CN108248480B

CN108248480B - Dump truck, control method thereof and computer readable storage medium

Info

Publication number: CN108248480B
Application number: CN201810139407.0A
Authority: CN
Inventors: 刘洲
Original assignee: Changsha Intelligent Driving Research Institute Co Ltd
Current assignee: Changsha Intelligent Driving Research Institute Co Ltd
Priority date: 2018-02-09
Filing date: 2018-02-09
Publication date: 2024-01-02
Anticipated expiration: 2038-02-09
Also published as: CN108248480A

Abstract

The invention discloses a dump truck. The dump truck comprises a chassis, a container, a lifting device and a controller, and further comprises an angle sensor and a vibrating device which are arranged at the bottom of the container, wherein the lifting device, the angle sensor and the vibrating device are respectively in communication connection with the controller, and the controller is used for: acquiring a first vehicle inclination angle value through an angle sensor before unloading, and detecting whether the first vehicle inclination angle value is smaller than a first preset value or not; if yes, controlling the lifting device to lift so as to start unloading, and acquiring a second vehicle inclination angle value in real time through an angle sensor; and comparing the second vehicle inclination angle value with a preset threshold value, and controlling the lifting device and the vibration device according to a comparison result. The invention also discloses a control method of the dump truck and a computer readable storage medium. The invention can solve the technical problem that the gravity center is deviated due to the adhesion or freezing of cargoes in the lifting process of the dumper, so that the dumper is tipped over.

Description

Dump truck, control method thereof and computer readable storage medium

Technical Field

The invention relates to the technical field of dumpers, in particular to a dumper, a control method thereof and a computer readable storage medium.

Background

Dump trucks are vehicles which are lifted by hydraulic or mechanical means to automatically unload cargoes, and are often combined with engineering machines such as excavators, loaders, belt conveyors and the like in civil engineering to form a loading, transporting and unloading production line for loading, unloading and transporting earthwork, sand and stones and bulk materials.

In the unloading process of the traditional dump truck, the condition of turning over can often occur due to no corresponding monitoring and control measures, so that casualties and economic losses are caused. For example, when the ground is uneven, the heights of the left side and the right side of the dump truck are inconsistent, and the vehicle can roll over due to the offset of the gravity center after lifting; or in the process of unloading the goods such as the river sand dregs, the goods such as the river sand dregs can be stuck or frozen with the corners of a container due to the environmental influences of more moisture and humidity or low temperature, the goods are incompletely dumped, and the gravity center of the lifted goods is shifted to cause the vehicle to roll over.

At present, the inclination angle of the uneven ground can be detected by installing an angle sensor on the chassis of the dump truck, and under the condition that the inclination angle is larger than a set safety value, the dump truck control oil cylinder is not lifted and automatically falls back, so that the problem that the vehicle is tipped due to the fact that the gravity center is continuously deviated is solved, but the method can only solve the technical problem that the vehicle is tipped due to the uneven ground, and cannot solve the technical problem that the gravity center is deviated due to the fact that goods are stuck or frozen in the lifting process, so that the vehicle is tipped.

Disclosure of Invention

The invention mainly aims to provide a dump truck, a control method thereof and a computer readable storage medium, and aims to solve the technical problem that the gravity center is deviated due to the adhesion or freezing of cargoes in the lifting process of the dump truck, so that the vehicle is overturned.

In order to achieve the above object, the present invention provides a dump truck, which comprises a chassis, a container, a lifting device, and a controller, wherein the lifting device is respectively connected with the chassis and the container, and is used for lifting the container to enable the container to incline for unloading, the dump truck further comprises an angle sensor and a vibrating device which are arranged at the bottom of the container, the lifting device, the angle sensor and the vibrating device are respectively in communication connection with the controller, and the controller is used for:

before unloading, acquiring a first vehicle inclination angle value through the angle sensor, and detecting whether the first vehicle inclination angle value is smaller than a first preset value or not;

if yes, controlling the lifting device to lift so as to start unloading, and acquiring a second vehicle inclination angle value in real time through the angle sensor;

and comparing the second vehicle inclination angle value with a preset threshold value, and controlling the lifting device and the vibration device according to a comparison result.

Optionally, the preset threshold includes the first preset value, and further includes a second preset value, where the second preset value is greater than the first preset value, and the controller is specifically configured to:

comparing the second vehicle inclination angle value with the first preset value and a second preset value;

when the second vehicle inclination angle value is smaller than the first preset value, controlling the lifting device to lift so as to continue unloading;

when the second vehicle inclination angle value is larger than or equal to the first preset value and smaller than or equal to the second preset value, controlling the lifting device to stop lifting and controlling the vibration device to start vibrating, and when the second vehicle inclination angle value is smaller than the first preset value, controlling the vibration device to stop vibrating and controlling the lifting device to lift so as to continue unloading;

and when the second vehicle inclination angle value is larger than the second preset value, controlling the lifting device to fall back and reset.

Optionally, the controller is further configured to:

acquiring a second vehicle inclination angle value and a lifting angle value in real time through the angle sensor;

comparing the second vehicle inclination angle value with the first preset value and the second preset value, comparing the lifting angle value with a third preset value, and controlling the lifting device and the vibration device according to the comparison result.

In addition, in order to achieve the above object, the present invention also provides a control method of a dump truck, the control method of the dump truck being applied to the dump truck as described above, the control method of the dump truck comprising:

Optionally, the preset threshold includes the first preset value, and further includes a second preset value, where the second preset value is greater than the first preset value, and the step of comparing the second vehicle inclination angle value with the preset threshold, and controlling the lifting device and the vibration device according to a comparison result includes:

Optionally, the step of acquiring, in real time, the second vehicle inclination angle value through the angle sensor includes:

the step of comparing the second vehicle inclination angle value with a preset threshold value and controlling the lifting device and the vibration device according to the comparison result comprises the following steps:

Optionally, the step of comparing the second vehicle inclination angle value with the first preset value and the second preset value, comparing the lifting angle value with a third preset value, and controlling the lifting device and the vibration device according to the comparison result includes:

comparing the second vehicle inclination angle value with the first preset value and the second preset value, and comparing the lifting angle value with a third preset value;

when the second vehicle inclination angle value is smaller than the first preset value and the lifting angle value is smaller than the third preset value, controlling the lifting device to lift so as to continue unloading;

when the second vehicle inclination angle value is larger than or equal to the first preset value and smaller than or equal to the second preset value, and the lifting angle value is smaller than the third preset value, controlling the lifting device to stop lifting and controlling the vibration device to start vibrating, and when the second vehicle inclination angle value is smaller than the first preset value, controlling the vibration device to stop vibrating and controlling the lifting device to lift so as to continue unloading;

and when the second vehicle inclination angle value is larger than the second preset value or the lifting angle value is larger than or equal to the third preset value, controlling the lifting device to fall back and reset.

Optionally, the dump truck further comprises a display device, and the control method of the dump truck further comprises:

acquiring vehicle information of the dump truck, and calculating according to the vehicle information, a second vehicle inclination angle value and a lifting angle value to obtain the gravity center position and the safe movement range of the dump truck;

and sending the gravity center position, the safe moving range, the second vehicle inclination angle value and the lifting angle value to the display device.

Optionally, the dump truck further comprises an alarm device, and the control method of the dump truck further comprises:

calculating a difference value between the second vehicle inclination angle value and the second preset value, and judging whether the difference value is within a preset difference value range;

and if the difference value is within the preset difference value range, controlling the alarm device to alarm.

In order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a control program for a dump truck, which when executed by a processor, implements the steps of the control method for a dump truck as described above.

The invention provides a dump truck and a control method thereof, and a computer readable storage medium, the dump truck comprises a chassis, a container, a lifting device and a controller, wherein the lifting device is respectively connected with the chassis and the container and is used for lifting the container to enable the container to incline for unloading, the dump truck also comprises an angle sensor and a vibrating device which are arranged at the bottom of the container, the lifting device, the angle sensor and the vibrating device are respectively connected with the controller in a communication way, before unloading, in order to detect whether the incline angle of the ground where the dump truck is currently positioned is safe or not, whether the unloading operation can be carried out or not, the controller firstly obtains a first vehicle incline angle value through the angle sensor, namely in order to detect whether the incline angle of the ground where the dump truck is currently positioned is safe or not, whether the unloading operation can be carried out or not, and then detects whether the incline angle value of the first vehicle is smaller than a first preset value or not, if so, the current position of the dumper is safe, unloading operation can be performed, at the moment, the controller controls the lifting device to lift so as to start unloading, and because the change of the container inclination angle can lead to the shift of the gravity center position of the dumper in the unloading process, the vehicle inclination angle can change in real time, so that the controller needs to acquire a second vehicle inclination angle value in real time through the angle sensor, then, by comparing the second vehicle inclination angle value with a preset threshold value, whether the real-time inclination angle of the dumper in the unloading process is safe or not can be judged, whether the unloading operation can be continuously performed or not, and whether the gravity center position of the dumper needs to be regulated through the vibration device or not can be judged, so that the lifting device and the vibration device can be controlled in time when the dumper is judged to have the tipping risk, the vibration device enables goods to be separated from each other and goods to be separated from the container through vibration, the gravity center position of the vehicle is adjusted, and the vehicle is enabled to reach a balanced state again, so that the technical problem that the vehicle is tilted due to gravity center deviation caused by goods bonding or freezing in the lifting process of the dump truck can be solved.

Drawings

FIG. 1 is a schematic view of a structural module of a dump truck according to the present invention;

FIG. 2 is a schematic diagram of a terminal structure of a hardware operating environment according to an embodiment of the present invention;

FIG. 3 is a flowchart of a control method of the dump truck according to the first embodiment of the present invention;

FIG. 4 is a schematic diagram of a refinement flow of comparing the second vehicle inclination angle value with a preset threshold value and controlling the lifting device and the vibration device according to the comparison result in the embodiment of the present invention;

FIG. 5 is a flowchart of a control method of the dump truck according to the second embodiment of the present invention;

FIG. 6 is a schematic diagram of a refinement flow of comparing the second vehicle inclination angle value with the first preset value and the second preset value, comparing the lifting angle value with a third preset value, and controlling the lifting device and the vibration device according to the comparison result in the embodiment of the present invention;

FIG. 7 is a flowchart of a third embodiment of a control method of the dump truck of the present invention;

fig. 8 is a flowchart of a fourth embodiment of a control method of the dump truck according to the present invention.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

In the prior art, the inclination angle of the ground unevenness can be detected by installing an angle sensor on the chassis of the dump truck, and under the condition that the inclination angle is larger than a set safety value, the dump truck control oil cylinder is not lifted and automatically falls back, so that the problem that the vehicle is tipped over due to continuous deviation of the gravity center is solved, but the method can only solve the technical problem that the vehicle is tipped over due to the ground unevenness, but cannot solve the technical problem that the gravity center is deviated due to the adhesion or freezing of goods in the lifting process, so that the vehicle is tipped over.

In order to solve the technical problems, the invention provides a dump truck and a control method thereof, and a computer readable storage medium, wherein the dump truck comprises a chassis, a container, a lifting device and a controller, the lifting device is respectively connected with the chassis and the container and is used for lifting the container to incline the container for unloading, the dump truck also comprises an angle sensor and a vibrating device which are arranged at the bottom of the container, the lifting device, the angle sensor and the vibrating device are respectively connected with the controller in a communication way, before unloading, in order to detect whether the incline angle of the ground where the dump truck is currently positioned is safe or not, whether the unloading operation can be performed or not, the controller firstly obtains a first vehicle incline angle value through the angle sensor, namely, in order to detect whether the incline angle of the ground where the dump truck is currently positioned is safe or not, whether the unloading operation can be performed or not, and then detects whether the incline angle value of the first vehicle is smaller than a first preset value or not, if so, the current position of the dumper is safe, unloading operation can be performed, at the moment, the controller controls the lifting device to lift so as to start unloading, and because in the unloading process, the change of the container inclination angle can shift the gravity center position of the dumper, so that the vehicle inclination angle can change in real time, the controller needs to acquire a second vehicle inclination angle value in real time through the angle sensor, then, by comparing the second vehicle inclination angle value with a preset threshold value, whether the real-time inclination angle of the dumper in the unloading process is safe or not can be judged, whether unloading operation can be performed continuously or not, and whether the gravity center position of the dumper needs to be adjusted through the vibration device or not can be judged, so that the lifting device and the vibration device are controlled according to the comparison result, the lifting device and the vibration device are controlled in time, wherein the vibration device enables goods to be separated from each other and goods to be separated from a container through vibration, and the gravity center position of the vehicle is adjusted, so that the vehicle reaches an equilibrium state again, and the technical problem that the gravity center is deviated due to adhesion or freezing of the goods in the lifting process of the dump truck, and the vehicle is tilted can be solved.

Referring to fig. 1, fig. 1 is a schematic diagram of a structural module of a dump truck according to the present invention.

As shown in fig. 1, the dump truck of the present invention includes: chassis (not shown), packing box (not shown), lifting device and controller, lifting device respectively with chassis and packing box link to each other for lift the packing box makes the packing box tilt angle in order to discharge, the tipper still includes: the lifting device, the angle sensor and the vibration device are respectively in communication connection with the controller. Wherein:

the lifting device can be a hydraulic telescopic device, a pneumatic telescopic device and the like and is used for receiving a control command of the controller to push the container to incline for unloading and driving the container to fall back for resetting after unloading is completed.

The controller can be a control chip or a mobile terminal with a certain logic control function, such as an integrated controller, a PLC (Programmable Logic Controller, a programmable logic controller), a smart phone and the like, and is used for receiving a first vehicle inclination angle value and a second vehicle inclination angle value sent by the angle sensor, analyzing and judging according to the first vehicle inclination angle value and the second vehicle inclination angle value, and further controlling the action of the lifting device and the starting and stopping of the vibration device; of course, the controller may be modified based on the original controller of the dump truck cab, or may be a newly installed controller, and is not limited to being installed in the cab.

The angle sensor is an angle sensor capable of detecting the inclination angle information of the X direction and the Y direction of the vehicle, namely, the left-right direction inclination angle and the front-rear direction inclination angle can be detected, the angle sensor can be used for collecting the vehicle inclination angle value of the dumper, namely, the left-right direction inclination angle, the vehicle inclination angle value comprises a first vehicle inclination angle value before unloading and a second vehicle inclination angle value in the unloading process, the first vehicle inclination angle value refers to the inclination angle of the vehicle before unloading, at the moment, the angle is the ground inclination of the position where the dumper is located, the second vehicle inclination angle value refers to the inclination angle of the dumper in the unloading process, and then the angle sensor can send the first vehicle inclination angle value and the second vehicle inclination angle value to the controller, so that the controller can judge whether the dumper has a tipping risk or not. The angle sensor can also be used for collecting the inclination angle value of the dump truck when the container is lifted by the lifting device in the unloading process in real time, namely the front-back direction inclination angle, recording the inclination angle value of the dump truck in the lifting process as the lifting angle value, and sending the lifting angle value to the controller. At this time, the controller may be further configured to receive the lifting angle value, and perform comprehensive judgment according to the second vehicle inclination angle value and the lifting angle value, so as to control the lifting device and the vibration device.

And the vibration device is used for receiving the instruction of the controller and starting and stopping. In the unloading process, cargoes such as river sand dregs can not slide down synchronously due to the fact that moisture is adhered to or freezes together with the corners of a container, and when the gravity center of the vehicle shifts and the inclined potential safety hazard occurs, the controller can control to start the vibrating device to vibrate the vibrating device, so that cargoes are separated from each other and the cargoes from the container, and the vehicle reaches an equilibrium state again. Of course, the vibrating device can also ensure that the residual soil in the carriage is dumped completely during vibration so as to improve the utilization rate of the dump truck. It should be noted that the vibration device is disposed at the bottom of the container, and may include one or more vibration devices, and preferably, the vibration device may be disposed at a middle position near the vehicle head end on the container, or may be disposed one in each of four directions of the container. Preferably, the vibration device can select a vibration device with a vibration frequency of 1-10 Hz; the vibration device can be any one of an oil cylinder vibrator, a pneumatic vibrator, an electric vibrator or a cam vibrator.

In addition, the dump truck of the invention may further comprise: the display device is used for receiving vehicle parameter information such as a first vehicle inclination angle value, a second vehicle inclination angle value, a lifting angle value and the like sent by the controller, and displaying the parameters so as to give visual prompt to operators. The alarm device is used for receiving the alarm starting instruction sent by the controller and giving an alarm so as to prompt operators to pay attention, and of course, different alarm sounds can be prompted according to different types of the alarm starting instruction, so that different prompts for operation are given.

Note that, the dump truck used in the specific embodiment may be different, and the corresponding structure may be different, and is not limited to include only the above structure.

Further, referring to fig. 2, fig. 2 is a schematic diagram of a terminal structure of a hardware running environment according to an embodiment of the present invention.

The terminal of the embodiment of the invention is a controller in the dump truck shown in fig. 1.

As shown in fig. 2, the terminal may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.

It will be appreciated by those skilled in the art that the terminal structure shown in fig. 2 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.

As shown in fig. 2, an operating system, a network communication module, a user interface module, and a control program of the dump truck may be included in the memory 1005 as one type of computer storage medium.

In the terminal shown in fig. 2, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client and communicating data with the client; and the processor 1001 may be used to call a control program of the dump truck stored in the memory 1005 and perform the following operations:

In this embodiment, the control method of the dump truck is applied to the dump truck as described above, and before the dump truck unloads, the controller obtains a first vehicle inclination angle value through the angle sensor, where the first vehicle inclination angle value refers to an inclination angle of the vehicle before unloading, and at this time, the angle is a ground inclination of a current position of the dump truck, and is denoted as θ ₁ Then the controller will detect whether the first vehicle inclination angle value is smaller than a first preset value, the first preset value is determined according to the weight, length, width, height, gravity center and other parameters of the dumper after loading, and is preset, the specific determination mode is not disclosed here, and for convenience of subsequent description, the first preset value is recorded asIn addition, the controller detects whether the first vehicle inclination angle value is smaller than a first preset value or not, so as to detect whether the inclination angle of the ground where the dump truck is currently located is safe or not, and whether unloading operation can be performed or not.

If the first vehicle inclination angle value is smaller than the first preset value, namelyThe current position of the dumper is safe and can be subjected to unloading operation, at the moment, the controller controls the lifting device to lift so as to start unloading, and a second vehicle inclination angle value is obtained in real time through the angle sensor, wherein the second vehicle inclination angle value is the current inclination angle of the dumper in the unloading process and is recorded as theta ₂ The real-time acquisition of the second vehicle inclination angle value by the angle sensor is to detect whether the real-time inclination angle of the dump truck is safe or not in the unloading process, whether the unloading operation can be continued or not, and whether the gravity center position of the dump truck needs to be adjusted by the vibration device or not.

The controller obtains the second vehicle inclination angle value theta ₂ Then, the second vehicle inclination angle value theta ₂ And comparing the vibration device with a preset threshold value, and controlling the lifting device and the vibration device according to a comparison result. During unloading, the gravity center position of the vehicle is shifted due to the change of the container inclination angle, so that the vehicle inclination angle can be changed in real time, and the controller needs to change the second vehicle inclination angle value theta in real time ₂ Monitoring and then by comparing the second vehicle inclination angle value theta ₂ The real-time inclination angle of the dumper can be compared with a preset threshold value, whether the real-time inclination angle of the dumper is safe or not in the unloading process can be judged, whether the unloading operation can be continued or not, and whether the gravity center position of the dumper needs to be adjusted through the vibration device is judged, so that the lifting device and the vibration device are controlled according to a comparison result.

Further, the processor 1001 may call a control program of the dump truck stored in the memory 1005, and further perform the following operations:

In the present embodiment, a threshold is presetThe values comprise a first preset value and a second preset value which is larger than the first preset value, wherein the second preset value is determined according to the parameters such as weight, length, width, height dimension, gravity center and the like of the dumper after being loaded, and is preset, so that the subsequent description is convenient, and the second preset value is recorded as The specific determination mode is not disclosed herein, and the controller obtains the second vehicle inclination angle value theta ₂ Then, the second vehicle inclination angle value theta ₂ And a first preset value->And a second preset value->Comparing; when the second vehicle inclination angle value is smaller than said first preset value, i.e. +.>When the dump truck is safe at present, the dump truck is free from the tipping risk, the lifting device is controlled to lift continuously to continue unloading until the lifting device lifts to the maximum lifting angle to finish unloading, and at the moment, the controller can control the lifting device to fall back and reset; when the second vehicle inclination angle value is larger than or equal to the first preset value and smaller than or equal to the second preset value, namely +.>When the dump truck is at a tilting risk, the tilting risk is low, the lifting is stopped continuously at the moment, the gravity center position of the vehicle is adjusted by taking corresponding measures, and the tilting accident can be avoided, at the moment, the controller controls the lifting device to stop lifting and controls the vibrating device to start vibrating, so that the goods are separated from each other and the goods are separated from the container by utilizing the vibration, the gravity center position of the vehicle is adjusted, the vehicle is in a balanced state again, and the second vehicle inclination angle value is smaller than the first preset value, namely _ >When the dump truck is restored to the safe state, the vibration device can be controlled to stop vibrating, and the lifting device is controlled to lift so as to continue unloading; when the second vehicle inclination angle value is greater than the second preset value, i.e. +.>When the dump truck is in a high risk of tipping, the dump truck is not allowed to continue unloading operation, and the controller controls the lifting device to fall back and reset.

It should be noted that, when the second vehicle inclination angle value is greater than the second preset value, after the step of controlling the lifting device to fall back and reset, the method may further include:

when the lifting device falls back and resets, the vibration device is controlled to start vibrating;

after the preset time, controlling the vibration device to stop vibrating, controlling the lifting device to lift so as to continue unloading, and executing the steps of: and acquiring a second vehicle inclination angle value in real time through the angle sensor.

In this embodiment, after the lifting device is reset, the vibration device is controlled to start vibrating, so that the cargo is separated from the cargo and the cargo is separated from the cargo, the adhesion degree of the cargo and the freezing degree between the cargo and the cargo are reduced, and the gravity center position of the vehicle is changed. After the preset vibration time, the vibration device is controlled to stop vibrating, then the lifting device is controlled to lift so as to continue unloading, and the second vehicle inclination angle value theta is obtained in real time through the angle sensor ₂ The second vehicle inclination angle value theta ₂ And comparing the vibration device with a preset threshold value, and controlling the lifting device and the vibration device according to a comparison result. The specific implementation manner of the subsequent steps is the same as that of the above embodiment, and will not be repeated here.

In order to further ensure the safety of the dump truck in the unloading process, in this embodiment, the angle sensor may be further configured to collect, in real time, an inclination angle value of the dump truck when the container is lifted by the lifting device in the unloading process, record the inclination angle value of the container in the lifting process as a lifting angle value, and send the lifting angle value to the controller. When the controller receives the lifting angle value, comprehensive judgment is carried out according to the second vehicle inclination angle value and the lifting angle value, and then the lifting device and the vibration device are controlled.

In this embodiment, the controller acquires the second vehicle inclination angle value and the lifting angle value, respectively denoted as θ, in real time through the angle sensor ₂ 、θ ₃ . The controller then sets the second vehicle inclination angle value θ ₂ And a first preset valueAnd a second preset valueComparing and lifting angle value theta ₃ And a third preset value->And comparing, and controlling the lifting device and the vibration device according to a comparison result. Wherein, the third preset value is determined according to the maximum lifting angle value of the lifting device, the weight of the dumper after loading, the length, width, height, gravity center and other parameters, and is preset, the specific determination mode is not disclosed herein, and the third preset value is marked as +_>It is noted that the third preset value ∈>Less than or equal to the maximum lifting angle value of the lifting device. The angle sensor can also acquire the lifting angle value in real time, is accurate and visual to control, and can also solve the problem that the lifting maximum angle has potential safety hazards due to larger influence errors of assembly and the like caused by limiting the lifting maximum angle only through a mechanical structure of the existing dump truck.

In the present embodiment, the controller obtains the second vehicle inclination angle value θ ₂ And a lifting angle value theta ₃ Then, the second vehicle inclination angle value theta ₂ And a first preset valueAnd a second preset value->Comparing and lifting angle value theta ₃ And a third preset value->Comparing; when the second vehicle is inclined by an angle value theta ₂ Less than a first preset value->And the lifting angle value theta ₃ Less than said third preset value +.>When (i.e.)>And->When the dump truck is in the safe state, the dump truck has no tipping risk, the lifting device is controlled to lift continuously to discharge continuously, until the lifting device lifts to a maximum safe lifting angle (i.e. +.>) The unloading is completed, and at the moment, the controller can control the lifting device to fall back and reset; when the second vehicle inclination angle value theta ₂ Greater than or equal to said first preset value->And is smaller than or equal to said second preset value +.>And the lifting angle value is smaller than the third preset valueWhen (i.e.)>And->When the dump truck is at a tilting risk, the tilting risk is low, the lifting is stopped continuously at the moment, the gravity center position of the vehicle is adjusted by taking corresponding measures, and the tilting accident can be avoided, at the moment, the controller controls the lifting device to stop lifting and controls the vibrating device to start vibrating, so that the goods are separated from each other and the goods are separated from the container by utilizing the vibration, the gravity center position of the vehicle is adjusted, the vehicle is in a balanced state again, and the second vehicle inclination angle value is smaller than the first preset value, namely _ >When the dump truck is restored to the safe state, the vibration device can be controlled to stop vibrating, and the lifting device is controlled to lift so as to continue unloading; when the second vehicle inclination angle value theta ₂ Is greater than said second preset value +.>Or the lifting angle value is larger than or equal to the third preset value +.>When (i.e.)>Or->When->Or->When the dump truck is tipped over, the risk of the dump truck is highThe unloading operation is not allowed to continue, and the controller controls the lifting device to fall back and reset when +.>When the dumper lifting mechanism is lifted to the maximum safe lifting angle and the unloading is completed, the controller controls the lifting device to fall back and reset, so that the dumper lifting mechanism is stopped when +.>Or->And when the lifting device is in a falling state, the controller controls the lifting device to fall back and reset.

It should be noted that, when the second vehicle inclination angle value is greater than the second preset value, or the lifting angle value is greater than or equal to the third preset value, after the step of controlling the lifting device to fall back and reset, the method may further include:

after the preset time, controlling the vibration device to stop vibrating, controlling the lifting device to lift so as to continue unloading, and executing the steps of: and acquiring a second vehicle inclination angle value and a lifting angle value in real time through the angle sensor.

In this embodiment, after the lifting device is reset, the vibration device is controlled to start vibrating, so that the cargo is separated from the cargo and the cargo is separated from the cargo, the adhesion degree of the cargo and the freezing degree between the cargo and the cargo are reduced, and the gravity center position of the vehicle is changed. After the preset vibration time, the vibration device is controlled to stop vibrating, then the lifting device is controlled to lift so as to continue unloading, and the second vehicle inclination angle value theta is obtained in real time through the angle sensor ₂ And a lifting angle value theta ₃ Then the second vehicle inclination angle value theta ₂ And a first preset valueAnd a second pre-stepSetting value->Comparing and lifting angle value theta ₃ And a third preset value->And comparing, and controlling the lifting device and the vibration device according to the comparison result. The specific implementation manner of the subsequent steps is the same as that of the above embodiment, and will not be repeated here.

In this embodiment, the dump truck further includes a display device, where the display device is in communication connection with the controller, and is configured to receive parameter information such as a first vehicle inclination angle value, a second vehicle inclination angle value, and a lifting angle value sent by the controller, so as to display these parameters, so as to provide an operator with a concise and intuitive prompt, so that the operator can correspondingly perform some auxiliary operations according to the current situation, so as to further prevent the dump truck from tipping, or enable the operator to learn that the current tipping risk of the dump truck is great, and pay attention to timely avoidance.

In this embodiment, when the controller obtains the vehicle information of the dump truck, the center of gravity position and the safe moving range of the dump truck are calculated according to the vehicle information, the second vehicle inclination angle value and the lifting angle value, where the vehicle information may be obtained by: 1) The method comprises the steps of connecting with an OBD (On Board Diagnostics, on-board diagnosis) interface through a special data line or directly so as to read vehicle information of the vehicle; 2) Receiving vehicle information of the vehicle input by a user; 3) By means of 1) and 2) Each of the acquired partial parameter data in the vehicle information; 4) And (3) inquiring the vehicle information obtained in the mode 1) or inquiring other vehicle information from a preset table. The vehicle information may include a preparation mass, a loaded cargo weight, a center of mass height, a track, a leaf spring stiffness, etc., and the calculation of the specific center of gravity position may refer to the prior art, which is not described herein. The safe moving range can include the safe movable range of the inclination angle and the lifting angle and the gravity center position, namely the current vehicle inclination angle (namely the second vehicle inclination angle) and the second preset valueAnd the current lift angle (i.e., θ ₃ ) And a third preset value->And a difference between the calculated current center of gravity position and the calculated center of gravity position according to the second preset value and the third preset value.

The controller then transmits the parameters of the center of gravity position, the safe movement range, the second vehicle inclination angle value, and the lift angle value to the display device so that the display device displays the parameters. Of course, in a specific embodiment, the parameters to be sent may be set according to actual situations, and only some of the above parameters may be sent, or other parameters may be sent in addition to the above parameters. In addition, the display mode can be text display or converted into images for display, so that the display mode is more visual.

In this embodiment, the dump truck may further include an alarm device, where the alarm device is in communication connection with the controller, and is configured to receive an alarm start instruction sent by the controller, and perform an alarm to prompt an operator to pay attention, so that the operator may correspondingly perform some auxiliary operations according to the current situation, so as to further prevent the dump truck from tipping; or prompt the operator that the dump truck has great current tipping risk and pay attention to avoid in time; of course, the device can also play a role in dangerous prompt for surrounding personnel.

In the present embodiment, the controller acquires the second vehicle inclination angle value θ ₂ Calculating the second vehicle inclination angle value θ ₂ And a second preset valueIf the difference value is within the preset difference value range, the current vehicle inclination angle value of the dump truck is close to a second preset value, corresponding control operation needs to be executed in time, and the controller controls the alarm device to alarm. In a specific embodiment, a plurality of preset difference ranges can be further set, and the difference is judged to be in the preset difference range, so that the alarm device is controlled to prompt alarm sounds with different reminding degrees, and different prompts are given to operators. For example, 2 preset difference ranges, -5 to 0 and 0 to 5 may be set when the second vehicle inclination angle value θ ₂ And a second preset value->Difference of->In the range of-5 to 0, i.e. +.> At this time, the gravity center of the dump truck is obviously shifted, but the dump truck is still in a safe range, and the alarm device can be controlled to give out intermittent alarm sound, namely a lighter alarm prompt, so thatWhen hearing the alarm sound, operators can correspondingly execute auxiliary operations according to the current situation so as to further prevent the dump truck from tipping; when the second vehicle is inclined by an angle value theta ₂ And a second preset value->Difference of->In the range of 0 to 5, i.e. +.>At the moment, the current gravity center deviation of the dumper is not in a safety range, and the alarm device can be controlled to give out continuous sound alarm, namely a heavier alarm prompt, so that operators are prompted that the dumper is large in current tipping risk and notice to avoid in time; of course, the danger prompt effect on surrounding personnel can be achieved.

Based on the structure and the hardware structure of the dumper, the embodiments of the control method of the dumper are provided.

The invention provides a control method of a dump truck.

Referring to fig. 3, fig. 3 is a flowchart illustrating a control method of the dump truck according to a first embodiment of the invention.

In an embodiment of the present invention, the method for controlling a dump truck is applied to the dump truck described above, and includes:

step S10, before unloading, acquiring a first vehicle inclination angle value through the angle sensor, and detecting whether the first vehicle inclination angle value is smaller than a first preset value;

in this embodiment, the control method of the dump truck is applied to the dump truck as described above, the dump truck includes a chassis, a container, a lifting device, and a controller, where the lifting device is connected to the chassis and the container respectively and is used to lift the container to make the container tilt to discharge, and the dump truck further includes an angle sensor and a vibration device disposed at the bottom of the container, where the lifting device, the angle sensor, and the vibration device are all connected to the controller in communication respectively.

In this embodiment, before the dump truck unloads, the controller obtains a first vehicle inclination angle value through the angle sensor, where the first vehicle inclination angle value refers to an inclination angle of the vehicle before unloading, and at this time, the angle is a ground inclination of a current position of the dump truck, and is denoted as θ ₁ Then the controller will detect whether the first vehicle inclination angle value is smaller than a first preset value, the first preset value is determined according to the weight, length, width, height, gravity center and other parameters of the dumper after loading, and is preset, the specific determination mode is not disclosed here, and for convenience of subsequent description, the first preset value is recorded as In addition, the controller detects whether the first vehicle inclination angle value is smaller than a first preset value or not, so as to detect whether the inclination angle of the ground where the dump truck is currently located is safe or not, and whether unloading operation can be performed or not.

Step S20, if yes, controlling the lifting device to lift so as to start unloading, and acquiring a second vehicle inclination angle value in real time through the angle sensor;

If the first vehicle inclination angle value is greater than or equal to the first vehicle inclination angle valueA preset value, i.eThis first vehicle inclination value is not in safe inclination scope, and then indicates that the current position of tipper is dangerous, can not carry out the operation of unloading, and at this moment, the controller can send corresponding prompt message to indicate that operating personnel is here ground uneven, has the risk of tipping, need stop at the place that ground is more level and smooth and then carry out the unloading, and the suggestion mode can have and include but is not limited to 4 kinds of following: 1) The prompt information is sent to a display device, and prompts are carried out in a text mode; 2) The prompt information is sent to a voice device, and prompts are carried out in a voice mode; 3) The prompt information is sent to the corresponding user terminal, and prompts are carried out in a text or voice mode; 4) And sending a corresponding alarm starting instruction to the alarm device, so that the alarm device adopts a corresponding alarm mode to remind a user. Until it is detected that the first vehicle inclination angle value is smaller than the first preset value, i.e. +. >And when the vehicle is started to be unloaded, the controller controls the lifting device to lift so as to start unloading, and the second vehicle inclination angle value is obtained in real time through the angle sensor.

And step S30, comparing the second vehicle inclination angle value with a preset threshold value, and controlling the lifting device and the vibration device according to a comparison result.

In the present embodiment, the controller obtains the second vehicle inclination angle value θ ₂ Then, the second vehicle inclination angle value theta ₂ And comparing the vibration device with a preset threshold value, and controlling the lifting device and the vibration device according to a comparison result. During unloading, the gravity center position of the vehicle is shifted due to the change of the container inclination angle, so that the vehicle inclination angle can be changed in real time, and the controller needs to change the second vehicle inclination angle value theta in real time ₂ Monitoring and then by comparing the second vehicle inclination angle value theta ₂ Comparing with a preset threshold value, judging whether the real-time inclination angle of the dumper in the unloading process is safe or not, if soWhether unloading operation can be continued or not, whether the gravity center position of the dumper needs to be adjusted through the vibration device or not is judged, so that the lifting device and the vibration device are controlled according to comparison results, and therefore, when the dumper is judged to have a tipping risk, the lifting device and the vibration device can be controlled timely, wherein the vibration device is used for separating cargoes from cargoes and cargoes from the cargoes and the cargoes from the cargoes, and adjusting the gravity center position of the vehicle, so that the vehicle reaches an equilibrium state again, and therefore, gravity center deviation caused by binding or freezing of the cargoes is avoided, and the vehicle is further tipped.

Referring to fig. 4, fig. 4 is a schematic diagram of a refinement flow of comparing the second vehicle inclination angle value with a preset threshold and controlling the lifting device and the vibration device according to a comparison result. Step S30 includes:

step S31, comparing the second vehicle inclination angle value with the first preset value and the second preset value;

step S32, when the second vehicle inclination angle value is smaller than the first preset value, controlling the lifting device to lift so as to continue unloading;

step S33, when the second vehicle inclination angle value is larger than or equal to the first preset value and smaller than or equal to the second preset value, controlling the lifting device to stop lifting and controlling the vibration device to start vibrating, and when the second vehicle inclination angle value is smaller than the first preset value, controlling the vibration device to stop vibrating and controlling the lifting device to lift so as to continue unloading;

and step S34, when the second vehicle inclination angle value is larger than the second preset value, controlling the lifting device to fall back and reset.

In the embodiment, the preset threshold value comprises a first preset value and a second preset value which is larger than the first preset value, wherein the second preset value is determined according to parameters such as weight, length, width, height, gravity center and the like of the dumper after being loaded,and preset, facilitate the subsequent description, and record the second preset value asThe specific determination mode is not disclosed herein, and the controller obtains the second vehicle inclination angle value theta ₂ Then, the second vehicle inclination angle value theta ₂ And a first preset value->And a second preset value->Comparing; when the second vehicle inclination angle value is smaller than said first preset value, i.e. +.>When the dump truck is safe at present, the dump truck is free from the tipping risk, the lifting device is controlled to lift continuously to continue unloading until the lifting device lifts to the maximum lifting angle to finish unloading, and at the moment, the controller can control the lifting device to fall back and reset; when the second vehicle inclination angle value is larger than or equal to the first preset value and smaller than or equal to the second preset value, namely +.>When the dump truck is at a tilting risk, the tilting risk is low, the lifting is stopped continuously at the moment, the gravity center position of the vehicle is adjusted by taking corresponding measures, and the tilting accident can be avoided, at the moment, the controller controls the lifting device to stop lifting and controls the vibrating device to start vibrating, so that the goods are separated from each other and the goods are separated from the container by utilizing the vibration, the gravity center position of the vehicle is adjusted, the vehicle is in a balanced state again, and the second vehicle inclination angle value is smaller than the first preset value, namely _ >When the dump truck is restored to the safe state, the vibration device can be controlled to stop vibratingMoving and controlling the lifting device to lift so as to continue unloading; when the second vehicle inclination angle value is greater than the second preset value, i.e. +.>When the dump truck is in a high risk of tipping, the dump truck is not allowed to continue unloading operation, and the controller controls the lifting device to fall back and reset.

The embodiment of the invention provides a control method of a dump truck, which is applied to the dump truck as described above, the dump truck comprises a chassis, a container, a lifting device and a controller, wherein the lifting device is respectively connected with the chassis and the container and is used for lifting the container to enable the container to incline for unloading, the dump truck also comprises an angle sensor and a vibrating device which are arranged at the bottom of the container, the lifting device, the angle sensor and the vibrating device are respectively in communication connection with the controller, before unloading, in order to detect whether the incline angle of the ground where the dump truck is currently positioned is safe or not, whether unloading operation can be performed or not, the controller firstly obtains a first vehicle incline angle value through the angle sensor, namely in order to detect whether the incline angle of the ground where the dump truck is currently positioned is safe or not, whether unloading operation can be performed or not, and then whether the incline angle value of the first vehicle is smaller than a first preset value or not, if so, the current position of the dumper is safe, unloading operation can be performed, at the moment, the controller controls the lifting device to lift so as to start unloading, and because the change of the container inclination angle can lead to the shift of the gravity center position of the dumper in the unloading process, the vehicle inclination angle can change in real time, so that the controller needs to acquire a second vehicle inclination angle value in real time through the angle sensor, then, by comparing the second vehicle inclination angle value with a preset threshold value, whether the real-time inclination angle of the dumper in the unloading process is safe or not can be judged, whether the unloading operation can be continuously performed or not, and whether the gravity center position of the dumper needs to be regulated through the vibration device or not can be judged, so that the lifting device and the vibration device can be controlled in time when the dumper is judged to have the tipping risk, the vibration device enables goods to be separated from each other and goods to be separated from the container through vibration, the gravity center position of the vehicle is adjusted, and the vehicle is enabled to reach a balanced state again, so that the technical problem that the vehicle is tilted due to gravity center deviation caused by goods bonding or freezing in the lifting process of the dump truck can be solved.

Referring to fig. 5, fig. 5 is a flowchart illustrating a control method of the dump truck according to a second embodiment of the invention.

Based on the first embodiment shown in fig. 3, step S20 in the control method of the dump truck may include:

step S200, acquiring a second vehicle inclination angle value and a lifting angle value in real time through the angle sensor;

at this time, step S30 may include:

step S300, comparing the second vehicle inclination angle value with the first preset value and the second preset value, comparing the lifting angle value with a third preset value, and controlling the lifting device and the vibration device according to the comparison result.

Specifically, referring to fig. 6, fig. 6 is a schematic diagram of a refinement flow of comparing the second vehicle inclination angle value with the first preset value and the second preset value, comparing the lifting angle value with a third preset value, and controlling the lifting device and the vibration device according to a comparison result in the embodiment of the present invention. Step S300 includes:

Step S310, comparing the second vehicle inclination angle value with the first preset value and the second preset value, and comparing the lifting angle value with a third preset value;

step S321, when the second vehicle inclination angle value is smaller than the first preset value and the lifting angle value is smaller than the third preset value, controlling the lifting device to lift to continue unloading;

step S322, when the second vehicle inclination angle value is greater than or equal to the first preset value and less than or equal to the second preset value, and the lifting angle value is less than the third preset value, controlling the lifting device to stop lifting and controlling the vibration device to start vibrating, until the second vehicle inclination angle value is less than the first preset value, controlling the vibration device to stop vibrating and controlling the lifting device to lift to continue unloading;

step S323, when the second vehicle inclination angle value is greater than the second preset value, or the lifting angle value is greater than or equal to the third preset value, controlling the lifting device to fall back and reset.

In the present embodiment, the controller obtains the second vehicle inclination angle value θ ₂ And a lifting angle value theta ₃ Then, the second vehicle inclination angle value theta ₂ And a first preset valueAnd a second preset value->Comparing and lifting angle value theta ₃ And a third preset value->Comparing; when the second vehicle is inclined by an angle value theta ₂ Less than a first preset value->And the lifting angle value theta ₃ Less than said third preset value +.>When (i.e.)>And->When the dump truck is in the safe state, the dump truck has no tipping risk, the lifting device is controlled to lift continuously to discharge continuously, until the lifting device lifts to a maximum safe lifting angle (i.e. +.>) The unloading is completed, and at the moment, the controller can control the lifting device to fall back and reset; when the second vehicle inclination angle value theta ₂ Greater than or equal to said first preset value->And is smaller than or equal to said second preset value +.>And the lifting angle value is smaller than the third preset valueWhen (i.e.)>And->When the dump truck is at a tilting risk, the tilting risk is low, the lifting is stopped continuously at the moment, the gravity center position of the vehicle is adjusted by taking corresponding measures, and the tilting accident can be avoided, at the moment, the controller controls the lifting device to stop lifting and controls the vibrating device to start vibrating, so that the goods are separated from each other and the goods are separated from the container by utilizing the vibration, the gravity center position of the vehicle is adjusted, the vehicle is in a balanced state again, and the second vehicle inclination angle value is smaller than the first preset value, namely _ >When the dump truck is restored to the safe state, the vibration device can be controlled to stop vibrating, and the lifting device is controlled to lift so as to continue unloading; when the second vehicle inclination angle value theta ₂ Is greater than said second preset value +.>Or the lifting angle value is larger than or equal to the third preset value +.>When (i.e.)>Or->When the combination isOr->When the dump truck is in a high risk of tipping, the dump truck is not allowed to continue to perform the unloading operation, the controller controls the lifting device to fall back and reset, and when +.>When the dumper lifting mechanism is lifted to the maximum safe lifting angle and the unloading is completed, the controller controls the lifting device to fall back and reset, so that the dumper lifting mechanism is stopped when +.>Or->And when the lifting device is in a falling state, the controller controls the lifting device to fall back and reset.

after the preset time, controlling the vibration device to stop vibrating, controlling the lifting device to lift so as to continue unloading, and executing the steps of: and acquiring a second vehicle inclination angle value in real time through the angle sensor, and acquiring a lifting angle value in real time through the angle sensor.

In this embodiment, after the lifting device is reset, the vibration device is controlled to start vibrating, so that the cargo is separated from the cargo and the cargo is separated from the cargo, the adhesion degree of the cargo and the freezing degree between the cargo and the cargo are reduced, and the gravity center position of the vehicle is changed. After the preset vibration time, the vibration device is controlled to stop vibrating, then the lifting device is controlled to lift so as to continue unloading, and the second vehicle inclination angle value theta is obtained in real time through the angle sensor ₂ And a lifting angle value theta ₃ Then the second vehicle inclination angle value theta ₂ And a first preset valueAnd a second preset value->Comparing and lifting angle value theta ₃ And a third preset value->And comparing, and controlling the lifting device and the vibration device according to the comparison result. The specific implementation manner of the subsequent steps is the same as that of the above embodiment, and will not be repeated here.

Further, referring to fig. 7, fig. 7 is a flow chart of a third embodiment of a control method of the dump truck according to the present invention.

Based on the above embodiment, the dump truck further includes a display device, and the control method of the dump truck further includes:

step S50, acquiring vehicle information of the dump truck, and calculating according to the vehicle information, a second vehicle inclination angle value and a lifting angle value to obtain the gravity center position and the safe movement range of the dump truck;

And step S60, transmitting the gravity center position, the safety movement range, the second vehicle inclination angle value and the lifting angle value to the display device.

In this embodiment, when the controller obtains the vehicle information of the dump truck, the controller calculates to obtain the dump truck according to the vehicle information, the second vehicle inclination angle value and the lifting angle valueCenter of gravity position and safe moving range, wherein, this vehicle information's acquisition mode can be: 1) The method comprises the steps of connecting with an OBD (On Board Diagnostics, on-board diagnosis) interface through a special data line or directly so as to read vehicle information of the vehicle; 2) Receiving vehicle information of the vehicle input by a user; 3) Respectively acquiring partial parameter data in the vehicle information in the modes 1) and 2); 4) And (3) inquiring the vehicle information obtained in the mode 1) or inquiring other vehicle information from a preset table. The vehicle information may include a preparation mass, a loaded cargo weight, a center of mass height, a track, a leaf spring stiffness, etc., and the calculation of the specific center of gravity position may refer to the prior art, which is not described herein. The safe moving range can include the safe movable range of the inclination angle and the lifting angle and the gravity center position, namely the current vehicle inclination angle (namely the second vehicle inclination angle) and the second preset value And the current lift angle (i.e., θ ₃ ) And a third preset value->And a difference between the calculated current center of gravity position and the calculated center of gravity position according to the second preset value and the third preset value.

Referring to fig. 8, fig. 8 is a flowchart illustrating a control method of the dump truck according to a fourth embodiment of the invention.

Based on the above embodiment, the dump truck further includes an alarm device, and the control method of the dump truck further includes:

step S70, calculating a difference value between the second vehicle inclination angle value and the second preset value, and judging whether the difference value is within a preset difference value range;

and step S80, if the difference value is within a preset difference value range, controlling the alarm device to alarm.

In the present embodiment, the controller acquires the second vehicle inclination angle value θ ₂ Calculating the second vehicle inclination angle value θ ₂ And a second preset valueIf the difference value is within the preset difference value range, the current vehicle inclination angle value of the dump truck is close to a second preset value, corresponding control operation needs to be executed in time, and the controller controls the alarm device to alarm. In a specific embodiment, a plurality of preset difference ranges can be further set, and the difference is judged to be in the preset difference range, so that the alarm device is controlled to prompt alarm sounds with different reminding degrees, and different prompts are given to operators. For example, 2 preset difference ranges, -5 to 0 and 0 to 5 may be set when the second vehicle inclination angle value θ ₂ And a second preset value->Difference of->In the range of-5 to 0, i.e. +.> At the moment, the gravity center of the dump truck is obviously shifted, but still in the safety range, the alarm device can be controlled to send out intermittent alarm sound, namely, a lighter alarm prompt, so that an operator can correspondingly execute auxiliary operations according to the current situation when hearing the alarm sound, and the dump truck is further prevented from tipping; when the second vehicle is inclined by an angle value theta ₂ And a second preset value->Difference of->In the range of 0 to 5, i.e. +.>At the moment, the current gravity center deviation of the dumper is not in a safety range, and the alarm device can be controlled to give out continuous sound alarm, namely a heavier alarm prompt, so that operators are prompted that the dumper is large in current tipping risk and notice to avoid in time; of course, the danger prompt effect on surrounding personnel can be achieved.

The present invention also provides a computer-readable storage medium having stored thereon a control program of a dump truck, which when executed by a processor, implements the steps of the control method of a dump truck according to any one of the above embodiments.

The specific embodiments of the computer readable storage medium of the present invention are basically the same as the embodiments of the control method of the dump truck described above, and will not be described herein.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.

The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims

1. The dumper is characterized by comprising a chassis, a container, a lifting device and a controller, wherein the lifting device is respectively connected with the chassis and the container and is used for lifting the container to enable the container to be inclined for unloading, the dumper further comprises an angle sensor and a vibrating device which are arranged at the bottom of the container, the lifting device, the angle sensor and the vibrating device are respectively in communication connection with the controller, and the controller is used for:

comparing the second vehicle inclination angle value with a preset threshold value, and controlling the lifting device and the vibration device according to a comparison result;

Wherein the preset threshold value comprises the first preset value and further comprises a second preset value, and the controller is further configured to:

comparing the second vehicle inclination angle value with the first preset value and the second preset value, comparing the lifting angle value with a third preset value, and controlling the lifting device and the vibration device according to a comparison result;

the step of comparing the second vehicle inclination angle value with the first preset value and the second preset value, comparing the lifting angle value with a third preset value, and controlling the lifting device and the vibration device according to the comparison result comprises the following steps:

2. The dump truck of claim 1, wherein the preset threshold comprises the first preset value and further comprises a second preset value, the second preset value being greater than the first preset value, the controller being specifically configured to:

3. A control method of a dump truck, characterized in that the control method of a dump truck is applied to the dump truck as set forth in claim 1, the control method of a dump truck comprising:

the step of acquiring the second vehicle inclination angle value in real time through the angle sensor comprises the following steps:

4. The control method of a dump truck according to claim 3, wherein the preset threshold value includes the first preset value, and further includes a second preset value, the second preset value being greater than the first preset value, the step of comparing the second vehicle inclination angle value with the preset threshold value, and controlling the lifting device and the vibrating device according to the comparison result, includes:

5. The control method of a dump truck of claim 4, wherein the dump truck further comprises a display device, the control method of the dump truck further comprising:

6. The control method of a dump truck of claim 4, wherein the dump truck further comprises an alarm device, the control method of the dump truck further comprising:

7. A computer-readable storage medium, wherein a control program of a dump truck is stored on the computer-readable storage medium, which when executed by a processor, implements the steps of the control method of a dump truck according to any one of claims 3 to 6.