Lifting mechanism adjustment control method and device and dumper

Abstract

The invention provides a lifting mechanism adjustment control method and device and a dumper. The method comprises the following steps of: 1, establishing a vehicle-mounted coordinate system by taking a vehicle as a reference object, and installing a sensor as input of data of the whole vehicle; 2, coordinate values of all sensors are obtained, and a calibration plane is constructed under the standard condition; 3, under the vehicle-mounted coordinate system, the initial posture of the vehicle is judged, the vehicle is made to be parallel to the calibration plane, and the initial lifting requirement is met; and 4, starting to lift the carriage, calculating deflection angles of a suspension-frame hinge point plane and a lifting motion plane in real time, and adjusting the deflection angles through a controller to enable the deflection angles to be in a safe range. The influence of lateral force on the lifting mechanism in the lifting process caused by factors such as uneven roads and uneven loading mass is reduced, the reliability of the lifting mechanism is improved, the service life of the lifting mechanism is prolonged, and lifting safety is guaranteed.

Description

Technical Field

[0001] The invention relates to the field of mechanical control, and in particular to a lifting mechanism adjustment control method, device and dump truck. Background Art

[0002] A mining dump truck is a non-road heavy-duty cargo vehicle with harsh operating conditions. During the lifting and unloading process, due to uneven roads, uneven loading quality or uncertain factors in the unloading process, the lifting mechanism is susceptible to lateral force due to unbalanced loads, which affects the service life and reliability of the lifting mechanism, and even causes deformation and fracture of the lifting mechanism, resulting in huge property losses and casualties. The present invention proposes a lifting mechanism adjustment control method, device and dump truck, which detect and dynamically adjust the initial lifting state and vehicle posture during the lifting process, ensure that the car load acts vertically on the lifting mechanism, reduce the effect of lateral force on the lifting mechanism, extend the service life of the oil cylinder, and ensure the reliability and safety of the unloading process.

[0003] Patent 202211710609.9 discloses a control method and a suspension leveling control device for suspension leveling. By arranging multiple displacement sensors on each suspension cylinder, each suspension is leveled according to the comparison result between the actual height of each suspension and the set height. Patent 202211351805.1 discloses a vehicle stability control method and control system when a dump truck is lifted. According to the change of the center of gravity of the whole vehicle during the unloading process, the center of gravity of the whole vehicle is actively corrected in real time to be in a safe area, reducing the risk of rollover.

[0004] However, the prior art has the following defects:

[0005] Patent 202211710609.9 only detects the height of each suspension cylinder and compares it with the set height to further level the suspension. This method only levels the suspension from the suspension height to ensure that the plane state of the vehicle frame is controllable. It does not consider the lateral force generated by the dynamic change of the relative angle between the lifting system and the vehicle chassis due to uneven distribution of cargo mass, vehicle side deviation or other uncertain factors during the lifting process. It is only applicable to the detection and control of the suspension of the vehicle frame plane state. Patent 202211351805.1 is to monitor the changes in the center of gravity during the lifting process in real time, so that the center of gravity of the vehicle is in a safe area and the risk of rollover is reduced, but it mainly establishes the control relationship between the center of gravity of the vehicle and the rollover safety area, and cannot reduce the impact of lateral force on the use of the lifting mechanism during the lifting process. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a lifting mechanism adjustment control method, device and dump truck, which can determine whether the action of the lifting mechanism is safe through real-time coordinate collection, realize lifting process monitoring, and improve the reliability and safety of the lifting mechanism.

[0007] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0008] In a first aspect, the present invention provides a lifting mechanism adjustment control method, comprising the following steps:

[0009] Step A: Establish vehicle coordinate system;

[0010] Step B: Obtain the coordinates of the vehicle frame plane detection point and the lifting plane detection point in the vehicle coordinate system;

[0011] Step C: judging whether the plane state of the vehicle frame is horizontal according to the frame plane detection point, if so, executing step D, otherwise, prohibiting the lifting action;

[0012] Step D: When the vehicle is lifted, the deflection angle between the vehicle frame plane and the lifting plane is calculated according to the frame plane detection point and the lifting plane detection point, and it is determined whether the deflection angle exceeds a threshold. If it exceeds the threshold, the lifting action is stopped, and the frame is adjusted by the actuator to meet the lifting requirements.

[0013] Furthermore, a vehicle-mounted coordinate system is established, including:

[0014] The vehicle coordinate system is established with the connection point between the lifting mechanism and the frame as the origin O of the vehicle coordinate system, the vehicle driving direction parallel to the vehicle body as the X-axis, the driver's right direction as the Y-axis, and the vertical direction to the vehicle body as the Z-axis.

[0015] Furthermore, the coordinates of the vehicle frame plane detection point and the lifting plane detection point in the vehicle coordinate system are obtained, including:

[0016] The coordinates of the frame plane detection point and the lifting plane detection point are obtained by using a coordinate sensor arranged on the vehicle body;

[0017] The vehicle frame is connected to the vehicle chassis through four suspension cylinders, and the frame plane detection points include the frame and the left front overhang connection point A, the frame and the right front overhang connection point B, the frame and the right rear overhang connection point C and the frame and the left rear overhang connection point D;

[0018] The lifting plane detection points include the top position point coordinate E of the lifting mechanism and the center position point coordinate F of the two hinge points between the carriage and the frame.

[0019] Further, judging whether the plane state of the vehicle frame is horizontal according to the frame plane detection point includes:

[0020] According to the coordinates of the connection point A between the frame and the left front suspension, the connection point B between the frame and the right front suspension, the connection point C between the frame and the right rear suspension, and the connection point D between the frame and the left rear suspension, it is determined whether the four points of the connection point A between the frame and the left front suspension, the connection point B between the frame and the right front suspension, the connection point C between the frame and the right rear suspension, and the connection point D between the frame and the left rear suspension are coplanar;

[0021] If the four points of the frame and the left front overhang connection point A, the frame and the right front overhang connection point B, the frame and the right rear overhang connection point C and the frame and the left rear overhang connection point D are coplanar, then determine whether ABCD under the actual working condition is parallel to the calibration plane ABCD 标定 , if they are parallel, then the plane state of the vehicle frame is judged to be horizontal.

[0022] Further, judging whether the four points of the connection point A between the frame and the left front overhang, the connection point B between the frame and the right front overhang, the connection point C between the frame and the right rear overhang, and the connection point D between the frame and the left rear overhang are coplanar includes:

[0023] Determine the detection points A (x1, y1, z1), B (x2, y2, z2), C (x3, y3, z3), and D (x4, y4, z4);

[0024] Three vectors are obtained from the coordinates of four points A, B, C, and D:

[0025]

[0026]

[0027]

[0028] If the determinant If the two surfaces are coplanar, they are considered to be coplanar, otherwise they are considered to be non-coplanar.

[0029] Furthermore, the calibration plane ABCD 标定 A horizontal calibration plane is generated by the four-point coordinates of ABCD under the actual working condition of the vehicle under standard horizontal road conditions and is used as a reference plane for the plane state of the frame; the calibration plane ABCD 标定 Perpendicular to surface OEF.

[0030] Furthermore, if the four points between the frame and the left front suspension connection point A, the frame and the right front suspension connection point B, the frame and the right rear suspension connection point C, and the frame and the left rear suspension connection point D are not coplanar, an instruction to control the action of the actuator is generated to make the four points between the frame and the left front suspension connection point A, the frame and the right front suspension connection point B, the frame and the right rear suspension connection point C, and the frame and the left rear suspension connection point D coplanar.

[0031] Further, the actuator includes a suspension hydraulic controller module, a central regulating valve connected to the suspension hydraulic controller module, and a left front suspension cylinder, a right front suspension cylinder, a right rear suspension cylinder, and a left rear suspension cylinder, all of which are connected to the central regulating valve;

[0032] The suspension hydraulic controller module is used to control the central regulating valve to adjust the extension and retraction of the left front suspension cylinder, right front suspension cylinder, right rear suspension cylinder and left rear suspension cylinder of the vehicle chassis according to the instructions for controlling the action of the actuator.

[0033] Further, the method of making the four points of the frame and the left front overhang connection point A, the frame and the right front overhang connection point B, the frame and the right rear overhang connection point C and the frame and the left rear overhang connection point D coplanar includes:

[0034] If the four points between the frame and the left front suspension connection point A, the frame and the right front suspension connection point B, the frame and the right rear suspension connection point C, and the frame and the left rear suspension connection point D are not coplanar, the left front suspension cylinder, the right front suspension cylinder, the right rear suspension cylinder, and the left rear suspension cylinder are adjusted in the Z direction to make the four points between the frame and the left front suspension connection point A, the frame and the right front suspension connection point B, the frame and the right rear suspension connection point C, and the frame and the left rear suspension connection point D coplanar.

[0035] Furthermore, if the actual working condition ABCD is different from the calibration plane ABCD 标定 If they are not parallel, an instruction to control the action of the actuator is generated to adjust the actual working condition ABCD and the calibration plane ABCD 标定 parallel:

[0036] If ABCD deviates to the left under actual working conditions, the left front suspension cylinder and the left rear suspension cylinder are raised or the right front suspension cylinder and the right rear suspension cylinder are lowered simultaneously; if it deviates to the right, the right front suspension cylinder and the right rear suspension cylinder are raised or the left front suspension cylinder and the left rear suspension cylinder are lowered simultaneously to make the vehicle frame plane state horizontal.

[0037] Furthermore, according to the frame plane detection points and the lifting plane detection points, the deflection angle between the vehicle frame plane and the lifting plane is calculated, including:

[0038] According to the coordinate values ​​of each point on the surface ABCD, the unit normal vector of the surface is calculated ; According to the coordinate values ​​of each point on the surface OEF, calculate the unit normal vector of the surface .

[0039] The deflection angles of the planes ABCD and OEF are calculated according to the following formula:

[0040]

[0041] Among them, the deflection angle Deflection towards the positive direction of the Y axis is recorded as a positive angle; deflection Biased toward the negative direction of the Y axis, recorded as a negative angle.

[0042] Further, the method of adjusting the frame to meet the lifting requirements through the actuator includes:

[0043] When the deflection angle exceeds the threshold, the lifting action is stopped and the actuator is controlled to compensate for the deflection angle of the two planes so that the deflection angle is less than the threshold.

[0044] Methods for controlling the action of the actuator to compensate for the deflection of two planes include:

[0045] If the deflection angle is positive, the height of the right front suspension cylinder and the right rear suspension cylinder will be raised synchronously or the height of the left front and left rear cylinders will be lowered synchronously;

[0046] If the deflection angle is negative, the height of the right front suspension cylinder and the right rear suspension cylinder will be raised synchronously or the height of the left front and left rear cylinders will be lowered synchronously.

[0047] In a second aspect, the present invention provides a lifting mechanism adjustment control device, comprising:

[0048] A sensor module, used to collect the coordinates of the vehicle frame plane detection points and the lifting plane detection points;

[0049] The lifting controller module is used to execute the method described in the first aspect according to the coordinates of the frame plane detection point and the lifting plane detection point of the vehicle.

[0050] Furthermore, the device also includes a display connected to the lifting controller module, and the display is used to display lifting process information.

[0051] In a third aspect, the present invention provides a non-road dump truck, comprising the lifting mechanism adjustment control device as described in the second aspect.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] (1) The lifting mechanism adjustment control method, device and dump truck proposed in the present invention can realize dynamic monitoring and real-time adjustment of the lifting process, and can realize monitoring of the lifting process;

[0054] (2) The present invention can reduce the lateral force exerted on the lifting mechanism during the lifting process, reduce the damage caused by the lateral force to the lifting mechanism, and improve reliability and life.

[0055] (3) When a dump truck is unloading a full load, the lifting mechanism is subjected to lateral force due to uneven ground or uneven loading mass, causing damage to the cylinder and reduced reliability. The present invention innovatively constructs a vehicle-mounted coordinate system, establishes three planes through coordinates, namely the calibration plane, the suspension-frame articulation plane, and the lifting motion plane, and controls the plane state and lifting motion state of the vehicle frame through their mutual relationship. The vehicle-mounted lifting controller module feeds back the adjustment signal to the suspension hydraulic controller module to dynamically adjust the height of the suspension cylinder, so that the deflection angle between the suspension-frame articulation plane and the lifting motion plane is within a safe range, which can reduce the impact of lateral force on the lifting mechanism during the lifting process caused by factors such as uneven roads and uneven loading mass, extend the reliability and service life of the lifting mechanism, and ensure lifting safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 is the vehicle coordinate system;

[0057] Figure 2 It is a schematic diagram of the lifting plane change;

[0058] Figure 3 is a schematic diagram of the structure of the lifting control device;

[0059] Figure 4 The present invention is a flow chart of the method.

[0060] In the figure: 1-lifting mechanism; 2-carriage; A, connection point between frame and left front overhang; B, connection point between frame and right front overhang; C, connection point between frame and right rear overhang; D, connection point between frame and left rear overhang; O, connection point between lifting mechanism and frame; E, apex of lifting mechanism; E', apex of lifting mechanism during lifting process; F, connection point between carriage and frame. DETAILED DESCRIPTION

[0061] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0062] Embodiment 1:

[0063] This embodiment proposes a method for adjusting and controlling the lifting mechanism of a dump truck. By constructing a vehicle-mounted coordinate system, the deflection angle range of the suspension-frame hinge point plane and the lifting movement plane is dynamically determined, and the vehicle suspension cylinder is adjusted by feedback to reduce the influence of lateral force on the lifting mechanism, extend the service life of the lifting mechanism, and ensure the reliability and safety of the lifting process.

[0064] like Figure 4 As shown, the method includes:

[0065] Step 1: Using the vehicle as a reference, establish a vehicle coordinate system and install sensors as input for the entire vehicle data;

[0066] First, construct a vehicle coordinate system. The connection point between the lifting mechanism and the frame is taken as the origin O of the vehicle coordinate system, the vehicle driving direction parallel to the vehicle body is the X-axis, the right direction of the driver is the Y-axis, and the direction perpendicular to the vehicle body is the Z-axis. Figure 1 .

[0067] The vehicle frame is connected to the vehicle chassis through four suspension cylinders. The four connection points are the left front suspension connection point A, the right front suspension connection point B, the right rear suspension connection point C, and the left rear suspension connection point D. A sensor is arranged at each connection point; a sensor is arranged at the top position point E of the lifting mechanism and the center position point F of the two hinge points between the car body and the frame, for a total of 6 sensors; each sensor is used to obtain the coordinates of the above points in the vehicle coordinate system. The above sensors are connected to the lifting controller module for signals, and the lifting controller module receives the above sensor signals and uses them to control the vehicle posture and lifting motion state.

[0068] The sensor is connected to the lifting controller module by signal, and the lifting controller module receives the sensor signal and is used to control the vehicle posture and lifting motion state.

[0069] Specifically, step 1 includes the following steps:

[0070] Step 1.1: Establish a vehicle coordinate system, with the connection point between the lifting mechanism and the frame as the origin O of the vehicle coordinate system, the vehicle's driving direction parallel to the vehicle body as the X-axis, the driver's right direction as the Y-axis, and the direction perpendicular to the vehicle body as the Z-axis;

[0071] Step 1.2: Sensors are installed at the left front suspension connection point, right front suspension connection point, right rear suspension connection point, left rear suspension connection point between the frame and the suspension cylinder, the top position point of the lifting mechanism, and the center position point of the two hinge points between the car body and the frame. One sensor is arranged on each point, for a total of 6 sensors. The sensors are used to collect coordinate data of the arrangement points;

[0072] Step 1.3: The sensor signal end is connected to the lifting controller module, which is used to obtain the sensor coordinate data, analyze and process the data, and determine whether the vehicle initial posture and the deflection angle during the lifting process deviate from the safe value, and feed the results back to the suspension hydraulic controller module; the lifting controller module and the suspension hydraulic controller module are connected to the memory through the bus, and the memory is used to store data;

[0073] Step 1.4: The hydraulic controller module receives the feedback signal from the lifting controller model and adjusts the suspension cylinder to reduce the effect of the lateral force on the lifting mechanism;

[0074] Step 1.5: The lifting controller module, the hydraulic controller module, and the central regulating valve are connected to a display via a bus. The display is used to display data, and the driver can understand the lifting process information based on the display.

[0075] Step 2: Obtain the coordinate values ​​of each sensor and construct a calibration plane under standard conditions, including:

[0076] Step 2.1: Place the fully loaded vehicle on a horizontal standard road surface and keep the vehicle stationary. Obtain the coordinates of the left front suspension connection point, the right front suspension connection point, the right rear suspension connection point, the left rear suspension connection point and the top position point of the lifting mechanism on the suspension-frame hinge point plane of the vehicle on the horizontal standard road surface using the sensors in step 1;

[0077] Determine the coordinates of each key point based on the established coordinate system and vehicle structure size information. The four connection points between the suspension cylinder and the frame are respectively recorded as the left front suspension connection point, the right front suspension connection point, the right rear suspension connection point, and the left rear suspension connection point. According to the sensors installed in step (1), obtain the coordinates of the above points, and record the distribution as A (x1, y1, z1), B (x2, y2, z2), C (x3, y3, z3), D (x4, y4, z4), the coordinates of the top position of the lifting mechanism are E (x5, y5, z5), and the electrical coordinates of the center position of the two hinge points between the car body and the frame are F (x6, y6, z6).

[0078] Step 2.2: A virtual calibration plane is established based on the coordinates of the above four points as a reference plane for the initial state of the vehicle.

[0079] Under the standard condition of horizontal hard road surface, in the vehicle coordinate system, a calibration plane of horizontal state is generated by four points A, B, C, and D parallel to the horizontal plane, recorded as ABCD 标定 .

[0080] The vehicle is on a standard horizontal road, calibrating plane ABCD 标定 Perpendicular to the surface OEF, such as Figure 2 , at this time, the lifting mechanism is not affected by the lateral force.

[0081] Under actual road conditions, loading and lifting processes, the coordinates of each point will change in real time, be acquired by the sensor, and be transmitted to the lifting controller module.

[0082] Step 3: In the vehicle coordinate system, determine the initial posture of the vehicle and make the vehicle parallel to the calibration plane to meet the initial lifting requirements;

[0083] Step 3.1: Obtain the coordinates of the left front suspension connection point, the right front suspension connection point, the right rear suspension connection point, the left rear suspension connection point and the top position point of the lifting mechanism of the vehicle on the suspension-frame hinge point plane under uneven road conditions according to the sensor in step 1;

[0084] Before the lifting begins, based on the vehicle coordinate system, the suspension-frame hinge point coordinate values ​​obtained by the sensor, including the left front suspension connection point, the right front suspension connection point, the right rear suspension connection point, and the left rear suspension connection point, are input into the lifting controller module;

[0085] The lifting controller module first determines whether the four points A, B, C, and D are coplanar based on their coordinate values, outputs the result to the hydraulic controller module, and adjusts the height of the suspension cylinder to make the four points coplanar.

[0086] Step 3.2: Determine whether the four points are coplanar based on the coordinates of the four points on the suspension-frame hinge plane. If not, adjust the height of the suspension cylinder to make them coplanar.

[0087] Specifically, the lifting controller module first determines whether the four points are coplanar according to the coordinate values, outputs the result to the hydraulic controller module, and adjusts the height of the suspension cylinder to make the four points coplanar, including:

[0088] Three vectors are obtained from the coordinates of four points A, B, C, and D. The determinant value is 0 to determine whether they are coplanar, that is:

[0089]

[0090]

[0091]

[0092] First, through the determinant Determine whether they are coplanar.

[0093] If they are not coplanar, adjust the cylinders in the Z direction by adjusting the left front suspension cylinder, the right front suspension cylinder, the right rear suspension cylinder, and the left rear suspension cylinder to make them coplanar.

[0094] Next, step 3.3: further adjust the height of the suspension cylinder so that the suspension-frame hinge plane is parallel to the calibration plane.

[0095] Determine the difference between ABCD below the actual working condition and the calibration plane ABCD 标定 Are they parallel? If not parallel, if it is biased to the left, then the left front and left rear cylinders will be raised or the right front and right rear cylinders will be lowered; if it is biased to the right, then the right front and right rear cylinders will be raised or the left front and left rear cylinders will be lowered to meet the vehicle parallel state requirements.

[0096] Step 4: Start lifting the car body, calculate the deflection angle between the suspension-frame hinge plane and the lifting motion plane in real time, and adjust it through the controller to keep the deflection angle within a safe range:

[0097] When the vehicle frame state meets the parallel state requirement, the lift controller module starts to monitor the deflection angle range between surface ABCD and surface OEF in real time.

[0098] The range of the safety angle of the lifting mechanism is determined by the maximum load of the product, the structural dimensions of the lifting mechanism and other forces, and the safety angle range is input into the lifting controller module as the threshold of the lifting control.

[0099] During the lifting process, the lifting controller module calculates the deflection angle of the two planes in real time, and compares it with the range of the safety angle of the lifting mechanism to determine whether it is within the safe value range, and determines whether to adjust the height of the suspension cylinder based on the judgment result. The specific method is as follows:

[0100] Step 4.1: The lifting controller module calculates the deflection angle between the suspension-frame hinge point plane and the lifting motion plane in real time;

[0101] According to the coordinate values ​​of each point on the surface ABCD, the unit normal vector of the surface is calculated ; According to the coordinate values ​​of each point on the surface OEF, calculate the unit normal vector of the surface .

[0102] The deflection angle between the surface ABCD and the surface OEF is , declination Deflection towards the positive direction of the Y axis is recorded as a positive angle; deflection Biased toward the negative direction of the Y axis, recorded as a negative angle.

[0103] Step 4.2: Adjust the suspension cylinder according to whether the deflection angle range exceeds the threshold so that the deflection angle is within a safe range to reduce the impact of the lateral force on the lifting mechanism.

[0104] Lift controller Monitor and monitor the deflection angle in real time Is it within the safe angle range? The safety angle range refers to the warning threshold of the degree of deviation during the lifting process. If the warning threshold is reached, the lifting process cannot be carried out. The suspension cylinder needs to be adjusted to be within the safety angle range. The optimal safety angle is 0 degrees, with the two planes perpendicular, but it is difficult to achieve in actual practice and is generally around 5°.

[0105] like Within the safe angle range, the lifting process continues;

[0106] like If it is not within the safety angle range, the lifting action is stopped and cannot continue; at this time, the lifting controller module controls the suspension hydraulic controller module to adjust the height of the corresponding cylinder through the central regulating valve to compensate for the deflection angles of the two planes.

[0107] The compensation method is: if the deviation angle is positive, the driver will synchronously raise the height of the right front and right rear cylinders or synchronously lower the height of the left front and left rear cylinders according to the angle information displayed on the display. If the deviation angle is negative, adjustments will be made according to the above method and principle.

[0108] The lifting system has only one lifting cylinder. The deviation safety angle of the lifting cylinder is controlled by connecting the lifting controller module to the suspension hydraulic controller module. The suspension hydraulic controller module executes the command of controlling and adjusting the central regulating valve. The left front overhang, right front overhang, right rear overhang and left rear overhang cylinders of the vehicle chassis are adjusted through the central regulating valve.

[0109] In this way, the deflection angles of the two planes can be within the safe angle range, which can reduce the impact of lateral forces on the cylinder and avoid major damage to the lifting mechanism, or even deformation and breakage, which will affect the life of the cylinder.

[0110] Embodiment 2:

[0111] This embodiment provides a lifting mechanism control device, including a sensor module, a lifting controller module, a suspension hydraulic controller module, a central regulating valve, a bus, a memory, a display, and an actuator (left front suspension, right front suspension, right rear suspension, and left rear suspension cylinders). Figure 3 shown.

[0112] The sensor module is used to obtain the coordinate values ​​of the monitoring points in the vehicle coordinate system;

[0113] First, construct a vehicle coordinate system. The connection point between the lifting mechanism and the frame is taken as the origin O of the vehicle coordinate system, the vehicle driving direction parallel to the vehicle body is the X-axis, the right direction of the driver is the Y-axis, and the direction perpendicular to the vehicle body is the Z-axis. Figure 1 .

[0114] The vehicle frame is connected to the vehicle chassis through four suspension cylinders. The four connection points are the left front suspension connection point A, the right front suspension connection point B, the right rear suspension connection point C, and the left rear suspension connection point D. A sensor is arranged at each connection point; a sensor is arranged at the top position point E of the lifting mechanism and the center position point F of the two hinge points between the car body and the frame, for a total of 6 sensors; each sensor is used to obtain the coordinates of the above points in the vehicle coordinate system. The above sensors are connected to the lifting controller module for signals, and the lifting controller module receives the above sensor signals and uses them to control the vehicle posture and lifting motion state.

[0115] The lifting controller module is used to determine the plane state of the vehicle frame and the lifting process according to the signal of the sensor, and execute the method as described in Example 1; the main functions include determining whether the plane state of the vehicle frame is parallel to the calibration plane, and determining whether the deflection angle of the lifting process is within the safe angle range. If not, or the deflection angle of the lifting process is not within the safe angle range, the lifting action is stopped, and further, based on the judgment result, an instruction to adjust the suspension cylinder is generated to meet the requirements.

[0116] The suspension hydraulic controller module is used to adjust the actuator according to the instructions of the lifting control module to adjust the suspension cylinder; the actuator refers to the central regulating valve, left front suspension, right front suspension, right rear suspension, and left rear suspension cylinders connected to the suspension hydraulic controller module.

[0117] The central regulating valve adjusts the hydraulic flow and pressure according to the signal of the hydraulic control module to control the height changes of the left front overhang, right front overhang, right rear overhang and left rear overhang cylinders;

[0118] The bus is used for communication between sensor modules, control modules, displays, etc.;

[0119] The memory is used to store data in the control process;

[0120] The display is connected to the controller as a human-machine interface, which can display key information during the control process, such as the height of the suspension cylinder, the plane status of the vehicle frame, the vehicle lifting status information, etc., so that the operator can grasp the status of the vehicle and the lifting process in real time;

[0121] The actuator is used to make adjustments based on the feedback control signal.

[0122] In other embodiments, the present invention adopts the following methods for substitution:

[0123] (1) Active adjustment using other suspension forms, such as active suspension, instead of passive adjustment information through parameter detection

[0124] (2) Change the connection form at the connection point of the lifting mechanism to ensure the relative relationship between the two connections to reduce the damage to the lifting mechanism caused by lateral force.

[0125] The device of this embodiment is mainly used in off-road dump trucks.

[0126] Embodiment three:

[0127] This embodiment provides a non-road dump truck, including the lifting mechanism adjustment control device as described in the second embodiment.

[0128] During the unloading process of a dump truck with full load, due to uneven ground or uneven loading mass, the lifting mechanism is subjected to lateral force, resulting in damage to the oil cylinder, reduced reliability and other problems. The present invention innovatively constructs a vehicle-mounted coordinate system, and establishes three planes through coordinates: the calibration plane, the suspension-frame articulation plane, and the lifting motion plane. Through their mutual relationship, the control of the vehicle's initial state and lifting motion state is achieved. The height of the suspension oil cylinder is dynamically adjusted by feeding back the adjustment signal from the vehicle-mounted lifting controller module to the suspension hydraulic controller module, so that the deflection angle between the suspension-frame articulation plane and the lifting motion plane is within a safe range, which can reduce the impact of lateral force on the lifting mechanism during the lifting process caused by factors such as uneven roads and uneven loading mass, extend the reliability and service life of the lifting mechanism, and ensure lifting safety.

[0129] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0130] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0131] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0132] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0133] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A lifting mechanism adjustment control method, characterized in that: The following steps are involved: Step A: Establish vehicle coordinate system; Step B: Obtain the coordinates of the vehicle frame plane detection point and the lifting plane detection point in the vehicle coordinate system; Step C: judging whether the plane state of the vehicle frame is horizontal according to the frame plane detection point, if so, executing step D, otherwise, prohibiting the lifting action; Step D: When the vehicle is lifted, the deflection angle between the vehicle frame plane and the lifting plane is calculated according to the frame plane detection point and the lifting plane detection point, and it is determined whether the deflection angle exceeds a threshold. If it exceeds the threshold, the lifting action is stopped, and the frame is adjusted by the actuator to meet the lifting requirements.

2. The lifting mechanism adjustment and control method according to claim 1, characterized in that: Establish the vehicle coordinate system, including: The vehicle coordinate system is established with the connection point between the vehicle's lifting mechanism and the frame as the origin O of the vehicle coordinate system, the vehicle's driving direction parallel to the vehicle body as the X-axis, the driver's right direction as the Y-axis, and the direction perpendicular to the vehicle body as the Z-axis.

3. The lifting mechanism adjustment and control method according to claim 1, characterized in that: Get the coordinates of the vehicle frame plane detection point and lift plane detection point in the vehicle coordinate system, including: The coordinates of the frame plane detection point and the lifting plane detection point are obtained by using a coordinate sensor arranged on the vehicle body; The vehicle frame is connected to the vehicle chassis through four suspension cylinders, and the frame plane detection points include the frame and the left front overhang connection point A, the frame and the right front overhang connection point B, the frame and the right rear overhang connection point C and the frame and the left rear overhang connection point D; The lifting plane detection points include the top position point coordinate E of the lifting mechanism and the center position point coordinate F of the two hinge points between the carriage and the frame.

4. The lifting mechanism adjustment and control method according to claim 1, characterized in that: Judging whether the plane state of the vehicle frame is horizontal according to the frame plane detection point includes: According to the coordinates of the connection point A between the frame and the left front suspension, the connection point B between the frame and the right front suspension, the connection point C between the frame and the right rear suspension, and the connection point D between the frame and the left rear suspension, it is determined whether the four points of the connection point A between the frame and the left front suspension, the connection point B between the frame and the right front suspension, the connection point C between the frame and the right rear suspension, and the connection point D between the frame and the left rear suspension are coplanar; If the four points of the frame and the left front overhang connection point A, the frame and the right front overhang connection point B, the frame and the right rear overhang connection point C and the frame and the left rear overhang connection point D are coplanar, then determine whether ABCD under the actual working condition is parallel to the calibration plane ABCD 标定 , if they are parallel, then the plane state of the vehicle frame is judged to be horizontal.

5. The lifting mechanism adjustment and control method according to claim 4, characterized in that: Determine whether the four points of the frame and the left front overhang connection point A, the frame and the right front overhang connection point B, the frame and the right rear overhang connection point C and the frame and the left rear overhang connection point D are coplanar, including: Determine the detection points A (x1, y1, z1), B (x2, y2, z2), C (x3, y3, z3), and D (x4, y4, z4); Three vectors are obtained from the coordinates of four points A, B, C, and D: ， ， ， If the determinant It is judged to be coplanar, otherwise it is not coplanar; The calibration plane ABCD 标定 A horizontal calibration plane is generated by the four-point coordinates of ABCD under the actual working condition of the vehicle under standard horizontal road conditions and is used as a reference plane for the plane state of the frame; the calibration plane ABCD 标定 Perpendicular to surface OEF.

6. The lifting mechanism adjustment and control method according to claim 5, characterized in that: If the four points of the frame and the left front suspension connection point A, the frame and the right front suspension connection point B, the frame and the right rear suspension connection point C, and the frame and the left rear suspension connection point D are not coplanar, then generate instructions for controlling the action of the actuator to make the four points of the frame and the left front suspension connection point A, the frame and the right front suspension connection point B, the frame and the right rear suspension connection point C, and the frame and the left rear suspension connection point D coplanar; The actuator includes a suspension hydraulic controller module, a central regulating valve connected to the suspension hydraulic controller module, and a left front suspension cylinder, a right front suspension cylinder, a right rear suspension cylinder, and a left rear suspension cylinder, all of which are connected to the central regulating valve; The suspension hydraulic controller module is used to control the central regulating valve to adjust the extension and retraction of the left front suspension cylinder, right front suspension cylinder, right rear suspension cylinder and left rear suspension cylinder of the vehicle chassis according to the instructions for controlling the action of the actuator.

7. The lifting mechanism adjustment and control method according to claim 6, characterized in that: The method of making the four points of the frame and the left front overhang connection point A, the frame and the right front overhang connection point B, the frame and the right rear overhang connection point C and the frame and the left rear overhang connection point D coplanar includes: If the four points between the frame and the left front suspension connection point A, the frame and the right front suspension connection point B, the frame and the right rear suspension connection point C, and the frame and the left rear suspension connection point D are not coplanar, the left front suspension cylinder, the right front suspension cylinder, the right rear suspension cylinder, and the left rear suspension cylinder are adjusted in the Z direction to make the four points between the frame and the left front suspension connection point A, the frame and the right front suspension connection point B, the frame and the right rear suspension connection point C, and the frame and the left rear suspension connection point D coplanar.

8. The lifting mechanism adjustment and control method according to claim 6, characterized in that: If the actual working condition ABCD is consistent with the calibration plane ABCD 标定 If they are not parallel, an instruction to control the action of the actuator is generated to adjust the actual working condition ABCD and the calibration plane ABCD 标定 parallel: If ABCD deviates to the left under actual working conditions, the left front suspension cylinder and the left rear suspension cylinder are raised or the right front suspension cylinder and the right rear suspension cylinder are lowered simultaneously; if it deviates to the right, the right front suspension cylinder and the right rear suspension cylinder are raised or the left front suspension cylinder and the left rear suspension cylinder are lowered simultaneously to make the vehicle frame plane state horizontal.

9. The lifting mechanism adjustment and control method according to claim 5, characterized in that: Calculating the deflection angle between the vehicle frame plane and the lifting plane according to the frame plane detection point and the lifting plane detection point, including: According to the coordinate values ​​of each point on the surface ABCD, the unit normal vector of the surface is calculated ; According to the coordinate values ​​of each point on the surface OEF, calculate the unit normal vector of the surface ; The deflection angles of the planes ABCD and OEF are calculated according to the following formula: ， Among them, the deflection angle Deflection towards the positive direction of the Y axis is recorded as a positive angle; deflection Biased toward the negative direction of the Y axis, recorded as a negative angle.

10. The lifting mechanism adjustment and control method according to claim 9, characterized in that: Methods of adjusting the frame to meet lift requirements through actuators include: When the deflection angle exceeds the threshold, the lifting action is stopped and the actuator is controlled to compensate for the deflection angle of the two planes so that the deflection angle is less than the threshold. Methods for controlling the action of the actuator to compensate for the deflection of two planes include: If the deflection angle is positive, the height of the right front suspension cylinder and the right rear suspension cylinder will be raised synchronously or the height of the left front and left rear cylinders will be lowered synchronously; If the deflection angle is negative, the height of the right front suspension cylinder and the right rear suspension cylinder will be raised synchronously or the height of the left front and left rear cylinders will be lowered synchronously.

11. A lifting mechanism adjustment control device, characterized in that: include: A sensor module, used to collect the coordinates of the vehicle frame plane detection points and the lifting plane detection points; A lifting controller module, used to execute the method according to any one of claims 1-10 according to the coordinates of the frame plane detection point and the lifting plane detection point of the vehicle.

12. A non-road dump truck, characterized in that: It comprises the lifting mechanism adjustment control device as claimed in claim 11.

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