Support point quantity n adds 1, and will work as front leg strut support force FjTire support force F predetermined more than secondcjSupporting leg number of support points n1Plus 1。
The above embodiment of the present invention can show the holding state of each supporting leg and tire in real time, and by judging vehicle Dotted state is supported, so as to timely and effectively remind driver's careful driving, reduction lorry-mounted crane overthrow accident occurs Possibility.
In one embodiment of the invention, rollover control system described in any of the above-described embodiment can apply to rise with car In the engineering machinery such as heavy-duty machine, wherein the engineering machinery is the engineering machinery of the supporting constructions such as supporting leg and/or tire.
According to another aspect of the present invention there is provided a kind of lorry-mounted crane, including tumbling described in any of the above-described embodiment Control system.
The rollover control system provided based on the above embodiment of the present invention, the current suspension system that can be gathered according to sensor Length of uniting and current pressure of support leg, the current holding state of comprehensive descision lorry-mounted crane, so as to timely and effectively remind Driver's careful driving, reduces the possibility that the engineering machinery overthrow accidents such as lorry-mounted crane occur；And simple to operate, control can Lean on, human pilot can grasp the holding state of vehicle in real time, can preferably perceive vehicle, so as to better control over vehicle, it is to avoid Dangerous generation.
Fig. 8 is the schematic diagram of control method one embodiment of the invention of tumbling.It is preferred that, the embodiment can be by above-mentioned Rollover control system described in any embodiment is performed, and methods described includes：
Step 401, front suspension system length is worked as in the collection of displacement transducer 1, and pressure sensor 2 gathers current pressure of support leg.
Step 402, controller 3 determines the works such as lorry-mounted crane according to when front suspension system length and current pressure of support leg The current holding state of journey machinery vehicle, and when the engineering machinery such as lorry-mounted crane reach the dangerous working condition of setting, control report Alarm device 4 sends corresponding indication signal.
What the control method of tumbling provided based on the above embodiment of the present invention can be gathered according to sensor works as front suspension system Length and current pressure of support leg, the current holding state of comprehensive descision lorry-mounted crane, so as to timely and effectively remind driver Careful driving, reduces the possibility that the engineering machinery overthrow accidents such as lorry-mounted crane occur.
Fig. 9 is the schematic diagram of control method another embodiment of the invention of tumbling.It is preferred that, the embodiment can be by Fig. 4 Described rollover control system is performed, and methods described includes：
Step 501, front suspension system length is worked as in the collection of displacement transducer 1, and pressure sensor 2 gathers current pressure of support leg.
Step 502,5 pairs of wave filter collection is filtered processing when front suspension system length and current pressure of support leg.
Step 503, controller 3 determines the works such as lorry-mounted crane according to when front suspension system length and current pressure of support leg The current holding state of journey machinery vehicle, and when the engineering machinery such as lorry-mounted crane reach the dangerous working condition of setting, control report Alarm device 4 sends corresponding indication signal.
In the above embodiment of the present invention, wave filter can filter out the data fluctuations of engine luggine generation, so as to eliminate pair The influence sensor that the data that engine luggine can be collected to displacement transducer and pressure sensor during vehicle operation are produced is adopted Collect data, so that whole system is more stablized, reliably.
Figure 10 is that the schematic diagram of indication signal is sent according to sensing data in one embodiment of the invention.It is preferred that, this Embodiment can be performed as the controller described in Fig. 5.As shown in Figure 10, the step 503 in the step 402 or Fig. 9 in Fig. 8 can be with Including：
Step 601, according to as front suspension system length LiDetermine present tire support force FiMore than the first predetermined Tire support Power FbiTire support point quantity m.
Step 602, according to current pressure of support leg FjIt is determined that current pressure of support leg FjSupporting leg support force F predetermined more than firstbj Supporting leg number of support points n.
Step 603, current strong point sum m+n is compared with 3.If current strong point sum m+n is more than 3, hold Row step 606；If current strong point sum m+n is less than 3, step 604 is performed；If current strong point sum m+n is equal to 3, Perform step 605.
Step 604, current working is judged as high-grade dangerous working condition, and indicating alarm device 4 sends the second indication signal, and Indicating control switch terminates the current operation of engineering machinery, continues to operate to limit driver, prevents dangerous generation；Afterwards no longer Perform other steps of the present embodiment.
Step 605, current working is judged as inferior grade dangerous working condition, and indicating alarm device 4 sends the 3rd indication signal, with Point out driver's current working dangerous, the state of getting on the bus need to be adjusted；Other steps of the present embodiment are no longer performed afterwards.
Step 606, judge that current working is normal, indicating alarm device 4 sends the first indication signal, to point out driver to work as Preceding engineering machinery is working properly.
Figure 11 is that the schematic diagram of indication signal is sent according to sensing data in another embodiment of the present invention.It is preferred that, this Embodiment can be performed as the controller described in Fig. 5.As shown in Figure 10, the step 503 in the step 402 or Fig. 9 in Fig. 8 can be with Including：
Step 701, according to as front suspension system length LiDetermine present tire support force FiMore than the first predetermined Tire support Power FbiTire support point quantity m and present tire support force be more than the second predetermined tire support force FciTire support point Quantity m1, wherein, the second predetermined tire support force FciTire support force F predetermined more than firstbi。
Step 702, according to current pressure of support leg FjIt is determined that current pressure of support leg FjSupporting leg support force F predetermined more than firstbj Supporting leg number of support points n and current pressure of support leg be more than the second predetermined supporting leg support force FcjSupporting leg number of support points n1, Wherein, the second predetermined supporting leg support force FcjSupporting leg support force F predetermined more than firstbj。
Step 703, current strong point sum m+n is compared with 3.If current strong point sum m+n is more than 3, hold Row step 707；If current strong point sum m+n is less than 3, step 705 is performed；If current strong point sum m+n is equal to 3, Perform step 704.
Step 704, current number of support points m is judged1+n1Whether 3 are equal to.If current number of support points m1+n1Equal to 3, then Perform step 706；Otherwise, if current number of support points m1+n1It is not equal to 3, then performs step 705.
Step 705, current working is judged as high-grade dangerous working condition, and indicating alarm device 4 sends the second indication signal, and Indicating control switch terminates the current operation of engineering machinery, continues to operate to limit driver, prevents dangerous generation；Afterwards no longer Perform other steps of the present embodiment.
Step 706, current working is judged as inferior grade dangerous working condition, and indicating alarm device 4 sends the 3rd indication signal, with Point out driver's current working dangerous, the state of getting on the bus need to be adjusted；Other steps of the present embodiment are no longer performed afterwards.
Step 707, judge that current working is normal, indicating alarm device 4 sends the first indication signal, to point out driver to work as Preceding engineering machinery is working properly.
The above embodiment of the present invention is simple to operate, control is reliable, and human pilot can grasp the holding state of vehicle in real time, Vehicle can be preferably perceived, so as to better control over vehicle, it is to avoid dangerous generation.
Figure 12 is the schematic diagram of determination Tire support point quantity in one embodiment of the invention.It is preferred that, the present embodiment can To be performed as the first determining unit described in Fig. 6.As shown in figure 12, the step 701 in Figure 11 can include：
Step 801, obtain and the first predetermined tire support force Fbi, the second predetermined tire support force FciWith the 3rd predetermined wheel Tire support force FaiThe first corresponding predetermined length Lbi, the second predetermined length LciWith the 3rd predetermined length Lai, wherein, Fai<Fbi< Fci, Lai>Lbi>Lci。
Step 802, i=1 is made.
Step 803, i-th tire is worked as into front suspension system length LiWith the first predetermined length Lbi, the second predetermined length LciWith the 3rd predetermined length LaiIt is compared, wherein i is natural number, and 1≤i≤M, M is the engineering machinery of such as lorry-mounted crane Tire sum.If i-th tire works as front suspension system length LiMore than the 3rd predetermined length Lai, then step 804 is performed；The I tire works as front suspension system length LiLess than the 3rd predetermined length LaiAnd more than the first predetermined length Lbi, then step is performed 805；I-th tire works as front suspension system length LiLess than the first predetermined length LbiAnd more than the second predetermined length Lci, then hold Row step 806；I-th tire works as front suspension system length LiLess than the second predetermined length Lci, then step 807 is performed.
Step 804, tire holding power F is judgediTire support force F predetermined less than the 3rdai, indicate the state of i-th of tire Instruction device sends first state indication signal (for example sending red instruction light), to point out user the support force of i-th of tire FiVery little, the tire has lost supporting role；Step 808 is performed afterwards.
Step 805, tire holding power F is judgediTire support force F predetermined more than the 3rdaiAnd less than the first predetermined tire branch Support force Fbi, indicate that the state indicating device of i-th of tire sends the second condition indicative signal (for example send yellow and indicate light), with Point out the support force F of i-th of tire of useriIt is smaller；Step 808 is performed afterwards.
Step 806, tire holding power F is judgediTire support force F predetermined more than firstbiAnd less than the second predetermined tire branch Support force Fci, indicate that the state indicating device of i-th of tire sends third state indication signal (for example sending green indicator light), with Point out the support force F of i-th of tire of useriNormally, and by present tire support force FiTire support force F predetermined more than firstbi Tire support point quantity m add 1；Step 808 is performed afterwards.
Step 807, tire holding power F is judgediTire support force F predetermined more than secondci, indicate the state of i-th of tire Instruction device sends third state indication signal (for example sending green indicator light), to point out user the support force of i-th of tire Normally；By present tire support force FiTire support force F predetermined more than firstbiTire support point quantity m add 1；And will be current Tire support power FiTire support force F predetermined more than secondciTire support point quantity m1 add 1.
Step 808, judge whether i is equal to M.If i=M, step 809 is performed；Otherwise, if i is not equal to M, step is performed Rapid 810.
Step 809, circulation terminates, and obtains present tire support force FiTire support force F predetermined more than firstbiTire branch Support point quantity m and present tire support force FiTire support force F predetermined more than secondciTire support point quantity m1；Afterwards No longer perform other steps of the present embodiment.
Step 810, i=i+1 is made, step 803 is performed afterwards.
The above embodiment of the present invention can be realized judges the support force of all M tires, so that it is determined that current Tire support point quantity m and m1。
Step 601 in embodiment described in Figure 10 can also be using the fixed wheel tire strong point really described in similar Figure 12 embodiments The method of quantity, determines present tire support force FiTire support force F predetermined more than firstbiTire support point quantity m.
Figure 13 is the schematic diagram of determination supporting leg number of support points in one embodiment of the invention.It is preferred that, the present embodiment can To be performed as the second determining unit described in Fig. 7.As shown in figure 13, the step 702 in Figure 11 can include：
Step 901, j=1 is made.
Step 902, by the current pressure of support leg F of j-th of supporting legjWith the first predetermined supporting leg support force Fbj, the second predetermined branch Leg support force FcjWith the 3rd predetermined supporting leg support force FajIt is compared, wherein, Faj<Fbj<Fcj, j is natural number, 1≤i≤N, N For the supporting leg sum of the engineering machinery of such as lorry-mounted crane.If the current pressure of support leg F of j-th of supporting legjIt is predetermined less than the 3rd Supporting leg support force Faj, then step 903 is performed；If the current pressure of support leg F of j-th of supporting legjMore than the 3rd predetermined supporting leg support force FajAnd less than the first predetermined supporting leg support force Fbj, then step 904 is performed；If the current pressure of support leg F of j-th of supporting legjMore than One predetermined supporting leg support force FbjAnd less than the second predetermined supporting leg support force Fcj, then step 905 is performed；If j-th supporting leg is worked as Front leg strut pressure is more than the second predetermined supporting leg support force Fcj, then step 906 is performed.
Step 903, indicate that the state indicating device of j-th of supporting leg sends first state indication signal and (for example sends red Indicate light), to point out the support force F of j-th of supporting leg of userjVery little, the supporting leg has lost supporting role.
Step 904, indicate that the state indicating device of j-th of supporting leg sends the second condition indicative signal and (for example sends yellow Indicate light), to point out the support force F of j-th of supporting leg of userjIt is smaller.
Step 905, indicate that the state indicating device of j-th of supporting leg sends third state indication signal and (for example sends green Indicate light), to point out the support force F of j-th of supporting leg of userjNormally；And front leg strut support force F will be worked asjMore than the first predetermined supporting leg Support force FbjSupporting leg number of support points n add 1.
Step 906, indicate that the state indicating device of j-th of supporting leg sends third state indication signal and (for example sends green Indicate light), to point out the support force F of j-th of supporting leg of userjNormally；Front leg strut support force F will be worked asjMore than the first predetermined supporting leg branch Support force FbjSupporting leg number of support points n add 1；And front leg strut support force F will be worked asjTire support force F predetermined more than secondcjSupporting leg Number of support points n1Plus 1.
Step 907, judge whether j is equal to N.If j=N, step 908 is performed；Otherwise, if j is not equal to N, step is performed Rapid 909.
Step 908, circulation terminates, and obtains current pressure of support leg FjIt is determined that current pressure of support leg is more than the first predetermined supporting leg branch Support force FbjSupporting leg number of support points n and current pressure of support leg be more than the second predetermined supporting leg support force FcjThe supporting leg strong point Quantity n1；Other steps of the present embodiment are no longer performed afterwards.
Step 909, j=j+1 is made, step 902 is performed afterwards.
The above embodiment of the present invention can be realized judges the support force of all N number of supporting legs, so that it is determined that current Supporting leg number of support points n and n1。
Step 602 in embodiment described in Figure 10 can also be using the determination supporting leg strong point described in similar Figure 13 embodiments The method of quantity, current pressure of support leg FjIt is determined that current pressure of support leg is more than the first predetermined supporting leg support force FbjThe supporting leg strong point Quantity n.
Below by specific example, the present invention will be described：
Figure 14 is the schematic diagram of one specific embodiment of rollover control system of the present invention.The rollover control system of the present embodiment It is the rollover control system of the lorry-mounted crane for 6 × 2 chassis, without rear support leg.
As shown in figure 14, the rollover control system is main by groups such as displacement transducer 1, pressure sensor 2, controllers 3 Into.Wherein：
In the present embodiment, the state indicating device 7 shown in Fig. 4 specifically includes tire condition instruction device and leg-like State instruction device, tire condition instruction device is specially Tire support state signaling lamp 7-1, and supporting leg state indicating device is specially Detecting supporting states of supporting legs signaling lamp 7-2.Controlling switch 6 shown in Fig. 4 is specially hydraulic system magnetic valve 11.Shown in Fig. 4 Wave filter 5 is specially filtration module 14.
In the present embodiment, the warning device shown in Fig. 4 can specifically include one-level warning device, secondary alarm device With three-level warning device, wherein：The one-level warning device is relay 8-1, green holding state signaling lamp 9-1, described two Level warning device be relay 8-2, yellow alarm lamp 9-2 and buzzer 10-1, the 3rd warning device be relay 8-3, Manually adjust switch 12, hydraulic buttery valve 11, red alarm lamp 9-3 and buzzer 10-2.
In an embodiment of the invention, as shown in Figure 2 or Figure 3, displacement transducer 1 is installed on each wheel of lorry-mounted crane Locate between vehicle frame and vehicle bridge, pin type or stay-supported can be used, the length for gathering vehicle suspension system herein.
In an embodiment of the invention, as shown in Fig. 2 pressure sensor 2 is installed on supporting leg bottom, for gathering supporting leg Pressure.
As shown in figure 14, pressure, displacement transducer are connected to the input of controller 3, controller output end by wire 1 to 6 passages connect 1-6 Tire support state signaling lamps 7-1,7,8 passage connection leg holding state signaling lamp 7- respectively 2.9 passages connect the first relay 8-1, for driving green signaling lamp 9-1；10 passages connect the second relay 8-2, yellow report Warning lamp 9-2 and buzzer 10-1 devices composition prior-warning device；The PWM output ends of controller connect the 3rd relay 8-3, red report Warning lamp 9-3, buzzer 10-2, manually adjust switch 12, normally closed solenoid valve 11 constitute prewarning controller, so as in danger Crane work is controlled during operating mode.
In an embodiment of the invention, the system also includes master control instrument, wherein：Controller 3, Tire support shape State signaling lamp 7-1, detecting supporting states of supporting legs signaling lamp 7-2, relay 8-1,8-2,8-3, green signaling lamp 9-1, yellow alarm lamp 9-2, red alarm lamp 9-3-3, two buzzers 10-1,10-2 and manually adjust switch and 12 be mounted in master control instrument, Master control instrument is installed at vehicle operating platform.
Lorry-mounted crane needs to carry out test calibration to each suspension system before dispatching from the factory, and obtains big with support reaction at each tire of car Small is respectively Fai、Fbi、FciWhen corresponding displacement transducer length value Lai、Lbi、Lci, 1≤i≤6.Fai、Fbi、FciRespectively take turns The basis for estimation of tire difference holding state.Wherein, FaiTypically take 1-2kN, FbiTypically take 2-4kN, Fci5-10kN typically is taken, is had Body size is determined by the deadweight of lorry-mounted crane vehicle.
Meanwhile, the predetermined support reaction size at each supporting leg of car is set as Faj、Fbj、Fcj, 1≤i≤2.Faj、Fbj、FcjPoint Not Wei the different holding state of tire basis for estimation.Wherein, FajTypically take 1-2kN, FbjTypically take 2-4kN, FcjTypically take 5- 10kN, specific size is determined by the deadweight of lorry-mounted crane vehicle.
When lorry-mounted crane works, supporting leg and tire shared carload, the length value of each suspension system of vehicle by Displacement transducer 1 is obtained, it is assumed that be Li, the counter-force size at supporting leg obtains by the pressure sensor 2 for being installed on supporting leg, it is assumed that For Fj。
Driver, which presses, before work manually adjusts switch 12, is at closure state.
First, Tire support state is judged, it is specific as follows：
Work as Li<LbiWhen, tire load is more than Fbi, corresponding Tire support state signaling lamp 7-1 is shown in green, represents this The current holding state of tire is normal；
Work as Lai<Li<LbiWhen, Tire support power is in FaiWith FbiBetween, corresponding Tire support state signaling lamp 7-1 shows Yellow is shown as, represents that the current support force of this tire is smaller；
Work as Li>LaiWhen, tire load is less than Fai, corresponding Tire support state signaling lamp 7-1 is shown in red, represents to work as Front tyre support force very little, thinks that it has lost supporting role herein.
Secondly, detecting supporting states of supporting legs is judged, it is specific as follows：
Work as Fj>FbjWhen, corresponding detecting supporting states of supporting legs signaling lamp 7-2 is shown in green, represents that this supporting leg works as front support shape State is normal；
Work as Faj<Fj<FbjWhen, corresponding detecting supporting states of supporting legs signaling lamp 7-2 is shown as yellow, represents that this supporting leg works as front support Power is smaller；
Work as Fj<FajWhen, corresponding detecting supporting states of supporting legs signaling lamp 7-2 is shown in red, represents the current support force of this supporting leg Very little, thinks that it has lost supporting role herein.
Finally, it is specific as follows to the judgement of total holding state：
Assuming that support force is more than FbiTire quantity be respectively m, support force be more than FbjNumber of legs be n, then m+n tables Show current lorry-mounted crane vehicle strong point sum.
Assuming that support force is more than FciTire quantity be respectively m1, support force be more than FcjNumber of legs be n1, then m1+n1 Represent that current support force is more than Fc(FciOr Fcj) number of support points.
Work as m+n>When 3, controller 3 is responded, and is exported and is sent out to the green signaling lamp 9-1 driven by the first relay 8-1 Light, illustrates current lorry-mounted crane holding state normal.
Work as m+n<When 3, controller 3 is responded, and is exported to red alarm lamp 9-3 and buzzer 10-2, red alarm lamp 9-3 lights, and buzzer 10-2 high frequencies pipe, while exporting to the hydraulic system magnetic valve 11 driven by the 3rd relay 8-3, cut Oil-break pump is contacted with each executing agency, while each executing agency is locked, limitation driver continues to operate, and prevents dangerous generation.
As m+n=3, current lorry-mounted crane is in 3 holding states, when 3 strong point counter-forces are all higher than FcWhen, i.e., m1+n1When=3, controller 3 is responded, and is exported to the yellow alarm lamp 9-2 and buzzer 10- driven by the second relay 8-2 1, yellow alarm lamp 9-2 light, and buzzer 10-2 low frequencies pipe, and prompting current working is relatively hazardous, and driver need to adjust and get on the bus Posture, reduces lifting amplitude or lift heavy, while stopping revolution or turning round round about, alarm release after adjustment.
If driver is not adjusted, but proceed revolution or other dangerous plays, when one of support Point support force is less than FcWhen, i.e. m1+n1<When 3, controller 3 is exported to red alarm lamp 9-3 and buzzer 10-2, red alarm lamp 9-3 lights, and buzzer 10-2 high frequencies pipe, while exporting to the hydraulic system magnetic valve 11 driven by the 3rd relay 8-3, cut Oil-break pump is contacted with each executing agency, while each executing agency's pressurize is locked, limitation driver continues to operate, and prevents dangerous hair It is raw.
After each executing agency's pressurize is locked, driver can open manual cancel switch 12, and breaking controller is to magnetic valve 11 control, magnetic valve 11 is opened after powering off, and driver now can adjust posture of getting on the bus, and is released manually after being closed after alarm release Switch 12.
In an embodiment of the invention, the system also includes filtration module 14, for produce engine luggine Data fluctuations are filtered out, to eliminate the influence that the data that engine luggine can be collected to sensor 1,2 during vehicle operation are produced, from And whole system is more stablized, reliably.
In an embodiment of the invention, the filtration module 14 can be with integrated or be external in the controller 3.
What the above embodiment of the present invention can be gathered according to sensor works as front suspension system length and current pressure of support leg, comprehensive The current holding state for judging lorry-mounted crane is closed, so as to timely and effectively remind driver's careful driving, is reduced with car The possibility that the engineering machinery such as crane overthrow accident occurs；And simple to operate, control is reliable, human pilot can grasp car in real time Holding state, vehicle can be preferably perceived, so as to better control over vehicle, it is to avoid dangerous generation.
In an embodiment of the invention, when using the driving of rear doube bridge such as 6 × 4,8 × 4 chassis when, due to doube bridge thereafter away from From relatively near, and same suspension system is shared, therefore, can be considered as the tire strong point of back axle side two a bit, the cloth in the middle of two bridges Displacement sensor.
So far, the present invention is described in detail.In order to avoid the design of the masking present invention, this area institute is not described public Some details known.Those skilled in the art can be appreciated how to implement technology disclosed herein as described above, completely Scheme.
One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can be by hardware To complete, the hardware of correlation can also be instructed to complete by program, described program can be stored in a kind of computer-readable In storage medium, storage medium mentioned above can be read-only storage, disk or CD etc..
Description of the invention is provided for the sake of example and description, and is not exhaustively or by the present invention It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Select and retouch State embodiment and be more preferably to illustrate the principle and practical application of the present invention, and one of ordinary skill in the art is managed The solution present invention is so as to design the various embodiments with various modifications suitable for special-purpose.

Claims (11)

  1. The control method 1. one kind is tumbled, it is characterised in that including：
    Front suspension system length is worked as in displacement transducer collection, and pressure sensor gathers current pressure of support leg；
    Controller is according to when front suspension system length and current pressure of support leg, and control warning device sends corresponding indication signal；
    Wherein, controller is according to when front suspension system length and current pressure of support leg, and indicating alarm device sends corresponding instruction letter Number the step of include：
    Determine that present tire support force is more than the Tire support point of the first predetermined tire support force according to when front suspension system length Quantity m；
    Determine that current pressure of support leg is more than the supporting leg number of support points n of the first predetermined supporting leg support force according to current pressure of support leg；
    Judge whether current strong point sum m+n is more than 3；
    If current strong point sum m+n is more than 3, it indicates that warning device sends the first indication signal, to point out driver current Engineering machinery is working properly.
  2. 2. according to the method described in claim 1, it is characterised in that work as front suspension system length, pressure in displacement transducer collection Force snesor is gathered after current pressure of support leg, and methods described also includes：
    Wave filter to collection when front suspension system length and current pressure of support leg are filtered processing, execution controller root afterwards According to when front suspension system length and current pressure of support leg, the step of control warning device sends corresponding indication signal.
  3. 3. method according to claim 1 or 2, it is characterised in that also include：
    If current strong point sum m+n is less than 3, it indicates that warning device sends the second indication signal, and indicating control switch is whole Only the current operation of engineering machinery, continues to operate, prevents dangerous generation to limit driver.
  4. 4. method according to claim 3, it is characterised in that also include：
    If current strong point sum m+n is equal to 3, it indicates that warning device sends the 3rd indication signal, to point out driver current Operating mode is dangerous, need to adjust the state of getting on the bus.
  5. 5. method according to claim 4, it is characterised in that
    Determine that present tire support force is more than the Tire support point of the first predetermined tire support force according to when front suspension system length The step of quantity m, includes：
    Determine that present tire support force is more than the Tire support point of the first predetermined tire support force according to when front suspension system length Quantity m and present tire support force are more than the Tire support point quantity m of the second predetermined tire support force1, wherein, second is pre- Fixed wheel tire support force is more than the first predetermined tire support force；
    Determine that current pressure of support leg is more than the supporting leg number of support points n's of the first predetermined supporting leg support force according to current pressure of support leg Step includes：
    According to current pressure of support leg determine current pressure of support leg be more than the first predetermined supporting leg support force supporting leg number of support points n, And current pressure of support leg is more than the supporting leg number of support points n of the second predetermined supporting leg support force1, wherein, the second predetermined supporting leg branch Support force is more than the first predetermined supporting leg support force；
    When current strong point sum m+n is equal to 3, methods described also includes：
    Judge current number of support points m1+n1Whether 3 are equal to；
    If current number of support points m1+n1Equal to 3, then perform indicating alarm device and send the 3rd indication signal, to point out driver Current working is dangerous, need to adjust the step of getting on the bus state；
    If current number of support points m1+n1It is not equal to 3, then performs indicating alarm device and send the second indication signal, and indicate control Switch terminates the current operation of engineering machinery, continues to operate to limit driver, prevents the step of danger occurs.
  6. 6. a kind of rollover control system, it is characterised in that including displacement transducer, pressure sensor, controller and warning device, Wherein：
    Displacement transducer, works as front suspension system length for gathering；
    Pressure sensor, for gathering current pressure of support leg；
    Controller, for according to front suspension system length and current pressure of support leg is worked as, control warning device to send corresponding instruction letter Number；
    Warning device, for sending corresponding indication signal according to the control of controller；
    Wherein, controller includes the first determining unit, the second determining unit, the first recognition unit, control unit, wherein：
    First determining unit, for determining that present tire support force is more than the first predetermined tire branch according to when front suspension system length The Tire support point quantity m of support force；
    Second determining unit, for determining that current pressure of support leg is more than the first predetermined supporting leg support force according to current pressure of support leg Supporting leg number of support points n；
    First recognition unit, for judging whether current strong point sum m+n is more than 3；
    Control unit, for the judged result according to the first recognition unit, when current strong point sum m+n is more than 3, indicates report Alarm device sends the first indication signal, to point out the current engineering machinery of driver working properly；
    Warning device, when current strong point sum m+n is more than 3, sends the first finger specifically for the instruction according to control unit Show signal, to point out the current engineering machinery of driver working properly.
  7. 7. system according to claim 6, it is characterised in that also including wave filter, wherein：
    Wave filter, works as front leg strut pressure for being gathered to displacement transducer when what front suspension system length and pressure sensor were gathered Power is filtered processing, indicates that controller performs controller according to when front suspension system length and current pressure of support leg, control afterwards Warning device processed sends the operation of corresponding indication signal.
  8. 8. the system according to claim 6 or 7, it is characterised in that also including controlling switch, wherein：
    Control unit is additionally operable to the judged result according to the first recognition unit, when current strong point sum m+n is less than 3, indicates Warning device sends the second indication signal, and indicating control switch terminates the current operation of engineering machinery, with limit driver after Continuous operation, prevents dangerous generation；
    Warning device is additionally operable to the instruction according to control unit, when current strong point sum m+n is less than 3, sends the second instruction Signal；
    Controlling switch, for the instruction according to control unit, when current strong point sum m+n is less than 3, terminates engineering machinery Current operation, continues to operate, prevents dangerous generation to limit driver.
  9. 9. system according to claim 8, it is characterised in that
    Control unit is additionally operable to the judged result according to the first recognition unit, when current strong point sum m+n is equal to 3, indicates Warning device sends the 3rd indication signal, to point out driver's current working dangerous, need to adjust the state of getting on the bus；
    Warning device is additionally operable to the instruction according to control unit, when current strong point sum m+n is equal to 3, sends the 3rd instruction Signal, to point out driver's current working dangerous, need to adjust the state of getting on the bus.
  10. 10. system according to claim 9, it is characterised in that controller also includes the second recognition unit, wherein：
    First determining unit is additionally operable to according to when front suspension system length determines that present tire support force is more than the first predetermined tire The Tire support point quantity m and present tire support force of support force are more than the Tire support point of the second predetermined tire support force Quantity m1, wherein, the second predetermined tire support force is more than the first predetermined tire support force；
    Second determining unit is additionally operable to determine that current pressure of support leg is more than the first predetermined supporting leg support force according to current pressure of support leg Supporting leg number of support points n and current pressure of support leg be more than the supporting leg number of support points n of the second predetermined supporting leg support force1, its In, the second predetermined supporting leg support force is more than the first predetermined supporting leg support force；
    Second recognition unit, for the judged result according to the first recognition unit, when current strong point sum m+n is equal to 3, sentences Break current number of support points m1+n1Whether 3 are equal to；
    Control unit is additionally operable to the judged result according to the second recognition unit, in current number of support points m1+n1During equal to 3, perform Indicating alarm device sends the 3rd indication signal, to point out driver's current working dangerous, need to adjust the operation for the state of getting on the bus； In current number of support points m1+n1When being not equal to 3, perform indicating alarm device and send the second indication signal, and indicating control switch The current operation of engineering machinery is terminated, continues to operate to limit driver, prevents the dangerous operation occurred；
    Warning device is additionally operable to the instruction according to control unit, in current number of support points m1+n1During equal to 3, the 3rd instruction is sent Signal, to point out driver's current working dangerous, need to adjust the state of getting on the bus；In current number of support points m1+n1When being not equal to 3, Send the second indication signal；
    Controlling switch is additionally operable to the instruction according to control unit, in current number of support points m1+n1When being not equal to 3, engineering machine is terminated The current operation of tool, continues to operate, prevents dangerous generation to limit driver.
  11. 11. a kind of lorry-mounted crane, it is characterised in that including the control of tumbling as described in any one in claim 6 to 10 System.
CN201510035571.3A 2015-01-26 2015-01-26 Control method of tumbling and system and lorry-mounted crane Active CN105883622B (en)

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CN107572433B (en) * 2017-10-11 2019-01-08 徐工集团工程机械有限公司 A kind of lorry-mounted crane rollover prevention system and method
CN109110651A (en) * 2018-10-18 2019-01-01 徐州市凯诺机械有限公司 The warning device of hydraulic prop on a kind of crane
CN109437030A (en) * 2018-12-10 2019-03-08 中联重科股份有限公司 Engineering machinery anti-rollover control method and device and engineering machinery
CN111238706B (en) * 2020-02-14 2021-06-01 上海上安机械施工有限公司 Method for detecting supporting force of supporting leg of self-propelled crane
CN115180564B (en) * 2022-06-08 2023-04-14 湖南中联重科智能高空作业机械有限公司 Wheel support reaction force detection device, system and aerial work platform

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CN101780927A (en) * 2010-03-03 2010-07-21 淮阴工学院 Tipping warning device of automobile crane
CN201980874U (en) * 2010-12-31 2011-09-21 长沙中联重工科技发展股份有限公司 Crane monitoring system and crane
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