The invention discloses an anti-overturning safety control method, device and system for a pump truck and belongs to the technical field of engineering machinery control. The method comprises steps of obtaining the opening degree of each supporting leg of the pump truck, the distance from the tail end point of each supporting leg to a rotation center and the distance from the gravity center of each supporting leg to the rotation center, and calculating coordinates of a tail end point of each supporting leg and coordinates of the gravity center of each supporting leg; determining a safety area of pump truck operation; obtaining a motion angle of each arm section and the distance from the gravity center of each arm section to the rotation center, and calculating the gravity center coordinate of the arm support; obtaining chassis barycentric coordinates, and calculating barycentric coordinates of a pump truck according to the chassis barycentric coordinates, the supporting leg barycentric coordinates and the arm support barycentric coordinates; determining a safety coefficient, an absolute safety area and a critical safety area; judging the area where the gravity center of the pump truck is located, and if the area is in the critical safety area, controlling the boom to work according to the limiting mode control rule; the device and the system are matched with the method. The arm section can be controlled to act according to a real-time working state of the pump truck, and it is guaranteed that the pump truck works in a safe area all the time.
本发明公开一种泵车的防倾覆安全控制方法、装置及系统,属于工程机械控制技术领域,方法包括:获取泵车各支腿的开度、各支腿末端点至回转中心的距离和各支腿重心至回转中心的距离,计算各支腿的末端点坐标及支腿重心坐标;确定泵车作业的安全区域;获取各臂节的运动角度和各臂节重心至回转中心的距离,计算臂架重心坐标;获取底盘重心坐标,根据底盘重心坐标、支腿重心坐标和臂架重心坐标计算泵车重心坐标;确定安全系数、绝对安全区域和临界安全区域;判断泵车重心所在的区域,若在临界安全区域,按照限制模式控制规则控制臂架作业;其中装置和系统配套适应前述方法。本发明能根据泵车实时工作状态控制臂节动作,保证泵车始终在安全区域工作。
Anti-overturning safety control method, device and system for pump truck
一种泵车的防倾覆安全控制方法、装置及系统
2021-11-05
Patent
Electronic Resource
Chinese
IPC: | G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen / E04G SCAFFOLDING , Baugerüste |
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