Method for calculating overturning rate of vehicle-mounted arm vehicle based on rotation mass center

Abstract

The invention discloses a method for calculating the overturning rate of a vehicle-mounted arm vehicle based on the rotation mass center, and the method employs a weighing sensor to measure the load in an operation hopper in real time, and employs a long angle sensor to monitor the telescoping length and angle of an arm support in real time. The data are transmitted to the controller, and the controller calculates the overturning rate and judges whether the vehicle is in a safe posture or not according to an algorithm rule in combination with the mass of the vehicle and boom data. And if an abnormal state is detected, the controller can limit the action of the boom and give an alarm. In addition, the system further has the functions of carrying out action limitation through a PWMI port and feeding data back to a display through a CAN bus, so that the real-time performance of quick response and operation is ensured. The whole system is composed of a weighing sensor, a long angle sensor and a controller with a plurality of modules, and the production efficiency and safety of the vehicle-mounted arm vehicle are improved.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery and equipment, and more specifically, to a method for calculating the rollover rate of a vehicle-mounted boom truck based on the center of rotation. Background Art

[0002] A vehicle-mounted boom truck, also known as a vehicle-mounted aerial work vehicle, is a special vehicle that has a boom structure installed on a vehicle chassis and is used to transport workers and equipment to the site and perform aerial work. In recent years, driven by factors such as increased safety awareness, higher construction efficiency requirements, and diversified construction scenarios, the market demand for this industry has gradually expanded.

[0003] In the past, most OEMs on the market used oil pressure sensors to collect hydraulic data, combined with the hinge data between the arms, and used torque to limit the overturning. Or they used multi-stage load calibration to limit the overturning. This method is low-cost, but the calibration and calculation work is complicated, the consistency of batch products is poor, and when it is promoted in large quantities, there are often false alarms, and the actual experience is poor.

[0004] Therefore, a method for calculating the rollover rate of a vehicle-mounted boom truck based on the rotation center of mass is desired. The rollover rate can be calculated by the rotation center of mass, bucket load center of mass, fixed center of mass, etc. This effectively improves production efficiency and vehicle safety. Summary of the invention

[0005] In order to solve the above technical problems, the present application is proposed. An embodiment of the present application provides a method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotational center of mass. The method uses a weighing sensor to measure the load in the working bucket in real time, and uses a long angle sensor to monitor the telescopic length and angle of the boom in real time. These data are transmitted to the controller, which calculates the overturning rate and determines whether the vehicle is in a safe posture based on the algorithm rules, combined with the mass of the vehicle and the boom data. If an abnormal state is detected, the controller will limit the action of the boom and issue an alarm. In addition, the system also includes the functions of limiting the action through the PWMI port and feeding back the data to the display through the CAN bus, ensuring rapid response and real-time operation. The entire system consists of a weighing sensor, a long angle sensor and a controller with multiple modules, which improves the production efficiency and safety of the vehicle-mounted boom truck.

[0006] According to one aspect of the present application, a method for calculating the rollover rate of a vehicle-mounted boom truck based on the center of rotation is provided, which includes: S1, obtaining the load in the working bucket of the support arm measured by a weighing sensor, and feeding back the working bucket load to the controller in real time through the controller acquisition port for rollover rate calculation; S2, obtaining the telescopic length and angle of the main arm, auxiliary arm and support arm measured by a long angle sensor, and feeding back the boom data to the controller in real time through the controller acquisition port, and the data is used for rollover rate calculation; S3, obtaining data of the weighing sensor and the long angle sensor collected by the controller to confirm the mass of the vehicle bucket load and the boom data, so as to organize, calculate and judge the data, and finally confirm whether the vehicle is within the safe posture range, and restrict and alarm the action in abnormal state.

[0007] In the above method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass, it is characterized in that the step S3 comprises: the controller calculates the load gravity G in the working bucket by collecting the mass data of the weighing sensor. 斗载 .

[0008] In the above method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass, it is characterized in that the step S3 includes: the controller obtains the mass data related to the whole vehicle through the hardware structure design principle diagram of the whole vehicle, wherein the gravity G of the rotating part 回转 and the fixed weight G of the non-rotating part 固定 is the core data, and there is also the fixed lever length L of the non-rotating part of the boom 固定 .

[0009] In the above method for calculating the rollover rate of the vehicle-mounted boom truck based on the rotation center of mass, it is characterized in that the step S3 includes: the controller calculates the arm length L of the rotation part by collecting the length and angle data of the long angle sensor 回转 , equivalent amplitude L 幅度 .

[0010] In the above method for calculating the overturning rate of the vehicle-mounted boom truck based on the rotational center of mass, it is characterized in that the step S3 includes: the controller uses the mass center of mass of the upper rotating part, the hoisted mass and the operating range to obtain the overturning rate as a ratio of the fixed mass center of mass of the non-rotating part through an algorithm rule:

[0011]

[0012] In the above-mentioned method for calculating the rollover rate of a vehicle-mounted boom truck based on the center of rotation, it is characterized in that the step S3 includes: the controller has high-precision acquisition and can obtain sensor parameters in real time. After the rollover rate is calculated, the boom movement can be restricted through the PWMI port.

[0013] In the above method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass, it is characterized in that the step S3 includes: the controller can feed back relevant data to the display through the CAN bus, and the response time is within 10ms.

[0014] According to one aspect of the present application, a system for calculating the rollover rate of a vehicle-mounted boom truck based on the rotation center of mass is also provided, characterized in that it includes: at least one weighing sensor for measuring the load in the working bucket of the support arm, and feeding back the working bucket load to the controller in real time through the controller acquisition port for rollover rate calculation, the weighing sensor is composed of a shell, an elastic body, a resistance strain gauge, a measuring circuit, and a lead; at least one long angle sensor for measuring the telescopic length and angle of the main arm, the auxiliary arm, and the support arm, and feeding back the boom data to the controller in real time through the controller acquisition port, and the data is used for rollover rate calculation, the long angle sensor is composed of a measuring element, a mechanical transmission mechanism, a signal processing circuit, a connection interface, and a shell package; the controller is an algorithm control terminal, which can collect the weighing sensor and long angle data in real time and with high precision, so as to confirm the mass of the vehicle bucket load and the boom data, so as to sort, calculate, and judge the data, and finally confirm whether the vehicle is within the safe posture range, and restrict and alarm the action in an abnormal state, the controller is composed of a shell, a main chip, an input module, an output module, a storage unit, a communication interface, a power supply module, a diagnosis and monitoring module, and an encryption and authentication module.

[0015] In the above-mentioned system for calculating the overturning rate of the vehicle-mounted boom truck based on the rotation center of mass, the controller calculates the load gravity G in the working bucket by collecting the mass data of the weighing sensor. 斗载 .

[0016] In the above-mentioned system for calculating the overturning rate of the vehicle-mounted boom truck based on the rotation center of mass, the controller obtains the mass data related to the whole vehicle through the hardware structure design principle diagram of the whole vehicle, wherein the gravity G of the rotating part 回转 and the fixed weight G of the non-rotating part 固定 is the core data, and there is also the fixed lever length L of the non-rotating part of the boom 固定 .

[0017] Compared with the prior art, the present application provides a method for calculating the rollover rate of a vehicle-mounted boom truck based on the center of rotation. This method can greatly save the host manufacturer's debugging time for rollover limitation, and at the same time can improve the consistency of batch products. Even if the external vehicle postures are different, the system can still perform safe action limitations to ensure safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0019] Figure 1 The present invention is a flow chart of a method for calculating the rollover rate of a vehicle-mounted boom truck based on the rotation center of mass according to an embodiment of the present application.

[0020] Figure 2 The system block diagram is a method for calculating the rollover rate of a vehicle-mounted boom truck based on the rotation center of mass according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0022] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0023] Although the present application makes various references to certain modules in the system according to the embodiments of the present application, any number of different modules can be used and run on the user terminal and / or server. The modules are only illustrative, and different aspects of the system and method can use different modules.

[0024] Flowcharts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, various steps may be processed in reverse order or simultaneously as required. Meanwhile, other operations may also be added to these processes, or a certain step or several steps of operations may be removed from these processes.

[0025] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0026] In the past, most of the methods for vehicle overturning were to collect hydraulic data using oil pressure sensors, combine the hinge data between the arms, and limit the overturning by torque. Or, the overturning was limited by multi-segment load calibration. This method is low-cost, but the calibration and calculation work is complicated, the consistency of batch products is poor, and when it is promoted in large quantities, there are often false alarms, and the actual experience is poor. Therefore, a method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass is desired.

[0027] In the technical solution of the present application, a method for calculating the rollover rate of a vehicle-mounted boom truck based on the rotation center of mass is proposed. Figure 1 Flow chart of a method for calculating the rollover rate of a vehicle-mounted boom truck based on the rotation center of mass according to an embodiment of the present application. Figure 1 As shown, according to the embodiment of the present application, the method for calculating the overturning rate of the vehicle-mounted boom truck based on the rotation center of mass includes the following steps: S1, obtaining the load in the working bucket of the support arm measured by the weighing sensor, and feeding back the working bucket load to the controller in real time through the controller acquisition port for overturning rate calculation; S2, obtaining the telescopic length and angle of the main arm, auxiliary arm and support arm measured by the long angle sensor, and feeding back the boom data to the controller in real time through the controller acquisition port, and the data is used for overturning rate calculation; S3, obtaining the data of the weighing sensor and the long angle sensor collected by the controller to confirm the mass of the vehicle bucket load and the boom data, so as to organize, calculate and judge the data, and finally confirm whether the vehicle is within the safe posture range, and restrict the action and alarm in abnormal state.

[0028] In an embodiment of the present application, the step S1 obtains the load in the arm working bucket measured by the weighing sensor, and the working bucket load is fed back to the controller in real time through the controller acquisition port for overturning rate calculation. It should be understood that the load in the working bucket may change continuously when the aerial work vehicle is operating. Real-time monitoring of load changes is essential to ensure the stability and safety of the vehicle. Considering that the weighing sensor can provide accurate load measurement, this is one of the key factors in calculating the overturning rate. During the operation, the load of the vehicle and the position of the boom may affect its stability. Real-time feedback of load data allows the controller to dynamically adjust to adapt to changing operating conditions. By monitoring the load of the working bucket in real time, the controller can determine whether the vehicle is in a safe posture range. If the load exceeds the safety limit, the controller can take timely measures, such as limiting the movement of the boom or issuing an alarm, to prevent the occurrence of overturning accidents.

[0029] In the embodiment of the present application, the step S2 obtains the telescopic length and angle of the main arm, auxiliary arm, and support arm measured by the long angle sensor, and the arm data is fed back to the controller in real time through the controller acquisition port, and the data is used for the calculation of the overturning rate. It should be understood that the long angle sensor can monitor the telescopic length and angle changes of the arm in real time, which is crucial for evaluating the dynamic posture of the vehicle under different operating conditions. The angle and telescopic state of the arm directly affect the center of gravity and stability of the vehicle. The telescopic and angle changes of the arm will affect the position of the rotation center of mass, thereby affecting the calculation of the overturning rate. By obtaining these data, the controller can more accurately judge the overturning risk of the vehicle during the operation. In high-altitude operations, the extension and angle changes of the arm may cause load offset or change in the center of gravity. Real-time feedback of these data enables the controller to issue an alarm in time and limit the movement of the arm when a potential overturning risk is detected to ensure safe operation. By monitoring the arm data in real time, the operator can adjust the operation strategy more scientifically to avoid working in an unsafe posture, thereby improving operation efficiency and safety. The data from the long-angle sensor combined with the data from the weighing sensor can provide more comprehensive vehicle status information, which will help with subsequent data analysis and decision-making, and improve overall operational safety.

[0030] In an embodiment of the present application, step S3 obtains data collected by the controller from the weighing sensor and the long angle sensor to confirm the mass of the vehicle bucket load and the boom data, thereby performing data sorting, calculation, and judgment, and finally confirming whether the vehicle is within a safe posture range, and restricting actions and alarming in abnormal states. It should be understood that by simultaneously acquiring the bucket load mass and boom data, the controller can comprehensively evaluate the working status of the vehicle. This comprehensive data analysis can help determine whether the vehicle is in a safe posture range. Real-time collection of sensor data enables the controller to respond quickly to environmental changes and load changes. This rapid feedback mechanism is crucial to ensuring operational safety, especially in dynamic operating environments. Combined with weighing and angle data, the controller can calculate the rollover rate more accurately. This calculation can identify potential rollover risks in a timely manner and take corresponding measures.

[0031] Specifically, in one embodiment of the present application, the step S3 includes: the controller collects the mass data of the weighing sensor to calculate the load gravity G in the working bucket. 斗载. Accordingly, the data fed back by the working bucket weighing sensor is generally a current signal. Through the linear relationship between the current signal and the pressure, the corresponding mass data is obtained, G=mg, m is the mass, and g is the acceleration of gravity. It should be understood that the weighing sensor is installed on the supporting structure of the working bucket and can detect and measure the load weight in the working bucket in real time. The load weight detected by the weighing sensor will be converted into an electrical signal, which is usually an analog signal and needs to be converted into a digital signal for the controller to process. The converted digital signal is transmitted to the controller via a data bus or other communication methods. After receiving the signal, the controller processes the signal according to the built-in algorithm or program and converts the electrical signal into a specific mass value. The calculated bucket load mass is used to monitor the load status of the vehicle in real time to ensure that the vehicle is within the safe operating range. The controller will combine the bucket load mass and other sensor data (such as the position and angle of the boom, etc.) to evaluate the stability and overturning risk of the vehicle. If the bucket load mass exceeds the preset safety threshold, the controller will take measures, such as limiting the range of motion of the boom or issuing an alarm, to prevent possible overturning accidents.

[0032] Specifically, in one embodiment of the present application, step S3 includes: the controller obtains the mass data related to the whole vehicle through the whole vehicle hardware structure design principle diagram, wherein the gravity G of the rotating part 回转 and the fixed weight G of the non-rotating part 固定 is the core data, and there is also the fixed lever length L of the non-rotating part of the boom 固定 The gravity of the rotating part is the product of the weight of the rotating mechanism of the vehicle body and the acceleration of gravity, G = mg, where m is a fixed value determined by the hardware design. 固定 It is the equivalent boom moment arm calculated by the hardware structure design and is a fixed value. It should be understood that the gravity of the rotating part and the fixed gravity are the basic parameters for evaluating the stability of the vehicle-mounted boom truck. They determine the center of gravity position of the vehicle and have a direct impact on the stability of the vehicle under different working conditions. The hardware design determines the fixed values ​​of these parameters, so that standardized stability assessments can be performed in different vehicles or different working conditions of the same vehicle. The fixed lever arm length of the non-rotating part is one of the key parameters for calculating the overturning moment. It is related to the actual length and angle of the boom and determines the degree of influence of the load on the stability of the vehicle. Understanding these core data helps to set safety thresholds, and when the actual working state approaches or exceeds these thresholds, measures can be taken to prevent overturning. The controller uses this data for real-time monitoring, and once a potential unstable condition is detected, the operating parameters can be adjusted immediately or the boom action can be restricted.

[0033] Specifically, in one embodiment of the present application, the step S3 includes: the controller calculates the arm length L of the rotating part by collecting the length and angle data of the long angle sensor.回转 , equivalent amplitude L 幅度 .L 回转 It is the equivalent amplitude calculated by the length and angle sensors related to the boom through trigonometric functions, that is, the distance from the rotation center to the working bucket. 幅度 It is the equivalent amplitude calculated by the length and angle sensors related to the boom, that is, the vertical or horizontal distance from the load application point to the center of rotation. It should be understood that the length and angle of the boom directly affect the center of gravity position and overturning moment of the vehicle. By monitoring these parameters in real time, the controller can dynamically analyze the stability state of the vehicle. The length of the lever arm of the rotating part is one of the key factors in calculating the overturning moment. The overturning moment is the product of the force (such as the load gravity) and the lever arm (that is, the distance from the point of application of the force to the center of rotation). The data provided by the long angle sensor allows the controller to provide real-time feedback on the position and posture of the boom, and adjust the operating parameters based on these data to maintain a safe working range. Using trigonometric functions to calculate the equivalent amplitude, the controller can determine the vertical or horizontal distance of the load application point relative to the center of rotation based on the actual length and angle of the boom.

[0034] Specifically, in one embodiment of the present application, the step S3 includes: the controller uses an algorithm rule to compare the mass center of mass of the rotating part of the upper body, the load mass and the operating range with the fixed mass center of mass of the non-rotating part to obtain the capsizing rate: It should be understood that by monitoring the rollover rate, the controller can determine in real time whether the vehicle is within the safe operating range and take measures if necessary. If the rollover rate exceeds a preset safety threshold, it indicates that the vehicle may be at risk of rollover. At this time, the controller can issue an alarm or restrict operations to prevent accidents. When calculating the rollover rate, the numerator represents the total torque generated by the rotating part of the vehicle and the load of the working bucket, and the denominator represents the anti-overturning torque of the non-rotating part of the vehicle. If η is close to or greater than 100%, it means that the vehicle may be on the verge of overturning and immediate measures need to be taken to avoid a rollover accident. If η is much less than 100%, it means that the vehicle is in a safe state and has sufficient anti-overturning ability.

[0035] Specifically, in one embodiment of the present application, the step S3 includes: the controller can acquire sensor parameters in real time through high-precision acquisition, and after the calculation of the rollover rate is completed, the boom action can be limited through the PWMI port. It should be understood that the controller can ensure accurate vehicle status data, including the position of the boom, load weight, etc., by acquiring sensor parameters with high precision, which is crucial for accurately calculating the rollover rate. Real-time acquisition of sensor parameters allows the controller to respond quickly to vehicle state changes and adjust the boom action in time to maintain the stability and safety of the vehicle. The PWMI (Pu l seWidth Modulation Input) port can receive pulse width modulation signals, which enables the controller to accurately control the speed and direction of the motor according to the calculated rollover rate by changing the duty cycle of the PWM signal, thereby achieving fine adjustment of the boom action. When a possible rollover risk is detected, the controller sends a limit signal through the PWMI port to adjust or stop the boom action to prevent accidents and ensure operation safety. The combination of high-precision acquisition and PWM I control improves the automation and intelligence level of vehicle-mounted boom operations and reduces the complexity and potential errors of human operations.

[0036] Specifically, in one embodiment of the present application, the step S3 includes: the controller can feed back the relevant data to the display through the CAN bus, and the response time is within 10ms. It should be understood that the CAN bus has excellent real-time performance and is suitable for application scenarios that require timely data transmission, such as automotive control systems, industrial automation, etc. The design of its arbitration mechanism and frame priority ensures low latency and predictability, so that the response time can be controlled within 10ms. CAN supports multi-host systems, and multiple nodes can send and receive data at the same time. This distributed control structure makes the system more flexible and helps to improve the response speed. CAN uses differential signal transmission, which has good anti-interference performance, making communication more reliable and helping to maintain fast response. The CAN bus adopts a non-destructive arbitration mechanism, which determines which node has the right to continue sending data by comparing the priority of the message identifier. This mechanism ensures the orderliness of data transmission on the bus and avoids conflicts. The CAN bus adopts a broadcast communication method, and the sent data frame can be received by all nodes on the bus, which helps to share and synchronize information and reduces the complexity of the system.

[0037] In summary, based on the method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotational center of mass of the embodiment of the present application, the method uses a weighing sensor to measure the load in the working bucket in real time, and uses a long angle sensor to monitor the telescopic length and angle of the boom in real time. These data are transmitted to the controller, which calculates the overturning rate and determines whether the vehicle is in a safe posture based on the algorithm rules, combined with the mass of the vehicle and the boom data. If an abnormal state is detected, the controller will limit the movement of the boom and issue an alarm. In addition, the system also includes the functions of limiting the movement through the PWMI port and feeding back the data to the display through the CAN bus, ensuring rapid response and real-time operation. The entire system consists of a weighing sensor, a long angle sensor, and a controller with multiple modules, which improves the production efficiency and safety of the vehicle-mounted boom truck.

[0038] further, Figure 2 1 is a system block diagram of a method for calculating the rollover rate of a vehicle-mounted boom truck based on the rotation center of mass according to an embodiment of the present application. Figure 2 As shown, according to the system for calculating the rollover rate of a vehicle-mounted boom truck based on the rotation center of mass of an embodiment of the present application, the system includes: at least one weighing sensor for measuring the load in the working bucket of the support arm, and feeding back the working bucket load to the controller in real time through the controller acquisition port for rollover rate calculation, wherein the weighing sensor is composed of a housing, an elastic body, a resistance strain gauge, a measuring circuit, and a lead; at least one long angle sensor for measuring the telescopic length and angle of the main arm, the auxiliary arm, and the support arm, and feeding back the boom data to the controller in real time through the controller acquisition port, and the data is used for rollover rate calculation, wherein the long angle sensor is composed of a measuring element, a mechanical transmission mechanism, a signal processing circuit, a connection interface, and a housing package; the controller is an algorithm control terminal, which can collect the weighing sensor and the long angle data in real time and with high precision, so as to confirm the mass of the vehicle bucket load and the boom data, thereby performing data sorting, calculation, and judgment, and finally confirming whether the vehicle is within the safe posture range, and performing action restriction and alarm in abnormal state, wherein the controller is composed of a housing, a main chip, an input module, an output module, a storage unit, a communication interface, a power supply module, a diagnosis and monitoring module, and an encryption and authentication module.

[0039] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass, characterized in that: include: S1, obtaining the load in the arm working bucket measured by the weighing sensor, and feeding back the working bucket load to the controller in real time through the controller acquisition port for overturning rate calculation; S2, obtains the telescopic length and angle of the main boom, auxiliary boom and support arm measured by the long angle sensor, and feeds the boom data back to the controller in real time through the controller acquisition port. The data is used for the calculation of the overturning rate; S3, obtains the data collected by the controller from the weighing sensor and the long angle sensor to confirm the mass of the vehicle bucket load and the boom data, so as to organize, calculate and judge the data, and finally confirm whether the vehicle is within the safe posture range, and restrict the action and alarm in abnormal state.

2. The method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass according to claim 1, characterized in that: The step S3 includes: the controller collects the mass data of the weighing sensor to calculate the load gravity G in the working bucket. 斗载 .

3. The method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass according to claim 2, characterized in that: The step S3 includes: the controller obtains the mass data related to the whole vehicle through the whole vehicle hardware structure design principle diagram, wherein the gravity G of the rotating part 回转 and the fixed weight G of the non-rotating part 固定 is the core data, and there is also the fixed lever length L of the non-rotating part of the boom 固定 .

4. The method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass according to claim 3, characterized in that: The step S3 comprises: the controller calculates the arm length L of the rotating part by collecting the length and angle data of the long angle sensor. 回转 , equivalent amplitude L 幅度 .

5. The method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass according to claim 4, characterized in that: The step S3 includes: the controller uses an algorithm rule to compare the mass center of mass of the rotating part, the load mass and the operating range with the fixed mass center of mass of the non-rotating part to obtain the capsizing rate:

6. The method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass according to claim 5, characterized in that: The step S3 includes: the controller can acquire sensor parameters in real time with high precision, and after the calculation of the overturning rate is completed, the boom movement can be limited through the PWMI port.

7. The method for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass according to claim 6, characterized in that: The step S3 includes: the controller can feed back relevant data to the display via the CAN bus, and the response time is within 10ms.

8. A system for calculating the overturning rate of a vehicle-mounted boom truck based on the center of rotation, characterized in that: include: At least one weighing sensor, used to measure the load in the arm working bucket, and feed back the working bucket load to the controller in real time through the controller acquisition port for overturning rate calculation, the weighing sensor is composed of a housing, an elastic body, a resistance strain gauge, a measuring circuit, and a lead wire; At least one long angle sensor, used to measure the telescopic length and angle of the main arm, auxiliary arm and support arm, and feed back the arm data to the controller in real time through the controller acquisition port, and the data is used for overturning rate calculation. The long angle sensor is composed of a measuring element, a mechanical transmission mechanism, a signal processing circuit, a connection interface, and a shell package; The controller is an algorithm control terminal that can collect data from weighing sensors and long angles in real time with high precision to confirm the mass of the vehicle bucket load and the boom data, thereby sorting, calculating, and judging the data, and finally confirming whether the vehicle is within the safe posture range. In abnormal conditions, it will restrict actions and alarm. The controller consists of a shell, a main chip, an input module, an output module, a storage unit, a communication interface, a power module, a diagnosis and monitoring module, and an encryption and authentication module.

9. The system for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass as claimed in claim 8, characterized in that: include: The controller calculates the load gravity G in the working bucket by collecting the mass data of the weighing sensor. 斗载 .

10. The system for calculating the overturning rate of a vehicle-mounted boom truck based on the rotation center of mass as claimed in claim 9, characterized in that: include: The controller obtains the mass data related to the vehicle through the vehicle hardware structure design schematic diagram, among which the gravity G of the rotating part 回转 and the fixed weight G of the non-rotating part 固定 is the core data, and there is also the equivalent arm length L related to the arm 固定 .

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