WO2014043997A1

WO2014043997A1 - Concrete pump truck monitoring method, concrete pump truck monitoring system, and concrete pump truck

Info

Publication number: WO2014043997A1
Application number: PCT/CN2012/085825
Authority: WO
Inventors: 万梁; 李四中; 王佳茜; 彭志强
Original assignee: 中联重科股份有限公司
Priority date: 2012-09-18
Filing date: 2012-12-04
Publication date: 2014-03-27
Also published as: CN102841566A; CN102841566B

Abstract

A concrete pump truck monitoring method, a concrete pump truck monitoring system, and a concrete pump truck. The concrete pump truck monitoring method comprises the following steps: calculating a center-of-mass safe area (80) of an entire concrete pump truck based on support positions of support legs (71, 72, 73, 74); calculating a center of mass of the entire concrete pump truck based on real-time positions of booms (61, 62, 63, 64, 65); determining whether the center of mass of the entire truck is in the center-of-mass safe area (80) of the entire truck; controlling actions of the concrete pump truck based on a determination result. The method monitors the pump truck in real time to prevent the pump truck from tipping.

Description

混凝土泵车监控方法、混凝土泵车监控***及混凝土泵车技术领域本发明涉及混凝土泵车监控技术领域，具体而言，涉及一种混凝土泵车监控方法、混凝土泵车监控***及混凝土泵车。背景技术轮式工程机械，如混凝土泵车在施工前需要将支腿展开，以确保臂架安全布料。但是受施工场地的限制，往往支腿无法完全展开，此时臂架进行布料操作存在极大的安全隐患。在实际施工时，由于支腿未完全展开而造成的设备倾翻事故频发，是混凝土泵车安全事故的主要原因之一。为了克服这种缺陷，发明了一种 X形支腿的泵车，可以仅展开一侧的支腿进行支撑，但是这种泵车的使用对工作区域有着严格的规定：使用单侧支撑的工作区域为从布料臂架安放位置起计算约为 130°。由于泵车使用时，控制***目前只能识别支腿完全展开或者单侧展开两种工况，从而对臂架的回转进行安全监控，两种工况下，臂架的回转角度分别为 0至 360°和 0至 130°，而当支腿在两种工况之间的某个展开位置时，控制***无法计算臂架安全动作范围，使得泵车安全工作范围受到很大限制。为了拓展支腿未完全展开时臂架的布料范围，专利文献 CN102248933A提出一种通过传感器检测计算支腿展开范围确定臂架可回转角度的方法，该专利的主要局限在于在当知道臂架支腿的坐标时，仅能够确定臂架回转的最小安全工作范围，不能实现最大安全布料范围的计算，使得臂架工作范围覆盖不全面，限制了泵车安全工作范围。当受施工场地限制，支腿单侧支撑也不能够完全展开时，此时按照该专利文献提供的方法计算，臂架安全工作范围的回转角度很小几乎为 0°，泵车不能在此工况下布料工作。发明内容本发明旨在提供一种对泵车进行实时监控以防止其倾翻的混凝土泵车监控方法、混凝土泵车监控***及混凝土泵车。为了实现上述目的，根据本发明的一个方面，提供了一种混凝土泵车监控方法，包括以下步骤：根据支腿的支撑位置计算混凝土泵车的整车重心安全区域；根据臂架的实时位置计算混凝土泵车的整车重心位置；判断整车重心位置是否位于整车重心安全区域内；根据判断结果控制混凝土泵车的动作。进一步地，根据支腿的支撑位置计算混凝土泵车的整车重心安全区域包括以下步骤：获取每个支腿油缸的活塞杆的行程；根据每个支腿油缸的活塞杆的行程以及各支腿油缸的结构参数计算每个支腿的支撑点的坐标；根据每个支腿的支撑点的坐标确定整车重心安全区域，其中整车重心安全区域为每个支腿的支撑点的连线所形成的多边形所围成的内部区域。进一步地，根据臂架的实时位置计算混凝土泵车的整车重心位置包括以下步骤：获取臂架回转角度；获取臂架的每个节臂油缸的活塞杆的行程；根据每个节臂油缸的活塞杆的行程，确定在回转角度下臂架的姿态参数；根据混凝土泵车的结构参数和臂架的姿态参数计算整车重心位置，其中混凝土泵车的结构参数包括臂架的三维模型。进一步地，判断整车重心位置是否位于整车重心安全区域内包括以下步骤：获取在当前回转角度下，臂架和整车重心安全区域的边界在同一水平投影面上的交点；计算交点与转台中心的距离，得到安全距离；获取在当前回转角度下，整车重心位置与转台中心的距离，得到整车重心偏移距离；比较安全距离与整车重心偏移距离的大小；根据比较结果判断整车重心位置是否位于整车重心安全区域内。进一步地，根据比较结果判断整车重心位置是否位于整车重心安全区域内包括以下步骤：当安全距离 >整车重心偏移距离时，判断整车重心位置位于整车重心安全区域内；当安全距离≤整车重心偏移距离时，判断整车重心位置超出整车重心安全区域。进一步地，根据判断结果控制混凝土泵车包括以下步骤：当判断整车重心位置超出整车重心安全区域时，调整臂架的任一节臂动作或调整臂架的回转角度，使整车重心位置向整车重心安全区域内移动。根据本发明的另一方面，提供了一种混凝土泵车监控***，包括：第一计算单元，用于根据支腿的支撑位置计算混凝土泵车的整车重心安全区域；第二计算单元，用于根据臂架的实时位置计算混凝土泵车的整车重心位置；判断单元，分别与第一计算单元和第二计算单元连接，用于判断整车重心位置是否位于整车重心安全区域内；控制单元，与判断单元连接，用于根据判断单元的判断结果控制混凝土泵车的动作。进一步地，第一计算单元包括：第一采集模块，包括安装在每个支腿油缸上用于检测活塞杆行程的第一检测装置；第一计算模块，用于根据每个支腿油缸的活塞杆行程以及各支腿油缸的结构参数计算每个支腿的支撑点的坐标；确定模块，用于根据每个支腿的支撑点的坐标确定整车重心安全区域。进一步地，第二计算单元包括：第二采集模块，包括安装在转台上用于检测臂架的回转角度的编码器；第三采集模块，包括安装在臂架的每个节臂油缸上用于检测每个节臂活塞杆行程的第二检测装置；第二计算模块，用于根据每个节臂油缸的活塞杆行程确定在回转角度下臂架的不同姿态参数；第三计算模块，用于根据混凝土泵车的结构参数和臂架的姿态参数计算整车重心位置，其中混凝土泵车的结构参数包括臂架的三维模型。进一步地，判断单元包括：第四计算模块，用于计算安全距离，其中，安全距离是指，在臂架的任一回转角度，臂架和整车重心安全区域的边界在同一水平投影面上的交点与转台中心的距离；第五计算模块，用于计算整车重心偏移距离，整车重心偏移距离是指，臂架位于回转角度时，整车重心位置与转台中心的距离；比较模块，用于比较安全距离与整车重心偏移距离的大小；判断模块，用于根据比较结果判断整车重心位置是否位于整车重心安全区域内。根据本发明的另一方面，提供了一种混凝土泵车，包括用于进行布料作业的臂架、用于支撑混凝土泵车的可伸缩的支腿以及用于对臂架作业的安全性进行监控的混凝土泵车监控***，混凝土泵车监控***为前述任一种的混凝土泵车监控***。应用本发明的技术方案，根据支腿的支撑位置计算混凝土泵车的整车重心安全区域，根据臂架的实时位置计算混凝土泵车的整车重心位置，可以对整车重心安全区域以及整车重心位置进行实时监控。通过判断整车重心位置是否位于整车重心安全区域内，可以根据判断结果控制混凝土泵车的动作，防止整车重心位置超出整车重心安全区域，进而避免混凝土泵车发生倾翻事故。本发明在支腿的任一展开位置都可以对整车重心安全区域进行监控，克服了现有技术只能对支腿单侧展开或完全展开状态进行监控的缺陷，避免对泵车的监控出现盲区；同时根据整车的实时重心是否在实时的整车重心安全区域内判断整车的安全性，实现了臂架在最大安全范围内布料。附图说明构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：图 1示出了根据本发明的实施例的混凝土泵车监控方法的示意图; 图 2示出了根据本发明的实施例的混凝土泵车支腿展开的示意图；图 3示出了根据本发明的实施例的臂架姿态示意图；以及图 4示出了根据本发明的实施例的混凝土泵车监控***的示意图。具体实施方式下面将参考附图并结合实施例来详细说明本发明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。如图 1所示，根据本发明的一个实施例，提供了一种混凝土泵车监控方法，该方法包括步骤 S100至步骤 S400。 TECHNICAL FIELD The present invention relates to the field of concrete pump truck monitoring technology, and in particular to a concrete pump truck monitoring method, a concrete pump truck monitoring system, and a concrete pump truck. BACKGROUND OF THE INVENTION Wheeled construction machinery, such as concrete pump trucks, need to deploy the legs before construction to ensure the safety of the boom. However, due to the limitation of the construction site, the legs cannot be fully deployed. At this time, there is a great safety hazard in the fabric operation of the boom. In actual construction, the equipment tipping accident caused by the incomplete unfolding of the legs is one of the main causes of safety accidents of concrete pump trucks. In order to overcome this drawback, a pump truck with an X-shaped leg was invented, which can be supported by only one side of the leg, but the use of the pump has strict regulations on the working area: work using one-sided support The area is approximately 130° from the position where the cloth boom is placed. Since the pump system is used, the control system can only recognize the condition that the legs are fully deployed or unilaterally deployed, thereby safely monitoring the rotation of the boom. In both cases, the angle of rotation of the boom is 0 to 360° and 0 to 130°, and when the outrigger is in a deployed position between the two operating conditions, the control system cannot calculate the safe range of the boom, which limits the safe working range of the pump. In order to expand the fabric range of the boom when the legs are not fully deployed, the patent document CN102248933A proposes a method for determining the swingable angle of the boom by detecting the extent of the outriggers of the sensor. The main limitation of the patent is that when the boom legs are known At the coordinates, only the minimum safe working range of the boom rotation can be determined, and the calculation of the maximum safe cloth range cannot be realized, so that the working range of the boom is not comprehensively covered, which limits the safe working range of the pump truck. When limited by the construction site, the one-side support of the outrigger cannot be fully deployed. At this time, according to the method provided in the patent document, the angle of rotation of the safe working range of the boom is very small, almost 0°, and the pump cannot be used here. The cloth works. SUMMARY OF THE INVENTION The present invention is directed to a concrete pump truck monitoring method, a concrete pump truck monitoring system, and a concrete pump truck that perform real-time monitoring of a pump truck to prevent it from tipping over. In order to achieve the above object, according to an aspect of the present invention, a concrete pump truck monitoring method is provided, comprising the steps of: calculating a safety center of a center of a concrete pump truck according to a support position of the leg; The real-time position calculates the position of the center of gravity of the concrete pump truck; determines whether the center of gravity of the vehicle is located in the safe center of the center of gravity of the vehicle; and controls the action of the concrete pump truck according to the judgment result. Further, calculating the safety center of the center of the concrete pump truck according to the support position of the leg includes the following steps: obtaining the stroke of the piston rod of each leg cylinder; according to the stroke of the piston rod of each leg cylinder and each leg The structural parameters of the cylinder calculate the coordinates of the support points of each leg; the safety center of the center of gravity of the vehicle is determined according to the coordinates of the support points of each leg, wherein the safety center of the center of gravity of the vehicle is the connection point of the support points of each leg The inner area enclosed by the formed polygon. Further, calculating the center of gravity of the concrete pump truck according to the real-time position of the boom includes the following steps: acquiring the boom rotation angle; acquiring the stroke of the piston rod of each boom cylinder of the boom; The stroke of the piston rod determines the attitude parameter of the boom under the angle of rotation; calculates the position of the center of gravity of the vehicle according to the structural parameters of the concrete pump truck and the attitude parameters of the boom, wherein the structural parameters of the concrete pump truck include the three-dimensional model of the boom. Further, determining whether the position of the center of gravity of the vehicle is located in the safety center of the center of gravity of the vehicle comprises the following steps: obtaining an intersection of the boundary of the safety region of the boom and the center of gravity of the vehicle on the same horizontal projection plane under the current turning angle; calculating the intersection point and the turntable The distance from the center, the safety distance is obtained; the distance between the center of gravity of the vehicle and the center of the turntable is obtained under the current turning angle, and the offset distance of the center of gravity of the vehicle is obtained; the distance between the safe distance and the center of gravity of the vehicle is compared; Whether the center of gravity of the vehicle is located in the safe area of the center of gravity of the vehicle. Further, determining whether the position of the center of gravity of the whole vehicle is located in the safety center of the center of gravity of the vehicle according to the comparison result comprises the following steps: when the safety distance > the center of gravity shift distance of the vehicle, determining that the center of gravity of the vehicle is located in the safety center of the center of gravity of the vehicle; When the distance ≤ the center of gravity of the vehicle is offset, it is judged that the center of gravity of the vehicle exceeds the safety center of the center of gravity of the vehicle. Further, controlling the concrete pump truck according to the judgment result comprises the following steps: when determining that the center of gravity of the vehicle exceeds the safety center of the center of gravity of the vehicle, adjusting any arm movement of the boom or adjusting the rotation angle of the boom to make the center of gravity of the vehicle Move to the safe area of the center of gravity of the vehicle. According to another aspect of the present invention, a concrete pump truck monitoring system is provided, including: a first calculating unit, configured to calculate a safety center of a center of a concrete pump truck according to a support position of the leg; Calculating the position of the center of gravity of the concrete pump truck according to the real-time position of the boom; the determining unit is respectively connected with the first calculating unit and the second calculating unit, and is used for determining whether the center of gravity of the whole vehicle is located in the safe center of the center of gravity of the vehicle; The unit is connected to the judging unit and is configured to control the action of the concrete pump truck according to the judgment result of the judging unit. Further, the first calculating unit comprises: a first collecting module, comprising: a first detecting device mounted on each leg cylinder for detecting the stroke of the piston rod; a first calculating module, configured to be used according to the piston of each leg cylinder Rod line The structural parameters of each leg and each leg cylinder are used to calculate the coordinates of the support points of each leg; the determining module is configured to determine the safety center of the center of gravity of the vehicle according to the coordinates of the support points of each leg. Further, the second calculating unit comprises: a second collecting module, comprising: an encoder mounted on the turntable for detecting the swing angle of the boom; and a third collecting module, comprising: each arm cylinder mounted on the boom for a second detecting device for detecting the stroke of each of the boom arms; a second calculating module for determining different attitude parameters of the boom at a swing angle according to a piston rod stroke of each boom cylinder; a third calculating module, for According to the structural parameters of the concrete pump truck and the attitude parameters of the boom, the position of the center of gravity of the vehicle is calculated. The structural parameters of the concrete pump truck include the three-dimensional model of the boom. Further, the judging unit comprises: a fourth calculating module, configured to calculate a safety distance, wherein the safety distance means that at any rotation angle of the boom, the boundary between the boom and the safety center of the center of gravity of the vehicle is on the same horizontal projection surface The distance between the intersection point and the center of the turntable; the fifth calculation module, which is used to calculate the offset distance of the center of gravity of the vehicle, and the offset distance of the center of gravity of the vehicle refers to the distance between the center of gravity of the whole vehicle and the center of the turntable when the boom is at the angle of rotation; The module is configured to compare the distance between the safety distance and the center of gravity of the vehicle; the determining module is configured to determine, according to the comparison result, whether the position of the center of gravity of the vehicle is located in a safe area of the center of gravity of the vehicle. According to another aspect of the present invention, there is provided a concrete pump truck including a boom for performing a cloth work, a telescopic leg for supporting a concrete pump truck, and for monitoring safety of the boom work The concrete pump truck monitoring system and the concrete pump truck monitoring system are any of the aforementioned concrete pump truck monitoring systems. Applying the technical solution of the invention, calculating the safety center of the center of the concrete pump truck according to the support position of the support leg, calculating the position of the center of gravity of the concrete pump truck according to the real-time position of the boom frame, and the safety center of the center of gravity of the whole vehicle and the whole vehicle The center of gravity position is monitored in real time. By judging whether the center of gravity of the vehicle is located in the safety center of the center of gravity of the vehicle, the action of the concrete pump truck can be controlled according to the judgment result, and the position of the center of gravity of the vehicle is prevented from exceeding the safety center of the center of gravity of the vehicle, thereby preventing the concrete pump truck from tipping over. The invention can monitor the safety center of the center of gravity of the vehicle in any deployed position of the leg, and overcomes the defect that the prior art can only monitor the one-side deployment or the fully-expanded state of the leg, and avoids monitoring of the pump truck. Blind zone; At the same time, according to whether the real-time center of gravity of the vehicle judges the safety of the whole vehicle in the real-time safe center of gravity of the vehicle, the fabric of the boom is within the maximum safe range. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in FIG. In the drawings: FIG. 1 is a schematic view showing a concrete pump monitoring method according to an embodiment of the present invention; 2 is a schematic view showing the deployment of a concrete pump truck leg according to an embodiment of the present invention; FIG. 3 is a schematic view showing the posture of the boom according to an embodiment of the present invention; and FIG. 4 is a view showing an embodiment according to the present invention. Schematic diagram of the concrete pump truck monitoring system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. As shown in FIG. 1, according to an embodiment of the present invention, a concrete pump truck monitoring method is provided, the method comprising steps S100 to S400.

S100. 根据支腿的支撑位置计算混凝土泵车的整车重心安全区域。 S200. 根据臂架的实时位置计算混凝土泵车的整车重心位置。 S100. Calculate the safety center of the center of the concrete pump truck according to the support position of the leg. S200. Calculate the center of gravity of the concrete pump truck according to the real-time position of the boom.

S300. 判断整车重心位置是否位于整车重心安全区域内。 S300. Determine whether the center of gravity of the vehicle is located in the safe area of the center of gravity of the vehicle.

S400. 根据判断结果控制所述混凝土泵车的动作。在本发明的一个优选的实施例中，还提供一种根据支腿的支撑位置计算混凝土泵车的整车重心安全区域的计算方法，包括以下步骤：获取每个支腿油缸的活塞杆的行程，此步骤通过内置或外置在每个支腿油缸上的第一检测装置进行。根据每个支腿油缸的活塞杆的行程以及各个支腿油缸的结构参数计算每个支腿的支撑点的坐标。将每个支腿的支撑点连接以形成多边形，根据该多边形所围成的内部区域确定整车重心安全区域。在本发明的一个优选的实施例中，还提供一种根据臂架的实时位置计算混凝土泵车的整车重心位置的计算方法，包括以下步骤：获取臂架回转角度，此步骤通过安装在转台上的编码器进行。获取臂架的每个节臂油缸的活塞杆的行程，此步骤通过内置或外置在各个节臂油缸上的第二检测装置实时进行。根据各个节臂油缸的活塞杆的行程，确定在前述回转角度下，臂架的不同姿态参数。根据混凝土泵车的结构参数和臂架的姿态参数计算整车重心位置，其中混凝土泵车的结构参数包括臂架的三维模型，三维模型中的参数包括：混凝土泵车的各结构件质心坐标、各结构件质量、运动构件中各构件的连接关系、连接铰点坐标。这里整车重心位置的计算以及受控对象为整个臂架的所有节臂的收展以及回转。在进行布料作业时，臂架会处于不同的姿态，当臂架的姿态调整时，整车重心位置会相应改变，所以整车重心位置的判断需要结合臂架的实时姿态进行。而臂架的姿态可以通过姿态参数予以确定，姿态参数主要包括：臂架回转角度、各节臂油缸活塞杆位移、三维模型中的参数。重心计算公式为物理学、数学上的公知计算方法，只要输入的条件满足，就可以按照公知的计算公式来计算整车重心位置。这里输入的条件包括：混凝土泵车的臂架的各节臂的重心位置以及各节臂的相对位置。其中各节臂的重心位置包含在臂架的三维模型中，而臂架在不同姿态时各节臂的的相对位置，即臂架的姿态参数可以通过各个节臂油缸上的第二检测装置反馈得知。在本发明的一个优选的实施例中，还提供一种判断整车重心位置是否位于整车重心安全区域内的计算方法，包括以下步骤：获取在当前回转角度下，臂架和整车重心安全区域的边界在同一水平投影面上的交点。计算交点与转台中心之间的距离，得到安全距离。获取在当前回转角度下，整车重心位置与转台中心之间的距离，得到整车重心偏移距离。比较安全距离与整车重心偏移距离的大小。根据比较结果判断整车重心位置是否位于整车重心安全区域内。在实际操作中，出于安全操作的要求，还可以先确定一个安全系数，然后用整车重心偏移距离乘以该安全系数，所得的数值与安全距离进行比较，从而判断整车重心位置是否位于整车重心安全区域内。安全系数是根据混凝土泵车的结构参数以及安全操作规定得出的确定值。在本发明的一个优选的实施例中，还提供一种根据比较结果判断整车重心位置是否位于整车重心安全区域内的判断方法，包括以下步骤：当安全距离 >整车重心偏移距离时，判断整车重心位置位于整车重心安全区域内。当安全距离≤整车重心偏移距离时，判断整车重心位置超出整车重心安全区域。或者包括以下步骤：当安全距离 >整车重心偏移距离 X安全系数时，判断整车重心位置位于整车重心安全区域内。当安全距离≤整车重心偏移距离 X安全系数时，判断整车重心位置超出整车重心安全区域。在本发明的一个优选的实施例中，还提供一种根据判断结果控制混凝土泵车的动作的控制方法，包括以下步骤：当判断整车重心位置位于整车重心安全区域内时，对臂架不进行调整，臂架继续布料操作。当判断整车重心位置超出整车重心安全区域时，对臂架操作进行干预，通过调整臂架的任一节臂动作或调整臂架的回转角度，使整车重心位置向整车重心安全区域内移动，防止混凝土泵车发生倾翻事故。结合参见图 2和图 3，给出了判断整车重心位置是否位于整车重心安全区域 80内的一个示例。混凝土泵车包括第一支腿 71、第二支腿 72、第三支腿 73和第四支腿 74。当四个支腿展开后，与混凝土泵车的整车重心相关性较大的运动结构部件主要包括转台 50和臂架，其中臂架包括顺次连接的第一节臂 61、第二节臂 62、第三节臂 63、第四节臂 64以及第五节臂 65，第一节臂 61与转台 50连接。臂架一般包括五种典型姿态，其中第一姿态 A为所有节臂水平延伸；第二姿态 B为所有节臂竖直向上延伸；第三姿态 C为第一节臂 61和第二节臂 62竖直向上延伸，第三节臂 63水平延伸，第四节臂 64和第五节臂 65斜向下延伸，使臂架形成地面一般拱形姿态；第四姿态 D为第一节臂 61水平延伸，其余所有节臂均竖直向下延伸，形成地下最深位置姿态；第五姿态 E为第一节臂 61水平延伸，第二节臂 62和第三节臂 63竖直向下延伸，第四节臂 64和第五节臂 65斜向下延伸，形成地下反伸最远姿态。设当前臂架的回转角度为 θ，安全距离为 X，臂架和整车重心安全区域 80的边界在同一水平投影面上的交点 G，经计算得出臂架在第一姿态 A时的第一重心 G1和第 —整车重心偏移距离 XI，臂架在第二姿态 B时的第二重心 G2和第二整车重心偏移距离 X2，臂架在第三姿态 C时的第三重心 G3和第三整车重心偏移距离 X3，臂架在第四姿态 D时的第四重心 G4和第四整车重心偏移距离 X4，臂架在第五姿态 E时的第五重心 G5和第五整车重心偏移距离 X5。那么 X1 >X4>X5 >X3 >X2，若此时 X4≥X≥X5，则可以判断出第一姿态 A和第四姿态 D下整车重心位置超出整车重心安全区域 80，混凝土泵车存在倾翻危险，需要对臂架的操作进行干预，第五姿态E、第三姿态 C和第二姿态 B下整车重心位置位于整车重心安全区域 80内，混凝土泵车不存在倾翻危险，不需要对臂架的操作进行干预。根据以上五种典型姿态可知，只需要判断某一姿态下的整车重心偏移距离小于或等于此时的安全距离 X，则臂架在安全范围内操作。结合参见图 4，根据本发明的另一个实施例，提供了一种混凝土泵车监控***，包括第一计算单元 10、第二计算单元 20、判断单元 30以及控制单元 40。其中第一计算单元 10和第二计算单元 20分别与判断单元 30相连接，判断单元 30与控制单元 40 连接。第一计算单元 10 用于根据支腿的支撑位置计算混凝土泵车的整车重心安全区域 80，其中第一计算单元 10包括第一采集模块、第一计算模块和确定模块。第一采集模块包括安装在每个支腿油缸上的第一检测装置，第一检测装置用于检测支腿油缸的活塞杆行程。其中支腿油缸有多个，分别与四个支腿驱动连接。第一检测装置有多个，分别内置或外置在每个支腿油缸上。第一计算模块用于根据第一检测装置检测到的每个支腿油缸的活塞杆行程以及各支腿油缸的结构参数计算每个支腿的支撑点的坐标。确定模块用于根据第一计算模块计算出的每个支腿的支撑点的坐标确定混凝土泵车的整车重心安全区域 80。整车重心安全区域 80具体为将每个支腿的支撑点连接形成的多边形所围成的区域。第二计算单元 20用于根据臂架的实时位置计算混凝土泵车的整车重心位置。第二计算单元 20包括第二采集模块、第三采集模块、第二计算模块和第三计算模块。第二采集模块包括安装在转台 50上的编码器，编码器用于检测臂架的回转角度。这里的回转角度是指混凝土泵车的后轴线与臂架之间的夹角。第三采集模块包括内置或外置在臂架的每个节臂油缸上的多个第二检测装置，第二检测装置用于实时检测节臂油缸的活塞杆行程。第二计算模块用于根据第二检测装置检测到的每个节臂油缸的活塞杆行程确定在当前回转角度下臂架的不同姿态参数。第三计算模块，用于根据混凝土泵车的结构参数以及臂架的姿态参数计算整车重心位置，其中混凝土泵车的结构参数包括臂架的三维模型。判断单元 30用于判断整车重心位置是否位于整车重心安全区域内。判断单元 30 包括第四计算模块、第五计算模块、比较模块以及判断模块。第四计算模块用于计算安全距离，这里的安全距离是指在臂架的某一回转角度，臂架和整车重心安全区域的边界在同一水平投影面上的交点 G与转台 50中心之间的距离，第五计算模块用于计算整车重心偏移距离，这里的整车重心偏移距离是指臂架位于前述的回转角度时，整车重心位置与转台 50中心之间的距离。比较模块用于比较安全距离与整车重心偏移距离的大小。判断模块用于根据比较结果判断整车重心位置是否位于整车重心安全区域内。控制单元 40用于根据判断单元 30的判断结果控制混凝土泵车的动作。若整车重心位置位于整车重心安全区域内，则臂架继续执行布料操作；当判断单元 30根据实时监测结果得出整车重心位置超出整车重心安全区域时，控制单元 40发出报警信号对臂架的操作进行干预，通过调整臂架姿态或调整臂架的回转角度使整车重心位置向整车重心安全区域内运动，避免整车重心位置超出整车重心安全区域，进而防止臂架超出安全操作范围。前述的第一检测装置、第二检测装置有多种形式，包括但不限于定位 GPS、倾角传感器、拉线位移传感器、磁滞伸缩位移传感器。此类位置监控装置及方法为公知的一般方法，在此不予赘述。根据本发明的另一个实施例，提供了一种混凝土泵，包括用于进行布料作业的臂架、用于支撑混凝土泵车的可伸缩的支腿以及用于对臂架作业的安全性进行监控的混凝土泵车监控***，该混凝土泵车监控***为前述的混凝土泵车监控***，通过对所有支腿展开位置的实时监控，实现任意支腿展开状态下的整车重心安全区域的计算；通过对臂架运动位置的实时监控，实现任意臂架位置的整车重心位置的计算；根据实时的整车重心位置判断混凝土泵车的安全性，实现了臂架在最大安全范围内布料。同时对臂架运动进行实时监控，避免由于场地限制混凝土泵车支腿无法完全展开而导致的对混凝土泵车安全监控出现盲区，增加了混凝土泵车布料的安全性。从以上的描述中，可以看出，本发明上述的实施例实现了如下技术效果：根据支腿的支撑位置计算混凝土泵车的整车重心安全区域，根据臂架的实时位置计算混凝土泵车的整车重心位置，可以对整车重心安全区域以及整车重心位置进行实时监控。通过判断整车重心位置是否位于整车重心安全区域内，可以根据判断结果控制混凝土泵车的动作，防止整车重心位置超出整车重心安全区域，进而避免混凝土泵车发生倾翻事故。本发明在支腿的任一展开位置都可以对整车重心安全区域进行监控，克服了现有技术只能对支腿单侧展开或完全展开状态进行监控的缺陷，避免对泵车的监控出现盲区；同时根据整车的实时重心是否在实时的整车重心安全区域内判断整车的安全性，实现了臂架在最大安全范围内布料。以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。 S400. Control the action of the concrete pump truck according to the judgment result. In a preferred embodiment of the present invention, there is further provided a method for calculating a safety area of a center of gravity of a concrete pump truck according to a support position of the leg, comprising the steps of: obtaining a stroke of a piston rod of each leg cylinder This step is performed by a first detecting device built in or external to each leg cylinder. The coordinates of the support points of each leg are calculated based on the stroke of the piston rod of each leg cylinder and the structural parameters of each leg cylinder. The support points of each leg are connected to form a polygon, and the safety area of the center of gravity of the vehicle is determined according to the inner area enclosed by the polygon. In a preferred embodiment of the present invention, there is also provided a method for calculating a position of a center of gravity of a concrete pump truck according to a real-time position of the boom, comprising the steps of: acquiring a swing angle of the boom, the step being installed on the turntable The encoder is on. The stroke of the piston rod of each of the boom cylinders of the boom is obtained, and this step is performed in real time by a second detecting device built in or externally attached to each of the pitch cylinders. According to the stroke of the piston rod of each pitch arm cylinder, different attitude parameters of the boom are determined under the aforementioned turning angle. According to the structural parameters of the concrete pump truck and the attitude parameters of the boom, the position of the center of gravity of the vehicle is calculated. The structural parameters of the concrete pump truck include the three-dimensional model of the boom. The parameters in the three-dimensional model include: the centroid coordinates of each structural member of the concrete pump truck. The quality of each structural member, the connection relationship of each member in the moving member, and the coordinates of the joint hinge. Here, the calculation of the center of gravity of the vehicle and the controlled object are the extension and rotation of all the arm of the entire boom. When performing the cloth work, the boom will be in different postures. When the attitude of the boom is adjusted, the position of the center of gravity of the vehicle will change accordingly. Therefore, the judgment of the position of the center of gravity of the vehicle needs to be combined with the real-time posture of the boom. The attitude of the boom can be determined by the attitude parameters. The attitude parameters mainly include: the angle of rotation of the boom, the displacement of the piston rod of each arm cylinder, and the parameters in the three-dimensional model. The center of gravity calculation formula is a well-known calculation method in physics and mathematics. As long as the input conditions are satisfied, the position of the center of gravity of the vehicle can be calculated according to a well-known calculation formula. The conditions entered here include: the position of the center of gravity of each arm of the boom of the concrete pump truck and the relative position of each arm. The center of gravity of each arm is included in the three-dimensional model of the boom, and the relative positions of the arms of the boom in different postures, that is, the attitude parameters of the boom can be fed back through the second detecting device on each of the arm cylinders Learned. In a preferred embodiment of the present invention, a calculation method for determining whether the position of the center of gravity of the whole vehicle is located in the safe area of the center of gravity of the vehicle further comprises the following steps: obtaining the safety of the center of gravity of the boom and the whole vehicle under the current turning angle The intersection of the boundaries of the region on the same horizontal projection plane. Calculate the distance between the intersection and the center of the turntable to get a safe distance. Obtain the distance between the center of gravity of the vehicle and the center of the turntable under the current turning angle, and obtain the offset distance of the center of gravity of the whole vehicle. Compare the distance between the safety distance and the center of gravity of the vehicle. According to the comparison result, it is judged whether the position of the center of gravity of the whole vehicle is located in the safe area of the center of gravity of the whole vehicle. In actual operation, for safety operation requirements, a safety factor can also be determined first, and then the vehicle's center of gravity offset distance is multiplied by the safety factor, and the obtained value is compared with the safety distance to determine the center of gravity of the vehicle. Whether the location is in the safe area of the center of gravity of the vehicle. The safety factor is a defined value based on the structural parameters of the concrete pump truck and the safe operating regulations. In a preferred embodiment of the present invention, a method for determining whether the position of the center of gravity of the whole vehicle is located in the safe area of the center of gravity of the vehicle according to the comparison result includes the following steps: when the safety distance > the center of gravity shift distance of the vehicle , to determine the position of the center of gravity of the vehicle is located in the safe area of the center of gravity of the vehicle. When the safety distance ≤ the center of gravity shift distance of the vehicle, it is judged that the center of gravity of the vehicle exceeds the safety center of the center of gravity of the vehicle. Or the following steps are included: When the safety distance > the center of gravity shift distance X safety factor, it is determined that the center of gravity of the vehicle is located in the safety center of the center of gravity of the vehicle. When the safety distance ≤ the vehicle's center of gravity offset distance X safety factor, it is judged that the vehicle's center of gravity position exceeds the safety center of the vehicle's center of gravity. In a preferred embodiment of the present invention, there is further provided a control method for controlling the action of the concrete pump truck according to the judgment result, comprising the following steps: when determining that the center of gravity of the vehicle is located in the safe center of the center of gravity of the vehicle, Without adjustment, the boom continues the cloth operation. When judging that the center of gravity of the vehicle exceeds the safety center of the center of gravity of the vehicle, intervene in the operation of the boom, and adjust the center of gravity of the whole vehicle to the safety center of the center of gravity of the vehicle by adjusting the movement of any arm of the boom or adjusting the angle of rotation of the boom. Move inside to prevent the concrete pump truck from tipping over. Referring to Fig. 2 and Fig. 3, an example of judging whether the center of gravity of the whole vehicle is located in the center of gravity 80 of the vehicle is given. The concrete pump truck includes a first leg 71, a second leg 72, a third leg 73, and a fourth leg 74. When the four legs are deployed, the moving structural components that are highly correlated with the center of gravity of the concrete pump truck mainly include the turntable 50 and the boom, wherein the boom includes the first joint arm 61 and the second joint arm that are sequentially connected. 62. The third section arm 63, the fourth section arm 64 and the fifth section arm 65 are connected to the turntable 50. The boom generally includes five typical postures, wherein the first posture A extends horizontally for all the pitch arms; the second posture B extends vertically for all the pitch arms; the third posture C is the first pitch arm 61 and the second pitch arm 62. Extending vertically upwards, the third section arm 63 extends horizontally, and the fourth section arm 64 and the fifth section arm 65 extend obliquely downward, so that the boom frame forms a generally arched posture of the ground; the fourth posture D is the level of the first section arm 61 Extending, all the other arm arms extend vertically downwards to form the deepest position in the underground; the fifth posture State E is a horizontal extension of the first section arm 61, the second section arm 62 and the third section arm 63 extend vertically downward, and the fourth section arm 64 and the fifth section arm 65 extend obliquely downward to form the ground recoil. attitude. Let the rotation angle of the current boom be θ, the safety distance be X, and the intersection of the boom and the center of gravity of the vehicle's center of gravity 80 on the same horizontal projection plane, and calculate the position of the boom in the first attitude A. a center of gravity G1 and a first vehicle center of gravity offset distance XI, a second center of gravity G2 when the boom is in the second posture B and a second vehicle center of gravity offset distance X2, and a third weight of the boom in the third posture C The center G3 and the third vehicle center of gravity offset distance X3, the fourth center of gravity G4 when the boom is in the fourth posture D, and the fourth vehicle center of gravity offset distance X4, and the fifth center of gravity G5 when the boom is in the fifth posture E It is offset from the center of gravity of the fifth vehicle by X5. Then X1 >X4>X5 >X3 >X2, if X4≥X≥X5 at this time, it can be judged that the position of the center of gravity of the vehicle in the first posture A and the fourth posture D exceeds the safety center area 80 of the vehicle, and the concrete pump truck exists. Danger of tipping, it is necessary to intervene in the operation of the boom. The position of the center of gravity of the vehicle in the fifth posture E, the third posture C and the second posture B is located in the safety center 80 of the vehicle center, and the concrete pump truck does not have the risk of tipping. There is no need to intervene in the operation of the boom. According to the above five typical postures, it is only necessary to judge that the vehicle center-of-gravity offset distance in a certain posture is less than or equal to the safety distance X at this time, and the boom is operated within a safe range. Referring to FIG. 4, in accordance with another embodiment of the present invention, a concrete pump truck monitoring system is provided, including a first computing unit 10, a second computing unit 20, a determining unit 30, and a control unit 40. The first calculating unit 10 and the second calculating unit 20 are respectively connected to the determining unit 30, and the determining unit 30 is connected to the control unit 40. The first calculating unit 10 is configured to calculate a vehicle center of gravity safety area 80 of the concrete pump truck according to the supporting position of the leg, wherein the first calculating unit 10 comprises a first collecting module, a first calculating module and a determining module. The first acquisition module includes a first detection device mounted on each leg cylinder, and the first detection device is configured to detect a piston rod stroke of the leg cylinder. There are a plurality of leg cylinders, which are respectively driven and connected with four legs. There are a plurality of first detecting devices, which are respectively built in or externally mounted on each leg cylinder. The first calculation module is configured to calculate the coordinates of the support points of each leg according to the piston rod stroke of each leg cylinder detected by the first detecting device and the structural parameters of each leg cylinder. The determining module is configured to determine a vehicle center of gravity safety area 80 of the concrete pump truck according to the coordinates of the support points of each leg calculated by the first calculating module. The vehicle center of gravity safety area 80 is specifically an area surrounded by a polygon formed by connecting the support points of each leg. The second calculating unit 20 is configured to calculate the position of the center of gravity of the concrete pump truck according to the real-time position of the boom. The second calculating unit 20 includes a second collecting module, a third collecting module, a second calculating module, and a third calculating module. The second acquisition module includes an encoder mounted on the turntable 50 for detecting the angle of rotation of the boom. The angle of rotation here refers to the angle between the rear axle of the concrete pump truck and the boom. The third acquisition module includes a plurality of second detecting devices built into or external to each of the boom cylinders of the boom, and the second detecting device is configured to detect the piston rod stroke of the pitch cylinders in real time. The second calculating module is configured to determine different attitude parameters of the boom at the current turning angle according to the piston rod stroke of each pitch arm cylinder detected by the second detecting device. The third calculation module is configured to calculate the center of gravity of the vehicle according to the structural parameters of the concrete pump truck and the attitude parameters of the boom, wherein the structural parameters of the concrete pump truck include a three-dimensional model of the boom. The determining unit 30 is configured to determine whether the position of the center of gravity of the whole vehicle is located in the safe area of the center of gravity of the vehicle. The determining unit 30 includes a fourth calculating module, a fifth calculating module, a comparing module, and a judging module. The fourth calculation module is used to calculate the safety distance. The safety distance here refers to a certain rotation angle of the boom. The boundary between the boom and the safety center of the center of gravity of the vehicle is between the intersection G of the same horizontal projection plane and the center of the turntable 50. The distance is calculated by the fifth calculation module for calculating the offset distance of the center of gravity of the vehicle. The offset distance of the center of gravity of the vehicle is the distance between the center of gravity of the vehicle and the center of the turntable 50 when the boom is at the aforementioned angle of rotation. The comparison module is used to compare the distance between the safety distance and the center of gravity of the vehicle. The judging module is configured to judge whether the position of the center of gravity of the whole vehicle is located in the safe area of the center of gravity of the vehicle according to the comparison result. The control unit 40 is configured to control the action of the concrete pump truck according to the determination result of the determination unit 30. If the center of gravity of the vehicle is located in the safety center of the center of gravity of the vehicle, the boom continues to perform the cloth operation; when the determining unit 30 obtains that the center of gravity of the vehicle exceeds the safety center of the center of gravity of the vehicle according to the real-time monitoring result, the control unit 40 issues an alarm signal pair. The operation of the boom is intervened. By adjusting the attitude of the boom or adjusting the angle of rotation of the boom, the center of gravity of the vehicle is moved into the safe area of the center of gravity of the vehicle, so as to prevent the center of gravity of the vehicle from exceeding the safety center of the center of gravity of the vehicle, thereby preventing the boom from exceeding Safe operating range. The foregoing first detecting device and second detecting device have various forms, including but not limited to positioning GPS, tilt sensor, wire displacement sensor, and hysteresis displacement sensor. Such a position monitoring device and method are well-known general methods and will not be described herein. According to another embodiment of the present invention, there is provided a concrete pump including a boom for performing a cloth work, a telescopic leg for supporting a concrete pump truck, and for monitoring safety of the boom work The concrete pump truck monitoring system, the concrete pump truck monitoring system is the concrete pump truck monitoring system described above, and the real-time monitoring of the position of all the legs is realized, and the calculation of the safety center of the center of the vehicle in any unfolded state is realized; Real-time monitoring of the movement position of the boom, realizing the calculation of the position of the center of gravity of the vehicle at any boom position; judging the safety of the concrete pump truck according to the position of the center of gravity of the vehicle in real time, and realizing the fabric of the boom in the maximum safe range. Same The real-time monitoring of the movement of the boom is carried out to avoid the blind spot of the safety monitoring of the concrete pump truck caused by the inability of the concrete pump truck legs to fully unfold due to the site limitation, and the safety of the concrete pump truck fabric is increased. From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: Calculate the safety center of the center of the concrete pump truck according to the support position of the leg, and calculate the concrete pump truck according to the real-time position of the boom The position of the center of gravity of the vehicle can be used to monitor the safety center of the center of gravity of the vehicle and the position of the center of gravity of the vehicle. By judging whether the center of gravity of the vehicle is located in the safety center of the center of gravity of the vehicle, the action of the concrete pump truck can be controlled according to the judgment result, and the position of the center of gravity of the vehicle is prevented from exceeding the safety center of the center of gravity of the vehicle, thereby preventing the concrete pump truck from tipping over. The invention can monitor the safety center of the center of gravity of the vehicle in any deployed position of the leg, and overcomes the defect that the prior art can only monitor the one-side deployment or the fully-expanded state of the leg, and avoids monitoring of the pump truck. Blind zone; at the same time, according to whether the real-time center of gravity of the vehicle judges the safety of the whole vehicle in the real-time safe center of gravity of the vehicle, the fabric of the boom is within the maximum safe range. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

权利要求书 Claim

1. 一种混凝土泵车监控方法，其特征在于，包括以下步骤： A method for monitoring a concrete pump truck, comprising the steps of:

根据支腿的支撑位置计算混凝土泵车的整车重心安全区域；根据臂架的实时位置计算所述混凝土泵车的整车重心位置；判断所述整车重心位置是否位于所述整车重心安全区域内；根据判断结果控制所述混凝土泵车的动作。 Calculating the safety center of the center of the concrete pump truck according to the support position of the support leg; calculating the center of gravity of the whole vehicle of the concrete pump truck according to the real-time position of the boom; determining whether the center of gravity of the whole vehicle is located at the center of gravity of the whole vehicle Within the area; controlling the action of the concrete pump truck according to the judgment result.

2. 根据权利要求 1所述的混凝土泵车监控方法，其特征在于，所述根据支腿的支撑位置计算混凝土泵车的整车重心安全区域包括以下步骤： 2. The concrete pump truck monitoring method according to claim 1, wherein the calculating the safety center of the center of the concrete pump truck according to the support position of the leg comprises the following steps:

获取每个支腿油缸的活塞杆的行程； Obtaining the stroke of the piston rod of each leg cylinder;

根据每个支腿油缸的活塞杆的行程以及各所述支腿油缸的结构参数计算每个支腿的支撑点的坐标； Calculating the coordinates of the support points of each leg according to the stroke of the piston rod of each leg cylinder and the structural parameters of each of the leg cylinders;

根据每个支腿的支撑点的坐标确定所述整车重心安全区域，其中所述整车重心安全区域为每个支腿的支撑点的连线所形成的多边形所围成的内部区域。 The vehicle center of gravity safety area is determined according to coordinates of a support point of each leg, wherein the vehicle center of gravity safety area is an inner area surrounded by a polygon formed by a line connecting the support points of each leg.

3. 根据权利要求 1所述的混凝土泵车监控方法，其特征在于，所述根据臂架的实时位置计算所述混凝土泵车的整车重心位置包括以下步骤： The concrete pump truck monitoring method according to claim 1, wherein the calculating the center of gravity of the concrete pump truck according to the real-time position of the boom comprises the following steps:

获取臂架回转角度； Obtain the boom rotation angle;

获取所述臂架的每个节臂油缸的活塞杆的行程； Obtaining a stroke of a piston rod of each pitch arm cylinder of the boom;

根据每个节臂油缸的活塞杆的行程，确定在所述回转角度下所述臂架的姿态参数； Determining a posture parameter of the boom at the rotation angle according to a stroke of a piston rod of each pitch arm cylinder;

根据所述混凝土泵车的结构参数和所述臂架的姿态参数计算所述整车重心位置，其中所述混凝土泵车的结构参数包括所述臂架的三维模型。 Calculating a position of a center of gravity of the vehicle according to a structural parameter of the concrete pump truck and an attitude parameter of the boom, wherein a structural parameter of the concrete pump truck includes a three-dimensional model of the boom.

4. 根据权利要求 1所述的混凝土泵车监控方法，其特征在于，所述判断所述整车重心位置是否位于所述整车重心安全区域内包括以下步骤： The method for monitoring a concrete pump truck according to claim 1, wherein the determining whether the position of the center of gravity of the whole vehicle is located in the safety center of the center of gravity of the vehicle comprises the following steps:

获取在当前回转角度下，所述臂架和所述整车重心安全区域的边界在同一水平投影面上的交点； Obtaining an intersection of the boundary between the boom and the safety center of the center of gravity of the vehicle on the same horizontal projection plane under the current turning angle;

计算所述交点与转台中心的距离，得到安全距离；获取在所述当前回转角度下，所述整车重心位置与所述转台中心的距离，得到整车重心偏移距离； Calculating the distance between the intersection point and the center of the turntable to obtain a safe distance; Obtaining, at the current turning angle, a distance between a center of gravity of the whole vehicle and a center of the turntable, and obtaining a shift distance of a center of gravity of the vehicle;

比较所述安全距离与所述整车重心偏移距离的大小； Comparing the distance between the safety distance and the center of gravity of the vehicle;

根据比较结果判断所述整车重心位置是否位于所述整车重心安全区域内。 Judging whether the position of the center of gravity of the whole vehicle is located in the safe area of the center of gravity of the vehicle according to the comparison result.

5. 根据权利要求 4所述的混凝土泵车监控方法，其特征在于，所述根据比较结果判断所述整车重心位置是否位于所述整车重心安全区域内包括以下步骤：当所述安全距离>所述整车重心偏移距离时，判断所述整车重心位置位于所述整车重心安全区域内； The method for monitoring a concrete pump truck according to claim 4, wherein the determining, according to the comparison result, whether the position of the center of gravity of the whole vehicle is located in the safety center of the center of gravity of the vehicle comprises the following steps: when the safety distance is > when the center of gravity of the vehicle is offset, it is determined that the center of gravity of the whole vehicle is located in a safe area of the center of gravity of the vehicle;

当所述安全距离≤所述整车重心偏移距离时，判断所述整车重心位置超出所述整车重心安全区域。 When the safety distance ≤ the vehicle center-of-gravity offset distance, it is determined that the vehicle center of gravity position exceeds the vehicle center of gravity safety area.

6. 根据权利要求 1所述的混凝土泵车监控方法，其特征在于，所述根据判断结果控制所述混凝土泵车包括以下步骤：当判断所述整车重心位置超出所述整车重心安全区域时，调整臂架的任一节臂动作或调整所述臂架的回转角度，使所述整车重心位置向所述整车重心安全区域内移动。 The concrete pump truck monitoring method according to claim 1, wherein the controlling the concrete pump truck according to the determination result comprises the following steps: when determining that the vehicle center of gravity position exceeds a safety center of the vehicle center of gravity When the arm of any one of the arms is adjusted or the angle of rotation of the arm is adjusted, the position of the center of gravity of the whole vehicle is moved to a safe area of the center of gravity of the whole vehicle.

7. 一种混凝土泵车监控***，其特征在于，包括： 7. A concrete pump truck monitoring system, comprising:

第一计算单元，用于根据支腿的支撑位置计算混凝土泵车的整车重心安全区域； a first calculating unit, configured to calculate a safety center of the center of gravity of the concrete pump truck according to the supporting position of the supporting leg;

第二计算单元，用于根据臂架的实时位置计算所述混凝土泵车的整车重心位置； a second calculating unit, configured to calculate a position of a center of gravity of the concrete pump truck according to a real-time position of the boom;

判断单元，分别与所述第一计算单元和所述第二计算单元连接，用于判断所述整车重心位置是否位于所述整车重心安全区域内； The determining unit is respectively connected to the first calculating unit and the second calculating unit, and configured to determine whether the position of the center of gravity of the whole vehicle is located in a safety area of the center of gravity of the whole vehicle;

控制单元，与所述判断单元连接，用于根据所述判断单元的判断结果控制所述混凝土泵车的动作。 And a control unit connected to the determining unit, configured to control an action of the concrete pump truck according to a determination result of the determining unit.

8. 根据权利要求 7所述的混凝土泵车监控***，其特征在于，所述第一计算单元包括： The concrete pump truck monitoring system according to claim 7, wherein the first calculating unit comprises:

第一采集模块，包括安装在每个支腿油缸上用于检测活塞杆行程的第一检测装置； a first acquisition module, comprising: a first detecting device mounted on each leg cylinder for detecting a stroke of the piston rod;

第一计算模块，用于根据所述每个支腿油缸的活塞杆行程以及各所述支腿油缸的结构参数计算每个支腿的支撑点的坐标；确定模块，用于根据所述每个支腿的支撑点的坐标确定所述整车重心安全区域。 a first calculating module, configured to calculate coordinates of a support point of each leg according to a piston rod stroke of each of the leg cylinders and a structural parameter of each of the leg cylinders; a determining module, configured to determine a safety center of the center of gravity of the vehicle according to coordinates of a support point of each of the legs.

9. 根据权利要求 7所述的混凝土泵车监控***，其特征在于，所述第二计算单元包括： The concrete pump truck monitoring system according to claim 7, wherein the second calculating unit comprises:

第二采集模块，包括安装在转台上用于检测臂架的回转角度的编码器；第三采集模块，包括安装在所述臂架的每个节臂油缸上用于检测每个节臂活塞杆行程的第二检测装置； a second acquisition module, comprising: an encoder mounted on the turntable for detecting a rotation angle of the boom; a third acquisition module comprising: each of the pitch cylinders mounted on the boom for detecting each of the boom piston rods a second detecting device of the stroke;

第二计算模块，用于根据每个节臂油缸的活塞杆行程确定在所述回转角度下所述臂架的不同姿态参数； a second calculating module, configured to determine different attitude parameters of the boom at the swing angle according to a piston rod stroke of each pitch arm cylinder;

第三计算模块，用于根据所述混凝土泵车的结构参数和所述臂架的姿态参数计算所述整车重心位置，其中所述混凝土泵车的结构参数包括所述臂架的三维模型。 And a third calculating module, configured to calculate a position of a center of gravity of the vehicle according to a structural parameter of the concrete pump truck and an attitude parameter of the boom, wherein a structural parameter of the concrete pump truck includes a three-dimensional model of the boom.

10. 根据权利要求 7所述的混凝土泵车监控***，其特征在于，所述判断单元包括: The concrete pump truck monitoring system according to claim 7, wherein the determining unit comprises:

第四计算模块，用于计算安全距离，其中，所述安全距离是指，在臂架的任一回转角度，所述臂架和所述整车重心安全区域的边界在同一水平投影面上的交点与转台中心的距离； a fourth calculation module, configured to calculate a safety distance, wherein the safety distance means that at any rotation angle of the boom, the boundary between the boom and the safety center of the center of gravity of the vehicle is on the same horizontal projection surface The distance between the intersection and the center of the turntable;

第五计算模块，用于计算整车重心偏移距离，所述整车重心偏移距离是指，所述臂架位于所述回转角度时，所述整车重心位置与所述转台中心的距离；比较模块，用于比较所述安全距离与所述整车重心偏移距离的大小；判断模块，用于根据比较结果判断所述整车重心位置是否位于所述整车重心安全区域内。 a fifth calculation module, configured to calculate a center-of-gravity offset distance, where the vehicle center-of-gravity offset distance is a distance between a center of gravity of the whole vehicle and a center of the turntable when the boom is located at the swing angle And a comparison module, configured to compare the distance between the safety distance and the center of gravity of the vehicle; and a determining module, configured to determine, according to the comparison result, whether the position of the center of gravity of the whole vehicle is located in a safety area of the center of gravity of the vehicle.

11. 一种混凝土泵车，包括用于进行布料作业的臂架、用于支撑混凝土泵车的可伸缩的支腿以及用于对臂架作业的安全性进行监控的混凝土泵车监控***，其特征在于，所述混凝土泵车监控***为权利要求 7至 10中任一项所述的混凝土泵车监控***。 11. A concrete pump truck comprising a boom for carrying out a cloth work, a telescopic leg for supporting a concrete pump truck, and a concrete pump truck monitoring system for monitoring the safety of the boom work, The concrete pump truck monitoring system is the concrete pump truck monitoring system according to any one of claims 7 to 10.