Dumper rollover prevention control method, electronic equipment and storage medium

Abstract

The invention discloses a dump truck anti-rollover control method, electronic equipment and a storage medium, and relates to the technical field of new energy dump trucks, the dump truck anti-rollover control method comprises the following steps: obtaining a whole truck inclination angle and a steering wheel rotation angle formed by a whole truck and the ground in real time; the size relation between the whole vehicle inclination angle and a first preset inclination angle and between the whole vehicle inclination angle and a second preset inclination angle is judged; judging the size relationship between the steering wheel angle and a preset angle; and controlling the state of the vehicle according to the size relation between the whole vehicle inclination angle and the first preset inclination angle and the second preset inclination angle and the size relation between the steering wheel rotation angle and the preset rotation angle. A user can timely find dangerous conditions in the driving process and the lifting process of the dumper, and the stability and the safety of the whole dumper can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy dump trucks, and in particular to a dump truck anti-rollover control method. Background Art

[0002] The road conditions when dump trucks are operating are complex and changeable, rugged and bumpy, and the roads often have slopes and curves. The driving environment is relatively harsh, and sometimes the goods are unloaded on a road with a large slope. At the same time, the different loaded goods also have a great impact on the stability of the dump truck. For example, for the same vehicle, if the cargo is dry sand, when the cargo box is lifted to a certain angle, the cargo will be unloaded and will not cause a rollover accident. If the cargo is clay, when the cargo box is lifted to a considerable angle, there will still be a lot of cargo left on the cargo box. At this time, the center of gravity of the whole vehicle is very high. If the center of gravity of the cargo deviates to one side at this time, it will cause a rollover accident. Summary of the invention

[0003] The present application provides a dump truck anti-rollover control method to at least solve one technical problem existing in the related art.

[0004] According to one aspect of an embodiment of the present application, it includes: acquiring the vehicle inclination angle and the steering wheel angle formed by the vehicle and the ground in real time; judging the relationship between the vehicle inclination angle and a first preset inclination angle and a second preset inclination angle; judging the relationship between the steering wheel angle and the preset angles; and controlling the vehicle state according to the relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the relationship between the steering wheel angle and the preset angles.

[0005] As an optional embodiment, it also includes: determining a first maximum allowable inclination angle when the vehicle is fully loaded and the cargo box is not raised when the vehicle is fully loaded and the cargo box is raised when the vehicle is fully loaded and the cargo box is raised when the vehicle is fully loaded and the cargo box is raised when the vehicle is stationary; the first preset inclination angle is the first maximum allowable inclination angle minus a first preset difference; the second preset inclination angle is the second maximum allowable inclination angle minus a second preset difference.

[0006] As an optional implementation, it also includes: the preset turning angle is the maximum turning angle of the steering wheel minus a third preset difference.

[0007] As an optional implementation, the controlling of the vehicle state according to the size relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the size relationship between the steering wheel angle and the preset angles includes: in the driving state, if the vehicle inclination angle is greater than or equal to the first preset inclination angle, and the steering wheel angle is less than the preset angle, the vehicle's dump system is powered off, and the vehicle speed is controlled to be less than or equal to the first preset speed; if the vehicle inclination angle is greater than or equal to the first preset inclination angle, and the steering wheel angle is greater than or equal to the preset angle, the vehicle's dump system is powered off, and the vehicle speed is controlled to be less than or equal to the second preset speed; the second preset speed is less than the first preset speed.

[0008] As an optional embodiment, the controlling of the vehicle state according to the relationship between the inclination angle of the whole vehicle and the first preset inclination angle and the second preset inclination angle, and the relationship between the steering wheel angle and the preset angles includes: in the driving state, if the inclination angle of the whole vehicle is greater than or equal to the second preset inclination angle and less than the first preset inclination angle, and the steering wheel angle is less than the preset angle, the vehicle's dump system is controlled to be powered off; if the inclination angle of the whole vehicle is greater than or equal to the second preset inclination angle and less than the first preset inclination angle, and the steering wheel angle is greater than or equal to the preset angle, the vehicle's dump system is controlled to be powered off, and the vehicle speed is controlled to be less than or equal to a third preset speed.

[0009] As an optional implementation, the vehicle state is controlled according to the relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the relationship between the steering wheel angle and the preset angles, including: in the driving state, if the vehicle inclination angle is less than the second preset inclination angle, the steering wheel angle is greater than or equal to the preset angle, and the vehicle speed is controlled to be less than or equal to a fourth preset speed.

[0010] As an optional implementation, the fourth preset vehicle speed is the maximum allowed vehicle speed corresponding to the maximum steering wheel angle.

[0011] As an optional implementation, the controlling of the vehicle state according to the relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the relationship between the steering wheel angle and the preset angles includes: in the lifted state, if the vehicle inclination angle is greater than or equal to the second preset inclination angle, controlling the vehicle's dump system to cut off power.

[0012] According to another aspect of the present application, an electronic device is provided, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus, and the memory is used to store a computer program; and the processor is used to execute the steps of the dump truck anti-rollover control method by running the computer program stored in the memory.

[0013] According to another aspect of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of the dump truck anti-rollover control method when running.

[0014] In an embodiment of the present application, a dump truck anti-rollover control method is provided, including real-time acquisition of the vehicle inclination angle and steering wheel angle formed by the vehicle and the ground; judging the magnitude relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle; judging the magnitude relationship between the steering wheel angle and the preset angle; and controlling the vehicle state according to the magnitude relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the magnitude relationship between the steering wheel angle and the preset angle. This method enables users to timely discover dangerous situations of the dump truck during driving and lifting, and can effectively improve the stability and safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0017] Figure 1 It is a flow chart of a dump truck anti-rollover control method provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0020] like Figure 1 As shown, the embodiment of the present application provides a dump truck anti-rollover control method, comprising:

[0021] S1 obtains the vehicle inclination angle and steering wheel angle formed between the vehicle and the ground in real time;

[0022] S2 determines the magnitude relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle;

[0023] S3 determines the magnitude relationship between the steering wheel angle and the preset angle;

[0024] S4 controls the vehicle state according to the magnitude relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the magnitude relationship between the steering wheel angle and the preset angle.

[0025] Specifically, controlling the dump truck according to the relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle can enable the user to promptly discover dangerous situations during the driving and lifting process of the dump truck, and can effectively improve the stability and safety of the entire vehicle.

[0026] The first preset inclination angle and the second preset inclination angle can be further determined according to the maximum allowable inclination angle when the vehicle is fully loaded and the cargo box is not raised, and the maximum allowable inclination angle when the vehicle is fully loaded and the cargo box is raised, or can be directly set to the maximum allowable inclination angle when the vehicle is fully loaded and the cargo box is not raised, and the maximum allowable inclination angle when the vehicle is fully loaded and the cargo box is raised, and can also be determined according to the maximum allowable inclination angle when the vehicle is fully loaded at a certain vehicle speed and the cargo box is not raised, and the maximum allowable inclination angle when the vehicle is fully loaded at a certain vehicle speed and the cargo box is raised, or can be determined according to the maximum allowable inclination angle when the vehicle has a certain mass (not fully loaded) and the cargo box is not raised when the vehicle is at rest, and the maximum allowable inclination angle when the vehicle has a certain mass (not fully loaded) and the cargo box is raised when the vehicle is at rest.

[0027] The following embodiments of the present application describe further determining the first preset inclination angle and the second preset inclination angle based on the maximum allowable inclination angle when the vehicle is fully loaded and stationary and the cargo box is not raised, and the maximum allowable inclination angle when the vehicle is fully loaded and stationary and the cargo box is raised.

[0028] As an optional embodiment, it also includes: determining a first maximum allowable inclination angle when the vehicle is fully loaded and the cargo box is not raised when the vehicle is fully loaded and the cargo box is raised when the vehicle is fully loaded and the cargo box is raised when the vehicle is fully loaded and the cargo box is raised when the vehicle is stationary; the first preset inclination angle is the first maximum allowable inclination angle minus a first preset difference; the second preset inclination angle is the second maximum allowable inclination angle minus a second preset difference.

[0029] Specifically, the specific setting values ​​of the first preset difference and the second preset difference can be determined according to the model and condition of the dump truck; and the first preset difference and the second preset difference can be equal or unequal. Exemplarily, the setting range of the first preset difference and the second preset difference can be 1-2. In addition, the first maximum allowable inclination angle is the critical value at which the vehicle will not roll over when the vehicle is fully loaded and the cargo box is not lifted in a stationary state; the second maximum allowable inclination angle is the critical value at which the vehicle will not roll over when the vehicle is fully loaded and the cargo box is lifted in a stationary state. Therefore, it is easy to understand that since lifting the cargo box will cause the overall center of the vehicle to rise, the second maximum allowable inclination angle is smaller than the first maximum allowable inclination angle.

[0030] Setting the first preset inclination angle and the second preset inclination angle to the first maximum allowable inclination angle minus the first preset difference and the second maximum allowable inclination angle minus the second preset difference respectively can ensure that the vehicle will not roll over under all working conditions, further ensuring the stability and safety of the entire vehicle.

[0031] As an optional implementation, it also includes: the preset turning angle is the maximum turning angle of the steering wheel minus a third preset difference.

[0032] Specifically, when the steering wheel angle is large, the vehicle may make a sharp turn and show a tendency to roll over. To avoid this situation, the preset angle can be set to the maximum steering wheel angle minus the third preset difference, which can further ensure the stability and safety of the entire vehicle.

[0033] The third preset difference can be set according to the actual vehicle model, load, etc. Exemplarily, the third preset difference can be set to 2-3.

[0034] As an optional implementation, the controlling of the vehicle state according to the size relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the size relationship between the steering wheel angle and the preset angles includes: in the driving state, if the vehicle inclination angle is greater than or equal to the first preset inclination angle, and the steering wheel angle is less than the preset angle, the vehicle's dump system is powered off, and the vehicle speed is controlled to be less than or equal to the first preset speed; if the vehicle inclination angle is greater than or equal to the first preset inclination angle, and the steering wheel angle is greater than or equal to the preset angle, the vehicle's dump system is powered off, and the vehicle speed is controlled to be less than or equal to the second preset speed; the second preset speed is less than the first preset speed.

[0035] Specifically, when the vehicle is in a driving state, the vehicle is not in a lifting state, and the dump system should be in a disconnected state. However, in order to avoid the occurrence of special situations, when the inclination angle of the whole vehicle is greater than the first preset inclination angle, the dump system of the vehicle is still controlled to cut off the power. At the same time, when the steering wheel angle is less than the preset angle, the vehicle speed is controlled to be less than or equal to the first preset speed; when the steering wheel angle is greater than or equal to the preset angle, the vehicle speed is controlled to be less than or equal to the second preset speed. This can largely prevent the vehicle from rolling over during driving, and can further ensure the stability and safety of the whole vehicle.

[0036] The first preset vehicle speed may be a safe vehicle speed at which the vehicle will not roll over when the vehicle tilt angle is the first preset tilt angle and the steering wheel angle is less than the preset angle, and the second preset vehicle speed may be a safe vehicle speed at which the vehicle will not roll over when the vehicle tilt angle is the first preset tilt angle and the steering wheel angle is greater than or equal to the preset angle. This application does not make further restrictions on this.

[0037] In addition, when the vehicle is in driving state and the inclination angle of the whole vehicle is greater than a first preset inclination angle, the instrument panel, control panel or sound output device in the cab can be controlled to output a signal used to indicate that the vehicle is in a high-level rollover alarm; when the steering wheel angle is greater than a preset angle, the instrument panel, control panel or sound output device in the cab can be controlled to output a signal used to indicate a steering wheel angle alarm.

[0038] As an optional embodiment, the controlling of the vehicle state according to the relationship between the inclination angle of the whole vehicle and the first preset inclination angle and the second preset inclination angle, and the relationship between the steering wheel angle and the preset angles includes: in the driving state, if the inclination angle of the whole vehicle is greater than or equal to the second preset inclination angle and less than the first preset inclination angle, and the steering wheel angle is less than the preset angle, the vehicle's dump system is controlled to be powered off; if the inclination angle of the whole vehicle is greater than or equal to the second preset inclination angle and less than the first preset inclination angle, and the steering wheel angle is greater than or equal to the preset angle, the vehicle's dump system is controlled to be powered off, and the vehicle speed is controlled to be less than or equal to a third preset speed.

[0039] Specifically, when the vehicle is in a driving state and is not in a lifted state, the dump system should be in a disconnected state. However, in order to avoid special situations, when the vehicle inclination angle is greater than the second preset inclination angle and less than the first preset inclination angle, the dump system of the vehicle is still controlled to cut off the power. At the same time, when the steering wheel angle is less than the preset angle, no further actions are performed on the vehicle; when the steering wheel angle is greater than or equal to the preset angle, the vehicle speed is controlled to be less than or equal to the third preset speed.

[0040] The third preset vehicle speed may be a safe vehicle speed at which the vehicle will not roll over when the steering wheel angle is at a maximum.

[0041] In addition, when the vehicle is in a driving state and the inclination angle of the vehicle is greater than a second preset inclination angle and less than a first preset inclination angle, the dashboard, control panel or sound output device in the cab can be controlled to output a signal used to indicate that the vehicle is in a low-level rollover alarm; when the steering wheel angle is greater than a preset angle, the dashboard, control panel or sound output device in the cab can be controlled to output a signal used to indicate a steering wheel angle alarm.

[0042] As an optional implementation, the vehicle state is controlled according to the relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the relationship between the steering wheel angle and the preset angles, including: in the driving state, if the vehicle inclination angle is less than the second preset inclination angle, the steering wheel angle is greater than or equal to the preset angle, and the vehicle speed is controlled to be less than or equal to a fourth preset speed.

[0043] As an optional implementation, the fourth preset vehicle speed is the maximum allowed vehicle speed corresponding to the maximum steering wheel angle.

[0044] Specifically, the fourth preset vehicle speed may also be a safe vehicle speed at which the vehicle will not roll over when the steering wheel angle is maximum.

[0045] In addition, when the steering wheel angle is greater than a preset angle, the dashboard, control panel or sound output device in the cab can be controlled to output a signal representing a steering wheel angle alarm.

[0046] As an optional implementation, the controlling of the vehicle state according to the relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the relationship between the steering wheel angle and the preset angles includes: in the lifted state, if the vehicle inclination angle is greater than or equal to the second preset inclination angle, controlling the vehicle's dump system to cut off power.

[0047] In the lifting state, there are some goods such as sand and other fine goods. When the cargo box is lifted to a certain angle, the goods will be unloaded and will not cause a rollover accident. However, there are also some goods such as clay and other bulky goods. When the cargo box is lifted to a certain angle, there will still be a lot of goods left on the cargo box. At this time, the center of gravity of the whole vehicle is very high. If the center of gravity of the goods deviates to one side at this time, it will cause a rollover accident. Therefore, if the inclination angle of the whole vehicle is greater than or equal to the second preset inclination angle, the self-unloading system of the vehicle is controlled to be powered off to ensure the stability of the vehicle and try to avoid rollover.

[0048] According to another aspect of the present application, an electronic device is provided, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus, and the memory is used to store a computer program; and the processor is used to execute the steps of the dump truck anti-rollover control method by running the computer program stored in the memory.

[0049] According to another aspect of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of the dump truck anti-rollover control method when running.

[0050] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0051] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more electronic devices (such as personal computers, servers, or network devices) to perform all or part of the steps of the methods described in the various embodiments of the present application.

[0052] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0053] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0054] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

[0055] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0056] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0057] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A dump truck anti-rollover control method, characterized in that: include: Obtain the vehicle inclination angle and steering wheel angle formed between the vehicle and the ground in real time; Determining the magnitude relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle; Determine the magnitude relationship between the steering wheel angle and the preset angle; The vehicle state is controlled according to the magnitude relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the magnitude relationship between the steering wheel angle and the preset angle.

2. The dump truck rollover prevention control method according to claim 1, characterized in that: Also includes: Determine the first maximum permissible tilt angle when the vehicle is fully loaded and stationary with the cargo box not raised; Determine the second maximum permissible tilt angle when the cargo box is raised when the vehicle is fully loaded and stationary; The first preset inclination angle is the first maximum allowable inclination angle minus the first preset difference; The second preset inclination angle is the second maximum allowable inclination angle minus the second preset difference.

3. The dump truck anti-rollover control method according to claim 2, characterized in that: Also includes: The preset turning angle is the maximum turning angle of the steering wheel minus the third preset difference.

4. The dump truck anti-rollover control method according to claim 3, characterized in that: The controlling of the vehicle state according to the magnitude relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the magnitude relationship between the steering wheel angle and the preset angle comprises: in the driving state, If the vehicle inclination angle is greater than or equal to the first preset inclination angle and the steering wheel angle is less than the preset angle, the dump system of the vehicle is powered off and the vehicle speed is controlled to be less than or equal to the first preset speed; If the vehicle inclination angle is greater than or equal to the first preset inclination angle and the steering wheel angle is greater than or equal to the preset angle, the dump system of the vehicle is controlled to be powered off and the vehicle speed is controlled to be less than or equal to the second preset speed; The second preset vehicle speed is lower than the first preset vehicle speed.

5. The dump truck rollover prevention control method according to claim 3, characterized in that: The controlling of the vehicle state according to the magnitude relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the magnitude relationship between the steering wheel angle and the preset angle comprises: in the driving state, If the vehicle inclination angle is greater than or equal to the second preset inclination angle and less than the first preset inclination angle, and the steering wheel angle is less than the preset angle, the dump system of the vehicle is controlled to be powered off; If the vehicle inclination angle is greater than or equal to the second preset inclination angle and less than the first preset inclination angle, and the steering wheel angle is greater than or equal to the preset angle, the vehicle's dump system is powered off and the vehicle speed is controlled to be less than or equal to a third preset speed.

6. The dump truck rollover prevention control method according to claim 3, characterized in that: The method of controlling the vehicle state according to the relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the relationship between the steering wheel angle and the preset angles includes: in the driving state, if the vehicle inclination angle is less than the second preset inclination angle, the steering wheel angle is greater than or equal to the preset angle, and the vehicle speed is controlled to be less than or equal to a fourth preset speed.

7. The dump truck rollover prevention control method according to claim 6, characterized in that: The fourth preset vehicle speed is the maximum allowable vehicle speed corresponding to the maximum steering wheel angle.

8. The dump truck rollover prevention control method according to claim 2, characterized in that: The controlling of the vehicle state according to the magnitude relationship between the vehicle inclination angle and the first preset inclination angle and the second preset inclination angle, and the magnitude relationship between the steering wheel angle and the preset angle comprises: in the lifting state, If the inclination angle of the whole vehicle is greater than or equal to the second preset inclination angle, the dump system of the vehicle is controlled to be powered off.

9. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein: The processor, the communication interface and the memory communicate with each other via the communication bus, wherein: The memory is used to store computer programs; The processor is used to execute the steps of the dump truck anti-rollover control method according to any one of claims 1 to 8 by running the computer program stored in the memory.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the steps of the dump truck anti-rollover control method according to any one of claims 1 to 8 when running.

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