Method and device for controlling cantilever crane type engineering vehicle
A technology of engineering vehicles and control methods, which is applied in the control of using feedback, processing of building materials, construction, etc., can solve problems such as the inability to guarantee the operation safety of boom-type engineering vehicles.
Active Publication Date: 2013-02-06
HUNAN ZOOMLION INTELLIGENT TECH +1
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Problems solved by technology
[0009] Embodiments of the present invention provide a control method and device for boom-type engineering vehicles to solve the problem that the safety of boom-type engineering vehicles cannot be guaranteed in the prior art
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[0028] In the prior art, according to the theoretical center of gravity of the boom-type engineering vehicle, combined with the balance equation, the sum of the reaction forces (critical value ), and control the boom-type engineering vehicles accordingly, but because the actual center of gravity of the boom-type engineering vehicles is different from the theoretical center of gravity, and the balance equation alone cannot accurately obtain the reaction force on each leg , so the critical value determined in the prior art is not accurate. Controlling the boom-type engineering vehicle according to the inaccurate critical value may cause a rollover or tipping accident of the boom-type engineering vehicle, and the safety of the operation cannot be guaranteed. sex. In the embodiment of the present invention, in order to avoid rollover or tipping of the boom-type engineering vehicle during operation, the load cell installed on each leg of the boom-type engineering vehicle is used to...
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The invention discloses a method and a device for controlling a cantilever crane type engineering vehicle. The method and the device are used for solving the problem that operation safety cannot be guaranteed in the prior art. The method includes that a force sensor is arranged on each support leg of the cantilever crane type engineering vehicle, counterforce born by each support leg is measured, the projection position of the gravity center of the cantilever crane type engineering vehicle is determined according to the counterforce, the support legs are used as vertexes to form a polygonal region used as a safe region, and the cantilever crane type engineering vehicle is controlled, so that the projection position of the gravity center of the cantilever crane type engineering vehicle is located within the safe region. As the counterforce born by each support leg is measured by the corresponding force sensor, each force sensor still can accurately measure the counterforce currently born by the corresponding support leg even if the counterforce born by the support leg is additionally restrained, and the current actual gravity center can also be accurately determined according to the measured counterforce born by each support leg. Accordingly, the cantilever crane type engineering vehicle is controlled, the projection position of the gravity center of the cantilever crane type engineering vehicle is located within the safe region, and the operation safety can be guaranteed.
Description
technical field [0001] The invention relates to the field of construction machinery, in particular to a control method and device for boom type construction vehicles. Background technique [0002] In today's highly mechanized society, boom engineering vehicles such as concrete pump trucks and cranes are indispensable and important equipment in the construction industry, and the safety performance of boom engineering vehicles has attracted increasing attention. [0003] Take concrete pump truck (referred to as pump truck) as an example for illustration. During the operation of the pump truck, rollover or tipping accidents are usually caused by the following reasons: [0004] The first reason is that the weight of the pump truck cannot be supported due to problems such as uneven roadbed, subsidence of the roadbed or soft roadbed, resulting in the imbalance of the pump truck; [0005] The second reason is that the center of gravity of the whole pump truck changes due to the c...
Claims
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Login to View More IPC IPC(8): G05D3/12B66C23/88E04G21/04
Inventor 郑庆华周润珈赵健姚丽娟
Owner HUNAN ZOOMLION INTELLIGENT TECH