CN117621970A - Vehicle-mounted container lifting anti-tipping control method and system - Google Patents
Vehicle-mounted container lifting anti-tipping control method and system Download PDFInfo
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- CN117621970A CN117621970A CN202311701543.1A CN202311701543A CN117621970A CN 117621970 A CN117621970 A CN 117621970A CN 202311701543 A CN202311701543 A CN 202311701543A CN 117621970 A CN117621970 A CN 117621970A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000009467 reduction Effects 0.000 claims abstract description 40
- 230000004044 response Effects 0.000 claims abstract description 11
- 238000003825 pressing Methods 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 239000013585 weight reducing agent Substances 0.000 claims description 3
- 230000002265 prevention Effects 0.000 claims 2
- 238000012856 packing Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000003860 storage Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a vehicle-mounted container lifting anti-tipping control method and system, wherein the method comprises the following steps: responding to the pre-starting of the lifting of the vehicle-mounted container, and acquiring a vehicle body inclination angle; responding to the vehicle body inclination angle not exceeding a preset inclination angle safety range, and lifting and starting the vehicle-mounted container; responding to lifting start of the vehicle-mounted container, and acquiring tire pressure and tire temperature of the vehicle; acquiring a wheel load according to the tire pressure and the tire temperature; in response to the wheel load not exceeding a preset load safety threshold, lifting the vehicle-mounted container continuously until a maximum lifting angle is reached and locking is carried out; calculating the reduction of the weight of the cargoes in the vehicle-mounted container according to the wheel load; responding to the reduction amount exceeding a preset reduction amount threshold, ending lifting and falling back of the vehicle-mounted container; the invention can improve the lifting efficiency and the safety of the container.
Description
Technical Field
The invention belongs to the technical field of engineering machinery, and particularly relates to a vehicle-mounted container lifting anti-tipping control method and system.
Background
The self-unloading truck is mainly used for transporting goods as a special automobile, and the lifting mechanism is used for automatically unloading the self-unloading truck by driving the hydraulic pump to generate hydraulic pressure by the engine through the transmission and the power taking device, and then doing work on the lifting rod after the hydraulic pressure is transmitted. The rationality of the mechanical structure, the lifting speed, the angle, the accuracy of displacement control and the like are all important parameters for measuring the working performance of the lifting mechanism.
At present, the control of a lifting mechanism of the dump truck mostly adopts a traditional control mode, and a hydraulic lifting system controls the lifting of a container through the operation of an air valve. The whole gravity center of the dumper moves backwards due to the reasons of error in lifting control, overlarge road gradient, incomplete unloading of cargoes, abnormal opening of a container door, overlarge lifting speed and the like during unloading, so that the front wheels lift off from the ground and turn up. Once the accident of tilting the head and turning over the vehicle occurs, the life safety of the driver, the passengers and the surrounding personnel of the dump truck is extremely threatened, huge economic loss and casualties are formed, and the lifting safety and stability performance becomes an urgent problem to be solved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a vehicle-mounted container lifting anti-tipping control method and a vehicle-mounted container lifting anti-tipping control system, and solves the technical problem that the existing dumper lifting mechanism mostly adopts the traditional control mode and has potential safety hazards.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a method for controlling lifting and anti-rollover of a vehicle-mounted cargo box, including:
responding to the pre-starting of the lifting of the vehicle-mounted container, and acquiring a vehicle body inclination angle;
responding to the vehicle body inclination angle not exceeding a preset inclination angle safety range, and lifting and starting the vehicle-mounted container;
responding to lifting start of the vehicle-mounted container, and acquiring tire pressure and tire temperature of the vehicle;
acquiring a wheel load according to the tire pressure and the tire temperature;
in response to the wheel load not exceeding a preset load safety threshold, lifting the vehicle-mounted container continuously until a maximum lifting angle is reached and locking is carried out;
calculating the reduction of the weight of the cargoes in the vehicle-mounted container according to the wheel load;
and responding to the reduction amount exceeding a preset reduction amount threshold, and ending lifting and falling back of the vehicle-mounted container.
Optionally, in response to the vehicle body inclination angle exceeding a preset inclination angle safety range, the vehicle-mounted cargo box lifting pre-starting is terminated.
Optionally, in response to the wheel load exceeding a preset load safety threshold, the vehicle cargo box lifting is stopped.
Optionally, in response to the reduction amount not exceeding a preset reduction amount threshold, locking is continued until a preset duration is reached, and lifting and falling-back of the vehicle-mounted container are completed.
Optionally, the vehicle body inclination angle comprises a vehicle body front-rear side inclination angle and a vehicle body left-right side inclination angle, and the inclination angle safety range comprises a vehicle body front-rear side inclination angle safety range and a vehicle body left-right side inclination angle safety range.
In a second aspect, the present invention provides a vehicle-mounted cargo box lifting anti-rollover control device, comprising:
the inclination angle detection module is used for responding to the pre-starting of the lifting of the vehicle-mounted container and acquiring the inclination angle of the vehicle body;
the lifting starting module is used for responding to the fact that the inclination angle of the vehicle body does not exceed a preset inclination angle safety range, and then the vehicle-mounted container is lifted and started;
the vehicle-mounted container lifting and starting module is used for responding to the vehicle-mounted container lifting and starting, and acquiring the tire pressure and the tire temperature of the vehicle;
the load acquisition module is used for acquiring a wheel load according to the tire pressure of the wheel and the tire temperature lookup table;
the lifting locking module is used for responding to the fact that the wheel load does not exceed a preset load safety threshold, and lifting of the vehicle-mounted container is continued until the maximum lifting angle is reached and locking is achieved;
the cargo weight reduction module is used for calculating the reduction amount of the cargo weight in the vehicle-mounted cargo box according to the wheel load;
and the ending reset module is used for responding to the fact that the reduction amount exceeds a preset reduction amount threshold value, and the lifting of the vehicle-mounted container is ended and falls back.
Alternatively to this, the method may comprise,
responding to the vehicle body inclination exceeding a preset inclination safety range, and terminating the lifting pre-starting of the vehicle-mounted container;
responding to the wheel load exceeding a preset load safety threshold, and stopping lifting the vehicle-mounted container;
and responding to the reduction amount not exceeding a preset reduction amount threshold, and continuing locking until the reduction amount exceeds the preset reduction amount threshold.
In a third aspect, the present invention provides an on-board cargo box lift anti-rollover control system comprising:
a frame;
the rear end of the container is hinged to the rear end of the frame;
one end of the lifting piece is hinged to the front end of the container, and the other end of the lifting piece is hinged to the front end of the frame;
a plurality of wheels are distributed on the frame;
the warm-pressing assemblies comprise tire temperature sensors and tire pressure sensors, and a plurality of the warm-pressing assemblies are arranged on the wheels in a one-to-one correspondence manner;
the inclination angle assembly comprises a first inclination angle sensor and a second inclination angle sensor, the first inclination angle sensor and the second inclination angle sensor are horizontally arranged on the frame, the direction of the first inclination angle sensor is the same as the advancing direction of the vehicle, and the direction of the second inclination angle sensor is perpendicular to the advancing direction of the vehicle;
the control unit is electrically connected with the lifting piece, the warm-pressing assembly and the inclination angle assembly, and the control unit is controlled by adopting the vehicle-mounted container lifting anti-tipping control method.
Optionally, the lifting piece adopts a lifting oil cylinder, and a hydraulic control system is connected to the lifting oil cylinder, and the hydraulic control system is electrically connected with the control unit.
Optionally, the control unit adopts a single-chip processor or a DSP processor.
Compared with the prior art, the invention has the beneficial effects that:
according to the vehicle-mounted container lifting anti-tipping control method and system, whether the vehicle is in a dangerous operation state at present is judged by measuring the inclination angle of the vehicle when the vehicle is in a container lifting state, the tire bearing capacity in the current initial state is calculated according to the obtained tire pressure and temperature information, the lifting speed of the lifting cylinder is adaptively controlled, whether the tire bearing capacity is in a critical state of whole vehicle tipping is judged, and if the critical state of whole vehicle tipping is close, the control unit controls the container lifting system to stop operation, so that the self-adaptive control of the container lifting system is realized, and the container lifting efficiency and safety of the container lifting system are improved. The invention can be popularized and applied to self-unloading engineering vehicles.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling lifting and anti-tipping of a vehicle-mounted cargo box according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a vehicle-mounted cargo box lifting anti-tipping control device according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a vehicle-mounted cargo box lift anti-rollover control system according to an embodiment of the present invention;
marked in the figure as:
1-a frame; 2-a container; 3-lifting members; 4-tilt angle assembly; 5-wheels.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Embodiment one:
as shown in fig. 1, the embodiment of the invention provides a vehicle-mounted container lifting and anti-tipping control method, which comprises the following steps:
step S1, responding to the pre-starting of lifting of the vehicle-mounted container, and acquiring a vehicle body inclination angle;
the vehicle body inclination angle comprises a vehicle body front-rear side inclination angle and a vehicle body left-right side inclination angle, and the inclination angle safety range comprises a vehicle body front-rear side inclination angle safety range and a vehicle body left-right side inclination angle safety range.
In particular, in the present embodiment, the vehicle body front-rear roll angle safety range is set to 0 to 10 °, and the vehicle body left-right roll angle safety range is set to 0 to 5 °. In other alternative embodiments, the safety range may be set as desired.
Step S2, in response to the inclination angle of the vehicle body not exceeding a preset inclination angle safety range, lifting and starting the vehicle-mounted container; and responding to the vehicle body inclination angle exceeding a preset inclination angle safety range, and stopping lifting the vehicle-mounted container.
And step S3, responding to lifting start of the vehicle-mounted container, and acquiring tire pressure and tire temperature of the vehicle-mounted container.
S4, acquiring a wheel load according to the tire pressure and the tire temperature table;
in the embodiment, the tire pressure and the tire temperature and the wheel load are calibrated in advance through experiments, a calibration table is generated and stored, and when the tire pressure and the tire temperature and the wheel load are used, a table lookup is called.
Step S5, in response to the wheel load not exceeding a preset load safety threshold, lifting the vehicle-mounted container continuously until the maximum lifting angle is reached and locking is carried out; responding to the wheel load exceeding a preset load safety threshold, and stopping lifting the vehicle-mounted container;
in particular, in the present embodiment, the load safety threshold is set to 110% of the tire bearing capacity threshold. In other alternative embodiments, the tire load capacity threshold may be set as desired.
Since there is more than one wheel of the vehicle, in particular in this embodiment, it is desirable that the wheel loads of all wheels do not exceed the preset load safety threshold, and in other alternative embodiments, the number of wheels that do not exceed the preset load safety threshold may be set as desired.
S6, calculating the reduction amount of the weight of the cargoes in the vehicle-mounted container according to the wheel load;
specifically, in the present embodiment, the decrease amount is set to 95%. In other alternative embodiments, the reduction amount may be set as desired.
And S7, responding to the fact that the reduction amount exceeds a preset reduction amount threshold, and finishing lifting and falling back of the vehicle-mounted container.
And responding to the reduction amount not exceeding a preset reduction amount threshold, continuing locking until a preset duration is reached, and ending lifting and falling back of the vehicle-mounted container.
In particular, in the present embodiment, the preset time period is set to 10s. In other alternative embodiments, the preset duration may be set as desired.
Embodiment two:
as shown in fig. 2, the present invention provides a vehicle-mounted container lifting anti-tipping control device, comprising:
the inclination angle detection module is used for responding to the pre-starting of the lifting of the vehicle-mounted container and acquiring the inclination angle of the vehicle body;
the lifting starting module is used for responding to the fact that the inclination angle of the vehicle body does not exceed a preset inclination angle safety range, and then the vehicle-mounted container is lifted and started; responding to the vehicle body inclination exceeding a preset inclination safety range, and terminating the lifting pre-starting of the vehicle-mounted container;
the vehicle-mounted container lifting and starting module is used for responding to the vehicle-mounted container lifting and starting, and acquiring the tire pressure and the tire temperature of the vehicle;
the load acquisition module is used for acquiring a wheel load according to the tire pressure of the wheel and the tire temperature lookup table;
the lifting locking module is used for responding to the fact that the wheel load does not exceed a preset load safety threshold, and lifting of the vehicle-mounted container is continued until the maximum lifting angle is reached and locking is achieved; responding to the wheel load exceeding a preset load safety threshold, and stopping lifting the vehicle-mounted container;
the cargo weight reduction module is used for calculating the reduction amount of the cargo weight in the vehicle-mounted cargo box according to the wheel load;
the ending reset module is used for responding to the fact that the reduction amount exceeds a preset reduction amount threshold value, and the lifting of the vehicle-mounted container is ended and falls back; and responding to the reduction amount not exceeding a preset reduction amount threshold, and continuing locking until the reduction amount exceeds the preset reduction amount threshold.
Embodiment III:
the invention provides a vehicle-mounted container lifting anti-tipping control system which comprises a frame 1, a container 2, lifting pieces 3, wheels 5, a warm pressing assembly, an inclination angle assembly 4 and a control unit, wherein the lifting pieces are arranged on the frame; the rear end of the cargo box 2 is hinged to the rear end of the frame 1; one end of the lifting piece 3 is hinged to the front end of the cargo box 2, and the other end of the lifting piece is hinged to the front end of the frame 1; a plurality of the wheels 5 are distributed on the frame 1; the warm-pressing assemblies comprise tire temperature sensors and tire pressure sensors, and a plurality of the warm-pressing assemblies are arranged on the wheels 5 in a one-to-one correspondence manner; the inclination angle assembly 4 comprises a first inclination angle sensor and a second inclination angle sensor, wherein the first inclination angle sensor and the second inclination angle sensor are horizontally arranged on the frame 1, the direction of the first inclination angle sensor is the same as the advancing direction of a vehicle and is used for measuring the front-back side inclination angle of the vehicle body, and the direction of the second inclination angle sensor is vertical to the advancing direction of the vehicle and is used for measuring the left-right side inclination angle of the vehicle body; the control unit is electrically connected with the lifting member 3, the warm-pressing assembly and the inclination angle assembly 4, and the control unit adopts the vehicle-mounted container lifting and anti-tipping control method described in the first embodiment to control.
The lifting piece 3 adopts a lifting oil cylinder, and a hydraulic control system is connected to the lifting oil cylinder and is electrically connected with the control unit. The control unit adopts a singlechip processor or a DSP processor.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (10)
1. The vehicle-mounted container lifting and tipping prevention control method is characterized by comprising the following steps of:
responding to the pre-starting of the lifting of the vehicle-mounted container, and acquiring a vehicle body inclination angle;
responding to the vehicle body inclination angle not exceeding a preset inclination angle safety range, and lifting and starting the vehicle-mounted container;
responding to lifting start of the vehicle-mounted container, and acquiring tire pressure and tire temperature of the vehicle;
acquiring a wheel load according to the tire pressure and the tire temperature;
in response to the wheel load not exceeding a preset load safety threshold, lifting the vehicle-mounted container continuously until a maximum lifting angle is reached and locking is carried out;
calculating the reduction of the weight of the cargoes in the vehicle-mounted container according to the wheel load;
and responding to the reduction amount exceeding a preset reduction amount threshold, and ending lifting and falling back of the vehicle-mounted container.
2. The vehicle cargo box lift anti-rollover control method of claim 1, wherein the vehicle cargo box lift pre-start is terminated in response to the vehicle body tilt angle exceeding a preset tilt angle safety range.
3. The on-board cargo lift anti-rollover control method of claim 1, wherein the on-board cargo lift is stopped in response to the wheel load exceeding a preset load safety threshold.
4. The on-board cargo lifting anti-rollover control method of claim 1, wherein in response to the reduction not exceeding a preset reduction threshold, locking continues until a preset duration is reached, the on-board cargo lifting ending and falling back.
5. The in-vehicle cargo box lifting and anti-rollover control method according to claim 1, wherein the vehicle body inclination angle comprises a vehicle body front-rear side inclination angle and a vehicle body left-right side inclination angle, and the inclination angle safety range comprises a vehicle body front-rear side inclination angle safety range and a vehicle body left-right side inclination angle safety range.
6. An on-vehicle packing box lifts anti-tipping control device, characterized by comprising:
the inclination angle detection module is used for responding to the pre-starting of the lifting of the vehicle-mounted container and acquiring the inclination angle of the vehicle body;
the lifting starting module is used for responding to the fact that the inclination angle of the vehicle body does not exceed a preset inclination angle safety range, and then the vehicle-mounted container is lifted and started;
the vehicle-mounted container lifting and starting module is used for responding to the vehicle-mounted container lifting and starting, and acquiring the tire pressure and the tire temperature of the vehicle;
the load acquisition module is used for acquiring a wheel load according to the tire pressure of the wheel and the tire temperature lookup table;
the lifting locking module is used for responding to the fact that the wheel load does not exceed a preset load safety threshold, and lifting of the vehicle-mounted container is continued until the maximum lifting angle is reached and locking is achieved;
the cargo weight reduction module is used for calculating the reduction amount of the cargo weight in the vehicle-mounted cargo box according to the wheel load;
and the ending reset module is used for responding to the fact that the reduction amount exceeds a preset reduction amount threshold value, and the lifting of the vehicle-mounted container is ended and falls back.
7. The vehicle cargo box lifting and anti-tipping control device according to claim 5, wherein,
responding to the vehicle body inclination exceeding a preset inclination safety range, and terminating the lifting pre-starting of the vehicle-mounted container;
responding to the wheel load exceeding a preset load safety threshold, and stopping lifting the vehicle-mounted container;
and responding to the reduction amount not exceeding a preset reduction amount threshold, and continuing locking until the reduction amount exceeds the preset reduction amount threshold.
8. An on-board cargo box lift rollover control system, comprising:
a frame;
the rear end of the container is hinged to the rear end of the frame;
one end of the lifting piece is hinged to the front end of the container, and the other end of the lifting piece is hinged to the front end of the frame;
a plurality of wheels are distributed on the frame;
the warm-pressing assemblies comprise tire temperature sensors and tire pressure sensors, and a plurality of the warm-pressing assemblies are arranged on the wheels in a one-to-one correspondence manner;
the inclination angle assembly comprises a first inclination angle sensor and a second inclination angle sensor, the first inclination angle sensor and the second inclination angle sensor are horizontally arranged on the frame, the direction of the first inclination angle sensor is the same as the advancing direction of the vehicle, and the direction of the second inclination angle sensor is perpendicular to the advancing direction of the vehicle;
the control unit is electrically connected with the lifting piece, the warm-pressing assembly and the inclination angle assembly, and the control unit is controlled by adopting the vehicle-mounted container lifting anti-tipping control method according to any one of claims 1-5.
9. The vehicle cargo box lifting and anti-tipping control system according to claim 1, wherein the lifting member is a lifting cylinder, and a hydraulic control system is connected to the lifting cylinder, and the hydraulic control system is electrically connected to the control unit.
10. The vehicle cargo box lift rollover prevention control system of claim 1, wherein the control unit employs a single-chip processor or DSP processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311701543.1A CN117621970A (en) | 2023-12-12 | 2023-12-12 | Vehicle-mounted container lifting anti-tipping control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311701543.1A CN117621970A (en) | 2023-12-12 | 2023-12-12 | Vehicle-mounted container lifting anti-tipping control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117621970A true CN117621970A (en) | 2024-03-01 |
Family
ID=90019872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311701543.1A Pending CN117621970A (en) | 2023-12-12 | 2023-12-12 | Vehicle-mounted container lifting anti-tipping control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117621970A (en) |
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2023
- 2023-12-12 CN CN202311701543.1A patent/CN117621970A/en active Pending
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