Method and device for preventing vehicle from tipping over, storage medium and vehicle

Abstract

The embodiment of the invention provides a method and device for preventing a vehicle from tipping over, a storage medium and the vehicle. The method comprises the steps that under the condition that a workbench is located at a preset height, whether a vehicle has a tipping risk or not is judged; acquiring a first vertical height and a second vertical height from the gravity centers corresponding to the slope surface and the workbench to the lower surface of the workbench respectively under the condition that the vehicle has a tipping risk; the inclination angle between the workbench and the horizontal plane and the distance between the longitudinal center line of the vehicle and the outer edge of any one of the multiple tires of the vehicle are obtained; according to the first vertical height, the second vertical height, the inclination angle and the distance, the minimum sliding distance of the workbench needing to move towards the non-inclination direction of the workbench is determined; and the workbench is controlled to move towards the non-inclined direction of the workbench, and the moving distance is at least the minimum sliding distance, so that the gravity center position of the whole vehicle is adjusted, and the vehicle rollover risk is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, a device, a storage medium and a vehicle for preventing a vehicle from rolling over. Background Art

[0002] When the vehicle is parked on an uneven surface with a certain slope, and a workbench is used for manned operations, the higher the lifting height of the vehicle's workbench, the higher the overall center of gravity of the vehicle, the greater the load on the tire on the tilted side, the greater the tire pressure, and the greater the risk of the vehicle tipping over.

[0003] In the prior art, the vehicle is prevented from tipping over by limiting the lifting height of the work platform or some adjustment mechanism. However, if the lifting height of the work platform is limited, the vehicle cannot exert its high-altitude operating performance. If the vehicle is prevented from tipping over by some adjustment mechanism, if the manned operating height of the vehicle's lifting platform is high, the overall center of gravity of the vehicle is higher, and the risk of the vehicle tipping over is still greater. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method, device, storage medium and vehicle for preventing a vehicle from rolling over, so as to solve the problem of high risk of vehicle rolling over in the prior art.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for preventing a vehicle from rolling over, comprising:

[0006] When the workbench is at the preset height, determine whether the vehicle has a risk of tipping over;

[0007] In the case where there is a risk of the vehicle tipping over, obtaining a first vertical height and a second vertical height from the center of gravity corresponding to the slope and the workbench to the lower surface of the workbench respectively;

[0008] Obtaining an inclination angle between the workbench and a horizontal plane and a distance between a longitudinal centerline of the vehicle and an outer edge of any one of a plurality of tires of the vehicle;

[0009] Determine the minimum sliding distance that the workbench needs to move in the non-inclined direction of the workbench according to the first vertical height, the second vertical height, the inclination angle, and the distance;

[0010] The workbench is controlled to move in a non-tilted direction of the workbench, and the moving distance is at least the minimum sliding distance to prevent the vehicle from tipping over.

[0011] In an embodiment of the present application, determining the minimum sliding distance that the workbench needs to move in the non-inclined direction of the workbench based on the first vertical height, the second vertical height, the inclination angle and the distance includes: determining the sum of the first vertical height and the second vertical height as the total vertical height from the center of gravity corresponding to the workbench to the slope; determining the horizontal distance between the center of gravity corresponding to the workbench and the target contact point based on the total vertical height, the inclination angle and the distance, wherein the target contact point refers to the contact point between the outer edge of the tire with the smallest height from the horizontal plane among multiple tires of the vehicle and the slope; determining the ratio between the horizontal distance and the cosine value of the inclination angle as the minimum sliding distance.

[0012] In an embodiment of the present application, determining the horizontal distance between the center of gravity corresponding to the workbench and the target contact point based on the total vertical height, the inclination angle and the distance includes: determining a first product between the total vertical height and the sine value of the inclination angle, and a second product between the distance and the cosine value of the inclination angle; and determining the product difference between the first product and the second product as the horizontal distance.

[0013] In an embodiment of the present application, determining whether a vehicle is at risk of rolling over includes: obtaining the current tire pressure of each of a plurality of tires of the vehicle; and determining that the vehicle is at risk of rolling over when the difference between the current tire pressure of any tire and the target tire pressure is greater than a preset tire pressure difference.

[0014] In an embodiment of the present application, the method further includes: initiating an alarm when there is a risk of the vehicle tipping over, or when the workbench cannot be controlled to move in a non-tilted direction of the workbench.

[0015] In an embodiment of the present application, the method further includes: when the duration of the alarm activation reaches a preset duration, sending a stop operation instruction to the terminal and controlling the workbench to descend.

[0016] In an embodiment of the present application, the method further includes: when there is a risk of overturning of the vehicle, prohibiting the workbench from moving in the tilting direction of the workbench.

[0017] In the embodiment of the present application, the vehicle is a sanitation vehicle.

[0018] A second aspect of the present application provides a device for preventing a vehicle from rolling over, comprising:

[0019] a memory configured to store instructions;

[0020] The processor is configured to call instructions from the memory and implement the above-mentioned method for preventing vehicle rollover when executing the instructions.

[0021] A third aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configure the processor to execute the above-mentioned method for preventing a vehicle from rolling over.

[0022] A fourth aspect of the present application provides a vehicle, comprising:

[0023] A workbench, used to carry a user to perform work;

[0024] A stress sensor for detecting the pressure of a vehicle's tire;

[0025] Inclination sensor, used to detect the inclination angle between the workbench and the horizontal plane;

[0026] A distance sensor is used to monitor the distance from the slope where the workbench is parked to the lower surface of the workbench;

[0027] The above-mentioned device for preventing vehicle from tipping over.

[0028] Through the above technical scheme, when the workbench is at a preset height, it is determined whether the vehicle has a risk of overturning. When the vehicle has a risk of overturning, the first vertical height and the second vertical height from the center of gravity corresponding to the slope and the workbench to the lower surface of the workbench are obtained respectively; the inclination angle between the workbench and the horizontal plane and the distance from the longitudinal center line of the vehicle to the outer edge of any one of the multiple tires of the vehicle are obtained; the minimum sliding distance that the workbench needs to move toward the non-inclined direction of the workbench is determined according to the first vertical height, the second vertical height, the inclination angle and the distance; the workbench is controlled to move in the non-inclined direction of the workbench, and the moving distance is at least the minimum sliding distance, so as to adjust the center of gravity position of the entire vehicle, thereby reducing the risk of the vehicle overturning.

[0029] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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 following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0031] Figure 1 A schematic diagram of a process flow of a method for preventing a vehicle from rolling over according to an embodiment of the present application is schematically shown;

[0032] Figure 2 A schematic diagram schematically shows the analysis of the overturning moment of the whole vehicle after the workbench is lifted according to an embodiment of the present application;

[0033] Figure 3A schematic diagram schematically shows the analysis of the overturning moment of the whole vehicle after the workbench moves toward the non-tilted direction of the workbench according to an embodiment of the present application;

[0034] Figure 4 A schematic diagram of a process flow of a method for preventing a vehicle from rolling over according to another embodiment of the present application is schematically shown;

[0035] Figure 5 The internal structure of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme 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. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0037] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0039] Figure 1 The flowchart of the method for preventing a vehicle from rolling over according to an embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a method for preventing a vehicle from rolling over is provided, comprising the following steps:

[0040] Step 101: When the workbench is at a preset height, determine whether the vehicle has a risk of tipping over.

[0041] The vehicle includes a workbench. The workbench may be a lifting platform or an aerial work platform. The lifting platform may be a scissor-type lifting platform. The aerial work platform may be a rail-type aerial work platform or a crank-type aerial work platform. In an embodiment of the present application, the vehicle is a sanitation vehicle. A sanitation vehicle refers to a special vehicle used for urban appearance tidying and cleaning. The sanitation vehicle may be a traditional vehicle using traditional fuel as a power source, or a new energy vehicle using non-traditional fuel as a power source. The sanitation vehicle includes a road sweeper. The road sweeper may include a road washing vehicle.

[0042] When the workbench is at a preset height, the user in the workbench can perform related operations. For example, if the vehicle is a road washing vehicle, it can perform cleaning operations of related road facilities at the preset height. However, if the deadweight and load of the workbench are too large, the vehicle may tip over on the slope. In order to ensure the safety of the user performing related operations, the processor can determine whether the vehicle has a tipping risk. For example, the deadweight of the vehicle, the deadweight and load of the workbench, and the pressure applied by the workbench to the vehicle can be used to determine whether the vehicle has a tipping risk.

[0043] In an embodiment of the present application, determining whether a vehicle is at risk of rolling over includes: obtaining the current tire pressure of each of a plurality of tires of the vehicle; and determining that the vehicle is at risk of rolling over when the difference between the current tire pressure of any tire and the target tire pressure is greater than a preset tire pressure difference.

[0044] A stress sensor may be installed on each tire of the vehicle. The stress sensor may be any one of a tire pressure sensor, a load weighing device, and a strain gauge, or may be other devices capable of measuring pressure. When the workbench is at a preset height, the multiple tires of the vehicle have different heights from the horizontal plane. The vehicle includes a tire with the smallest height from the horizontal plane and a tire with the largest height from the horizontal plane.

[0045] Each stress sensor can detect the pressure of the vehicle's tires and send the current tire pressure of each detected tire to the processor in real time. The processor can obtain the current tire pressure of each tire, and can determine whether the difference between the current tire pressure of each tire and the target tire pressure is greater than the preset tire pressure difference. Among them, the target tire pressure and the preset tire pressure difference can be set according to actual conditions, but their values ​​must make the tire pressure within a safe range. For example, the preset tire pressure difference can be set to 50kPa. If the processor determines that the difference between the current tire pressure and the target tire pressure of any tire is greater than the preset tire pressure difference, it can be determined that the vehicle is at risk of overturning.

[0046] In one embodiment, if the difference between the current tire pressure of all tires and the target tire pressure is less than or equal to the preset tire pressure difference, it can be determined that the vehicle does not have a risk of rollover. The preset tire pressure difference can be set according to actual conditions, but its value must be such that the tire pressure is within a safe range.

[0047] Step 102: When there is a risk of the vehicle rolling over, obtain a first vertical height and a second vertical height from the center of gravity corresponding to the slope and the workbench to the lower surface of the workbench, respectively.

[0048] Step 103: Obtain the inclination angle between the workbench and the horizontal plane and the distance between the longitudinal center line of the vehicle and the tire outer edge of any tire among the multiple tires of the vehicle.

[0049] The vehicle may be equipped with a distance sensor, which may be installed on the left and right sides of the lower surface of the workbench to monitor the first vertical height from the slope where the workbench is parked to the lower surface of the workbench. If the distances monitored by the distance sensors on the left and right sides of the lower surface of the workbench are equal, the distances may be used as the first vertical height. If the distances monitored by the distance sensors on the left and right sides of the lower surface of the workbench are not equal, the maximum value of the distances may be selected as the first vertical height.

[0050] When it is determined that the vehicle is at risk of tipping over, the processor may obtain the first vertical height from the slope to the lower surface of the workbench sent by the distance sensor. The second vertical height from the center of gravity corresponding to the workbench to the lower surface of the workbench may be a preset value, and the second vertical height may be customized in advance according to actual conditions. The second vertical height may be pre-stored in a database, and the processor may obtain the second vertical height from the database when it is determined that the vehicle is at risk of tipping over.

[0051] An angle sensor may be installed on the vehicle, and the angle sensor may be used to monitor the inclination angle between the workbench and the horizontal plane. The distance between the longitudinal centerline of the vehicle and the outer edge of any one of the multiple tires of the vehicle may be a preset value, which may be measured before the vehicle is operated. The processor may obtain the inclination angle between the workbench and the horizontal plane sent by the angle sensor, and may obtain the distance between the longitudinal centerline of the vehicle and the outer edge of any one of the multiple tires of the vehicle.

[0052] Step 104: Determine the minimum sliding distance that the workbench needs to move toward the non-inclined direction of the workbench according to the first vertical height, the second vertical height, the tilt angle, and the distance.

[0053] The processor may determine the minimum sliding distance that the workbench needs to move toward the non-tilted direction of the workbench based on the first vertical height, the second vertical height, the tilt angle, and the distance. For example, a torque analysis may be performed on the first vertical height, the second vertical height, the tilt angle, and the distance to obtain the minimum sliding distance.

[0054] In an embodiment of the present application, determining the minimum sliding distance that the workbench needs to move in the non-inclined direction of the workbench based on the first vertical height, the second vertical height, the inclination angle and the distance includes: determining the sum of the first vertical height and the second vertical height as the total vertical height from the center of gravity corresponding to the workbench to the slope; determining the horizontal distance between the center of gravity corresponding to the workbench and the target contact point based on the total vertical height, the inclination angle and the distance, wherein the target contact point refers to the contact point between the outer edge of the tire with the smallest height from the horizontal plane among multiple tires of the vehicle and the slope; determining the ratio between the horizontal distance and the cosine value of the inclination angle as the minimum sliding distance.

[0055] After acquiring the first vertical height and the second vertical height, the processor may determine the sum of the first vertical height and the second vertical height, which is the total vertical height from the center of gravity corresponding to the workbench to the slope. The processor may determine the horizontal distance between the center of gravity corresponding to the workbench and the target contact point according to the total vertical height, the inclination angle, and the distance, wherein the target contact point refers to the contact point between the outer edge of the tire with the smallest height from the horizontal plane among the multiple tires of the vehicle and the slope.

[0056] In an embodiment of the present application, determining the horizontal distance between the center of gravity corresponding to the workbench and the target contact point based on the total vertical height, the inclination angle and the distance includes: determining a first product between the total vertical height and the sine value of the inclination angle, and a second product between the distance and the cosine value of the inclination angle; and determining the product difference between the first product and the second product as the horizontal distance.

[0057] The processor may determine a first product between the total vertical height and the sine of the tilt angle, and a second product between the distance and the cosine of the tilt angle. The processor may determine a product difference between the first product and the second product, the product difference being the horizontal distance.

[0058] In one embodiment, the horizontal distance may be determined based on the following formula:

[0059] L2=(H1+H2)·sin(β)-B·cos(β)

[0060] Among them, B is the distance from the longitudinal centerline of the vehicle to the outer edge of the tire, B is a constant, H1 refers to the first vertical height from the slope to the lower surface of the workbench, H2 refers to the second vertical height from the center of gravity corresponding to the workbench to the lower surface of the workbench, and β refers to the inclination angle between the workbench and the horizontal plane. The higher the workbench is lifted, the greater L2 is, and the greater the total overturning moment of the vehicle, the greater the pressure on the tire on the overturned side, and the greater the risk of overturning.

[0061] Among them, a tilt sensor may be installed on the workbench of the vehicle. The tilt sensor can be used to detect the tilt angle between the workbench and the horizontal plane, and the tilt direction of the workbench. The processor can construct a geometric model based on the tilt angle and the horizontal distance, and solve the geometric model to obtain the minimum sliding distance. Specifically, the processor can determine the cosine value of the tilt angle, and determine the ratio between the horizontal distance and the cosine value of the tilt angle as the minimum sliding distance that the workbench needs to move toward the non-tilted direction of the workbench.

[0062] In an embodiment of the present application, the method further includes: when there is a risk of overturning of the vehicle, prohibiting the workbench from moving in the tilting direction of the workbench.

[0063] The plane where the workbench is located may be parallel to the slope where the vehicle is located. In this case, the inclination direction of the workbench is the downhill direction of the slope. In the case where there is a risk of the vehicle tipping over, in order to prevent the workbench from moving in the inclination direction of the workbench and increase the risk of the vehicle tipping over, the processor may prohibit the workbench from moving in the inclination direction of the workbench, thereby ensuring the safety of vehicle operation and the safety of operation of users in the workbench. The inclination direction of the workbench may be determined based on the inclination sensor on the vehicle, or based on other sensors that can determine the inclination direction.

[0064] In an embodiment of the present application, the method further includes: when there is a risk of the vehicle rolling over, activating an alarm.

[0065] The vehicle includes an alarm device. The alarm device may be a sound alarm, a photoelectric alarm, a sound and light alarm, etc. The alarm device may be installed on the body of the vehicle. If the alarm device is installed on the body of the vehicle, and the lifting height of the workbench is too large, the user in the workbench may not be able to hear the alarm prompt of the alarm device. Therefore, in order to further ensure the safety of the user, the alarm device may be installed on the workbench at the same time.

[0066] When the vehicle is at risk of tipping over, the processor may control the alarm device on the vehicle body and / or the alarm device on the workbench to issue an alarm prompt to start the alarm. When the alarm device on the vehicle body issues an alarm prompt, users around the vehicle may be prompted to stay away from the vehicle. When the alarm device on the workbench issues an alarm prompt, the user on the workbench may be prompted to take relevant safety measures.

[0067] In an embodiment of the present application, the method further includes: when the duration of the alarm activation reaches a preset duration, sending a stop operation instruction to the terminal and controlling the workbench to descend.

[0068] When the duration of the alarm activation reaches the preset duration, the processor can send a stop operation instruction to the terminal and control the workbench to descend in order to adjust the center of mass height of the vehicle until it is detected that there is no risk of the vehicle tipping over and the alarm is determined to be over. The preset duration can be set according to actual needs.

[0069] Step 105: Control the workbench to move toward the non-tilted direction of the workbench, and the moving distance is at least the minimum sliding distance to prevent the vehicle from tipping over.

[0070] The processor can control the workbench to move in a non-tilted direction of the workbench, and the moving distance is at least the minimum sliding distance to prevent the vehicle from tipping over. If the plane where the workbench is located is parallel to the slope, the non-tilted direction of the workbench is the uphill direction of the slope.

[0071] like Figure 2 As shown in Figure 1, a schematic diagram of the overturning moment analysis of the vehicle after the workbench is lifted is provided. Figure 3 As shown, a schematic diagram of the overturning moment analysis of the whole vehicle after the workbench moves toward the non-tilted direction of the workbench is provided.

[0072] Wherein, B is the distance from the longitudinal centerline of the vehicle to the outer edge of the tire, B is a constant, H1 refers to the first vertical height from the slope to the lower surface of the workbench, H2 refers to the second vertical height from the center of gravity corresponding to the workbench to the lower surface of the workbench, β refers to the inclination angle between the workbench and the horizontal plane, L1 refers to the horizontal distance from the center of gravity of the vehicle body to the contact point between the outer edge of the tire with the smallest height from the horizontal plane and the slope, L2 refers to the distance from the total center of mass of the platform and its load to the outer edge of the tire on the inclined side before the sliding platform performs the sliding action, L ′ 2 is the preset margin, which refers to the difference between the horizontal projection of the displacement of the sliding platform sliding out to the high side and L2. ′ 2 can be set according to the requirements, and its minimum value can be set to 0. ′ 2 is 0, the minimum sliding distance of the workbench moving in the non-tilted direction of the workbench can be obtained. When the distance moved by the workbench in the non-tilted direction of the workbench is greater than L2 / cos(β), the tipping moment is zero, and at this time, the vehicle will not have the risk of tipping over.

[0073] In the embodiment of the present application, when the workbench cannot be controlled to move in the non-tilted direction of the workbench, an alarm is activated.

[0074] Since the workbench is at a preset height, there may be obstacles such as railings and trees nearby, which limits the space for the workbench to move, making it impossible to control the workbench to move in the non-tilted direction of the workbench. At this time, the processor can activate an alarm. When the alarm is activated, the processor can control the alarm device installed on the vehicle to issue an alarm prompt. The alarm device can be a sound alarm, a photoelectric alarm, an audible and visual alarm, etc.

[0075] When the user is working on the workbench, the working noise may be loud, which may result in the user not being able to hear the alarm prompt issued by the alarm device. In order to avoid this situation, the processor can send a risk signal to the portable device of the user of the workbench at the same time as sending the alarm prompt, indicating that the vehicle may have the risk of overturning, so as to remind the user of this risk through the portable device. Among them, the portable device may include a mobile phone, an electronic bracelet, a belt, and a helmet. A vibrator may be installed on the portable device, and when receiving the risk signal sent by the processor, the vibrator can generate vibration to remind the user who is working on the workbench.

[0076] When sending an alarm, the processor may also simultaneously send a risk warning to the user terminal in the remote workstation to alert the administrator in the remote workstation. When the administrator receives the risk warning, he may log in to the mobile device through a mobile phone to notify the user in the workbench. If the user in the workbench does not provide relevant feedback, the workbench may be remotely controlled to descend, or the vehicle may be controlled to move away from the slope where the vehicle is located, thereby preventing the vehicle from tipping over and causing a safety accident to the user in the workbench.

[0077] If there is a risk of the vehicle tipping over, that is, the alarm is activated before it is determined that the workbench cannot be controlled to move in the non-tilted direction of the workbench. At this time, the processor can continue to maintain the alarm operation to continue to remind the user in the workbench that the vehicle may be at risk of tipping over, so that the user can formulate corresponding safety measures in time to protect his own safety.

[0078] like Figure 4 As shown, a flow chart of another method for preventing a vehicle from rolling over is provided.

[0079] The vehicle may include a left front tire pressure sensor, a left rear tire pressure sensor, a right front tire pressure sensor, a right rear tire pressure sensor, a lifting platform, and a lifting platform inclination sensor. The tire pressure sensor may be used to detect the pressure of the tire of the corresponding vehicle. After each tire pressure sensor detects the pressure of the corresponding tire, it may send it to the industrial controller. The lifting platform inclination sensor may be used to detect the inclination angle between the lifting platform and the horizontal plane, and the inclination direction of the lifting platform. After the lifting platform inclination sensor detects the inclination angle and the inclination direction, it may send them to the industrial controller.

[0080] When the vehicle is parked on a slope with a certain inclination, the tire pressure on the lower side will be higher than the standard tire pressure, and the tire pressure will further increase as the lifting height of the lifting platform increases. At the same time, the tire pressure on the higher side will be slightly lower than the standard tire pressure, and the tire pressure will further decrease as the lifting height of the lifting platform increases, reaching the minimum value when the tire is suspended.

[0081] The industrial controller can determine whether the tire pressure exceeds the limit based on the obtained tire pressure sensors. Specifically, when the tire pressure of any tire in the vehicle is greater than the standard tire pressure value, it can be determined that the tire pressure exceeds the limit and the vehicle may have a rollover risk. When the tire pressure of no tire in the current vehicle is greater than the standard tire pressure value, it can be determined that the tire pressure of the vehicle's tires is within the limit, and at this time, it can be determined that the vehicle may not have a rollover risk.

[0082] If the tire pressure is within the limit, the processor can control the lifting platform to lift as required, and the user can continue to work. If the tire pressure is determined to be over the limit, the sound and light alarm can be triggered, and the lifting platform can be automatically locked from sliding to the lower side, allowing the platform to slide to the higher side only. The highest safety threshold can be set to 600kPa, and the lowest safety threshold can be set to 400kPa.

[0083] The industrial controller can control the lifting platform to slide out to the high side until the alarm ends, so that the user can continue to work while keeping the lifting platform at the same height from the ground. However, if the lifting platform cannot slide out completely to the high side due to limited space and obstacles, and the alarm cannot be released, the industrial controller can control the vehicle to automatically stop the washing operation after the alarm continues for a certain period of time, and remind the user to control the lifting platform to descend in order to lower the center of mass of the vehicle until the tire pressure alarm ends.

[0084] Through the above technical scheme, when the workbench is at a preset height, it is determined whether the vehicle has a risk of overturning. When the vehicle has a risk of overturning, the first vertical height and the second vertical height from the center of gravity corresponding to the slope and the workbench to the lower surface of the workbench are obtained respectively; the inclination angle between the workbench and the horizontal plane and the distance from the longitudinal center line of the vehicle to the outer edge of any one of the multiple tires of the vehicle are obtained; the minimum sliding distance that the workbench needs to move in the non-inclined direction of the workbench is determined according to the first vertical height, the second vertical height, the inclination angle and the distance, and the workbench is controlled to move in the non-inclined direction of the workbench, and the moving distance is at least the minimum sliding distance, so as to adjust the center of gravity position of the entire vehicle, thereby reducing the risk of vehicle overturning.

[0085] Figure 1 and 4 FIG. 1 is a flow chart of a method for preventing a vehicle from rolling over in one embodiment. Figure 1 and 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 and 4 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0086] In one embodiment, there is provided a device for preventing a vehicle from rolling over, comprising:

[0087] a memory configured to store instructions;

[0088] The processor is configured to call instructions from the memory and implement the above-mentioned method for preventing vehicle rollover when executing the instructions.

[0089] In one embodiment, a storage medium is provided, on which a program is stored, and when the program is executed by a processor, the above-mentioned method for preventing a vehicle from rolling over is implemented.

[0090] In one embodiment, a processor is provided, and the processor is used to run a program, wherein the program executes the above-mentioned method for preventing vehicle rollover when running.

[0091] In an embodiment of the present application, a vehicle is provided, comprising:

[0092] A workbench, used to carry a user to perform work;

[0093] A stress sensor for detecting the pressure of a vehicle's tire;

[0094] Inclination sensor, used to detect the inclination angle between the workbench and the horizontal plane;

[0095] A distance sensor is used to monitor the distance from the slope where the workbench is parked to the lower surface of the workbench;

[0096] The above-mentioned device for preventing vehicle from tipping over.

[0097] The workbench can be a lifting platform or an aerial work platform. The lifting platform can be a scissor lift platform. The aerial work platform can be a rail-type aerial work platform or a crank-type aerial work platform. The stress sensor can be any one of a tire pressure sensor, a load weighing device, and a strain gauge, or other devices capable of measuring pressure. The inclination sensor can be installed on the workbench, and the inclination sensor can also detect the inclination direction of the workbench. The distance sensor can be installed on the left and right sides of the lower surface of the workbench to monitor the distance from the slope where the workbench is parked to the lower surface of the workbench, and can be installed on the lower surface of the workbench.

[0098] In the embodiment of the present application, the vehicle is a sanitation vehicle. A sanitation vehicle refers to a special vehicle used for urban appearance tidying and cleaning. A sanitation vehicle can be a traditional vehicle using traditional fuel as a power source, or a new energy vehicle using non-traditional fuel as a power source. A sanitation vehicle includes a road sweeper. Among them, a road sweeper may include a road washing vehicle.

[0099] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as the minimum sliding distance. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a method for preventing a vehicle from tipping over is implemented.

[0100] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0101] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: when a workbench is at a preset height, determining whether the vehicle is at risk of tipping over; when the vehicle is at risk of tipping over, obtaining a first vertical height and a second vertical height from the center of gravity corresponding to the slope and the workbench to the lower surface of the workbench respectively; obtaining an inclination angle between the workbench and the horizontal plane and a distance from the longitudinal center line of the vehicle to the outer edge of any one of a plurality of tires of the vehicle; determining a minimum sliding distance that the workbench needs to move in a non-tilted direction of the workbench based on the first vertical height, the second vertical height, the inclination angle, and the distance; and controlling the workbench to move in the non-tilted direction of the workbench, and the moving distance must be at least the minimum sliding distance to prevent the vehicle from tipping over.

[0102] In one embodiment, determining the minimum sliding distance that the workbench needs to move in the non-inclined direction of the workbench based on the first vertical height, the second vertical height, the inclination angle and the distance includes: determining the sum of the first vertical height and the second vertical height as the total vertical height from the center of gravity corresponding to the workbench to the slope; determining the horizontal distance between the center of gravity corresponding to the workbench and the target contact point based on the total vertical height, the inclination angle and the distance, wherein the target contact point refers to the contact point between the outer edge of the tire with the smallest height from the horizontal plane among multiple tires of the vehicle and the slope; determining the ratio between the horizontal distance and the cosine value of the inclination angle as the minimum sliding distance.

[0103] In one embodiment, determining the horizontal distance between the center of gravity corresponding to the workbench and the target contact point based on the total vertical height, the inclination angle and the distance includes: determining a first product between the total vertical height and the sine value of the inclination angle, and a second product between the distance and the cosine value of the inclination angle; and determining the product difference between the first product and the second product as the horizontal distance.

[0104] In one embodiment, determining whether a vehicle is at risk of rolling over includes: obtaining the current tire pressure of each of a plurality of tires of the vehicle; and determining that the vehicle is at risk of rolling over when the difference between the current tire pressure of any tire and a target tire pressure is greater than a preset tire pressure difference.

[0105] In one embodiment, the method further comprises: initiating an alarm when there is a risk of the vehicle tipping over, or the workbench cannot be controlled to move in a non-tilted direction of the workbench.

[0106] In one embodiment, the method further includes: when the duration of the alarm activation reaches a preset duration, sending a stop operation instruction to the terminal and controlling the workbench to descend.

[0107] In one embodiment, the method further comprises: when there is a risk of the vehicle tipping over, prohibiting the work platform from moving in a tilting direction of the work platform.

[0108] In one embodiment, the vehicle is a sanitation vehicle.

[0109] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that initiates the method steps for preventing a vehicle from rolling over.

[0110] 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 in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0111] 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.

[0112] 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.

[0113] 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 A step that specifies a function in one or more boxes.

[0114] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0115] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0116] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0117] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0118] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for preventing a vehicle from rolling over, characterized in that: The vehicle includes a workbench, and the method includes: When the workbench is at a preset height, determining whether the vehicle has a risk of tipping over; In the case where there is a risk of the vehicle rolling over, obtaining a first vertical height and a second vertical height from the center of gravity corresponding to the slope where the vehicle is located and the workbench to the lower surface of the workbench respectively; Obtaining an inclination angle between the workbench and a horizontal plane and a distance between a longitudinal centerline of the vehicle and an outer edge of any one of a plurality of tires of the vehicle; Determine a minimum sliding distance that the workbench needs to move toward a non-inclined direction of the workbench according to the first vertical height, the second vertical height, the inclination angle, and the distance; The workbench is controlled to move toward a non-tilted direction of the workbench, and the moving distance is at least the minimum sliding distance, so as to prevent the vehicle from tipping over.

2. The method for preventing a vehicle from rolling over according to claim 1, characterized in that: The determining, according to the first vertical height, the second vertical height, the tilt angle, and the distance, of the minimum sliding distance that the workbench needs to move toward the non-tilted direction of the workbench comprises: Determine the sum of the first vertical height and the second vertical height as the total vertical height from the center of gravity corresponding to the workbench to the slope surface; Determining the horizontal distance between the center of gravity corresponding to the workbench and a target contact point according to the total vertical height, the inclination angle, and the distance, wherein the target contact point refers to the contact point between the outer edge of a tire with the smallest height from the horizontal plane among multiple tires of the vehicle and the slope surface; The ratio between the horizontal distance and the cosine value of the tilt angle is determined as the minimum sliding distance.

3. The method for preventing a vehicle from rolling over according to claim 2, characterized in that: Determining the horizontal distance between the center of gravity corresponding to the workbench and the target contact point according to the total vertical height, the inclination angle and the distance includes: determining a first product between the total vertical height and the sine of the inclination angle, and a second product between the distance and the cosine of the inclination angle; A product difference between the first product and the second product is determined as the horizontal distance.

4. The method for preventing a vehicle from rolling over according to claim 1, characterized in that: Determining whether the vehicle has a risk of overturning includes: Obtaining a current tire pressure of each tire of a plurality of tires of the vehicle; When the difference between the current tire pressure of any tire and the target tire pressure is greater than a preset tire pressure difference, it is determined that the vehicle has a rollover risk.

5. The method for preventing a vehicle from rolling over according to claim 1, characterized in that: The method further comprises: In the event that the vehicle is at risk of tipping over, or the workbench cannot be controlled to move in a non-tilted direction of the workbench, an alarm is activated.

6. The method for preventing a vehicle from rolling over according to claim 5, characterized in that: The method further comprises: When the duration of the alarm activation reaches a preset duration, a stop operation instruction is sent to the terminal, and the workbench is controlled to descend.

7. The method for preventing a vehicle from rolling over according to claim 1, characterized in that: The method further comprises: In the event that there is a risk of the vehicle tipping over, the workbench is prohibited from moving in a tilting direction of the workbench.

8. The method for preventing a vehicle from rolling over according to any one of claims 1 to 7, characterized in that: The vehicle is a sanitation vehicle.

9. A device for preventing a vehicle from tipping over, characterized in that: The device comprises: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the method for preventing a vehicle from rolling over according to any one of claims 1 to 8 when executing the instructions.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the method for preventing a vehicle from rolling over according to any one of claims 1 to 8.

11. A vehicle, characterized in that: include: A workbench, used to carry a user to perform work; A stress sensor for detecting the pressure of a tire of the vehicle; An inclination sensor is used to detect the inclination angle between the workbench and the horizontal plane; A distance sensor, used to monitor the distance from the slope where the workbench is parked to the lower surface of the workbench; The device for preventing a vehicle from rolling over according to claim 9.

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