A method of controlling a dump vehicle and a dump vehicle

Abstract

The present application relates to the technical field of vehicle control, in particular to a dump truck control method and a dump truck. The method comprises the following steps: based on a triggering of an unloading instruction, horizontal data of a cargo compartment of the dump truck in a stationary state is acquired. Based on a first height of the cargo compartment being lower than a second height of the cargo compartment and a difference between the first height and the second height being within a first set range, a side telescopic arm on a first side of the cargo compartment and a side telescopic arm on a second side of the cargo compartment are driven to extend away from the cargo compartment, one end of a vertical telescopic arm on the side telescopic arm on the first side is driven to abut against the ground, and a threaded taper on the side telescopic arm on the second side is driven to rotate and penetrate into the ground to a set depth. Based on the threaded taper rotating and penetrating into the ground to the set depth, one end of the cargo compartment close to a vehicle head assembly is driven to move away from a vehicle beam assembly to an angle between the cargo compartment and the vehicle beam assembly being greater than or equal to a first set angle. In this way, the problem of how to improve the stability of the dump truck during unloading is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a self-unloading vehicle control method and a self-unloading vehicle. BACKGROUND

[0002] The self-unloading vehicle is a truck for transporting bulk materials (such as sand, stone, soil, coal, building materials, etc.), which is widely used in construction, mining, agriculture and waste treatment industries. The cargo compartment of the self-unloading vehicle is tiltable, usually located at the rear of the vehicle, and can be controlled by hydraulic or mechanical means to lift one end of the cargo compartment and tilt at a certain angle, thereby using the weight of the cargo itself to unload the cargo to the ground. There are various unloading methods including side unloading, rear unloading and bottom unloading, among which rear unloading is more common. The self-unloading vehicle can significantly improve the loading and unloading efficiency and reduce labor costs. It usually has a large carrying capacity and can carry a large amount of bulk materials. It can quickly unload the cargo, reducing the loading and unloading time and improving the transportation efficiency.

[0003] When the cargo compartment is lifted together with the cargo, the center of gravity of the cargo compartment and the cargo becomes higher due to the uneven road surface or different tire pressure of the vehicle, which can easily cause the vehicle to roll over. If the cargo has certain viscosity, the cargo in the cargo compartment slips out unevenly, which can exacerbate the occurrence of vehicle rollover, causing the vehicle to be easily damaged and even causing personnel casualties and safety accidents in severe cases. SUMMARY

[0004] To solve the problem of how to improve the stability of the self-unloading vehicle during unloading, the present application provides a self-unloading vehicle control method and a self-unloading vehicle.

[0005] In a first aspect, the present application provides a self-unloading vehicle control method, which comprises:

[0006] Step S10, based on the unloading instruction trigger, acquiring the horizontal data of the cargo compartment of the self-unloading vehicle in the static state;

[0007] Step S20, based on the first height of the cargo compartment being lower than the second height of the cargo compartment and the difference between the first height and the second height being within a first set range, driving the side telescopic arms of the first side of the cargo compartment and the side telescopic arms of the second side of the cargo compartment to extend away from the cargo compartment; wherein the first side is one side of the cargo compartment when the self-unloading vehicle is driving; the second side is the other side parallel to the first side; the first height is the height of the first set position of the first side of the cargo compartment relative to the reference horizontal plane; the second height is the height of the second set position of the second side of the cargo compartment relative to the reference horizontal plane; the first set position and the second set position are symmetrically arranged along the center symmetry plane of the cargo compartment;

[0008] Step S30, based on the completion of the extension of the side telescopic arm of the first side, driving one end of the vertical telescopic arm on the side telescopic arm of the first side to abut against the ground;

[0009] Step S40, based on the completion of the extension of the side telescopic arm of the second side and the abutment of one end of the vertical telescopic arm of the first side against the ground, driving the threaded cone on the side telescopic arm of the second side to rotate and penetrate into the ground to a set depth;

[0010] Step S50, based on the rotation and penetration of the threaded cone into the ground to the set depth, driving the end of the warehouse close to the vehicle head assembly to move away from the vehicle beam assembly to an angle between the warehouse and the vehicle beam assembly greater than or equal to a first set angle.

[0011] In some embodiments, the step S50 comprises:

[0012] Step S501, based on the rotation and penetration of the threaded cone into the ground to the set depth, driving the end of the warehouse close to the vehicle head assembly to move away from the vehicle beam assembly;

[0013] Step S502, based on the movement of the end of the warehouse close to the vehicle head assembly away from the vehicle beam assembly, obtaining a real-time weight of the warehouse in the unloading state;

[0014] Step S503, based on the change rate of the real-time weight being within a first change range, driving the threaded rod to rotate;

[0015] Step S504, based on the rotation of the threaded rod, the real-time weight being within a set weight range, and the angle between the warehouse and the vehicle beam assembly being greater than or equal to a first set angle.

[0016] In some embodiments, the driving of the end of the warehouse close to the vehicle head assembly to move away from the vehicle beam assembly in the step S502 is moving the warehouse to an angle between the warehouse and the vehicle beam assembly greater than or equal to a second set angle; wherein the second set angle is greater than or equal to 1 / 2 of the first set angle and less than the first set angle.

[0017] In some embodiments, the step S503 comprises:

[0018] Step S5031, based on the change rate of the real-time weight being within a first change range, obtaining a first pressure of the first side and a second pressure of the second side;

[0019] Step S5032, based on the first pressure being greater than the second pressure, driving the threaded rod adjacent to the first side to rotate.

[0020] In some embodiments, the step S503 further comprises:

[0021] Step S5033, based on the threaded rod adjacent to the first side rotating and the rate of change of the real-time weight being within a second change range, starting the first vibrator of the vibration unit to vibrate the first side; wherein the first vibrator is adjacent to the first side.

[0022] In some embodiments, the step S40 comprises:

[0023] Step S41, based on the side telescopic arm of the second side being extended and one end of the vertical telescopic arm of the first side abutting the ground, driving the one end of the vertical telescopic arm of the first side to extend to a set height in a direction away from the ground;

[0024] Step S42, based on the one end of the vertical telescopic arm of the first side extending to a set height in a direction away from the ground, driving the threaded cone on the side telescopic arm of the second side to rotate into the ground to a set depth; wherein when the threaded cone rotates into the ground to a set depth, the real-time horizontal plane of the warehouse is parallel to the reference horizontal plane; the real-time horizontal plane is the horizontal plane of the warehouse perpendicular to the first side and the second side.

[0025] In some embodiments, the step S50 comprises:

[0026] Step S521, based on the threaded cone rotating into the ground to a set depth, driving the one end of the warehouse close to the vehicle head assembly to move in a direction away from the vehicle beam assembly;

[0027] Step S522, based on the one end of the warehouse close to the vehicle head assembly moving in a direction away from the vehicle beam assembly, obtaining the first height and the second height in the unloading state;

[0028] Step S523, based on the first height being greater than the second height in the unloading state and the difference between the first height and the second height being within a second set range, driving the one end of the vertical telescopic arm of the second side to extend in a direction away from the ground;

[0029] Step S524, based on the one end of the vertical telescopic arm of the second side extending in a direction away from the ground, driving the threaded cone of the first side to rotate into the ground and keeping the warehouse parallel to the reference horizontal plane;

[0030] Step S525, based on the warehouse keeping parallel to the reference horizontal plane, driving the warehouse to have an included angle with the vehicle beam assembly greater than or equal to a first set angle.

[0031] In some embodiments, the step S523 comprises:

[0032] Step S5231, based on the first height being greater than the second height and the difference between the first height and the second height being within a second set range, driving a threaded rod adjacent to the second side to rotate;

[0033] Step S5232, based on the threaded rod adjacent to the second side rotating, driving the telescopic arm of the second side to extend away from the ground.

[0034] In a second aspect, the present application provides a dump vehicle, which is applied to the dump vehicle control method of any one of the first aspect, and the dump vehicle comprises:

[0035] A vehicle head assembly, comprising a cab and a first driving unit; one end of the first driving unit is detachably connected with the cab, and the other end is in abutment with the ground;

[0036] A vehicle beam assembly, comprising a beam frame unit, a second driving unit, and a support unit; one side of the second driving unit is detachably connected with one side of the beam frame unit, and the other side is in abutment with the ground; one end of the beam frame unit is detachably connected with one side of the first driving unit, and the other end extends away from the first driving unit; the support unit comprises a side telescopic arm, a vertical telescopic arm, a threaded taper, a first driving part, a second driving part, and a third driving part; one end of the side telescopic arm is detachably connected with one side of the beam frame unit, and the other end is fixedly connected with one side of the vertical telescopic arm; one end of the vertical telescopic arm close to the ground is detachably connected with the threaded taper; the first driving part is drivingly connected with the side telescopic arm; the second driving part is drivingly connected with the vertical telescopic arm; the third driving part is drivingly connected with the threaded taper; a plurality of support units are arranged at intervals on both sides of the cargo compartment along the driving direction of the dump vehicle;

[0037] A cargo loading assembly, comprising a cargo compartment; one side of the cargo compartment is detachably connected with one side of the beam frame unit away from the second driving unit;

[0038] A control assembly, which is detachably connected with the cab; the control assembly is arranged in the cab; the control assembly is signal connected with the vehicle head assembly and the vehicle beam assembly, respectively.

[0039] In some embodiments, the load carrying assembly further comprises a threaded rod, a vibration unit; one end of the threaded rod is detachably connected with the inner circumferential wall of the one side of the cargo hold away from the cab, and the other end extends to the inner circumferential wall of the one side of the cargo hold close to the cab along the driving direction of the dump truck; the threaded rod is arranged in the cargo hold at intervals; the vibration unit comprises a first vibrator and a second vibrator; the first vibrator is detachably connected with the first outer circumferential wall of the cargo hold; the second vibrator is detachably connected with the second outer circumferential wall of the cargo hold; wherein the first side is one side of the cargo hold in the driving direction of the dump truck, and the second side is the other side parallel to the first side.

[0040] To solve the problem of how to improve the stability of the dump truck during unloading, the present application has the following advantages:

[0041] When the unloading instruction is triggered, the horizontal data of the cargo hold in the static state can be obtained. When the first height of the cargo hold is lower than the second height of the cargo hold and the difference between the first height and the second height is within a first set range, the side telescopic arm on the first side of the cargo hold and the side telescopic arm on the second side of the cargo hold can be driven to extend away from the cargo hold. When the side telescopic arm on the first side is extended, one end of the vertical telescopic arm on the side telescopic arm on the first side can be driven to abut against the ground. In this way, the vertical telescopic arm on the first side increases the support point of the vehicle by contacting one end of the vertical telescopic arm with the ground, thereby improving the stability of the vehicle. In this way, more stable support force can be provided to the first side of the cargo hold during unloading, thereby preventing side overturning. When the side telescopic arm on the second side is extended and one end of the vertical telescopic arm on the first side abuts against the ground, the threaded cone on the side telescopic arm on the second side can be driven to rotate and penetrate into the ground to a set depth. When the threaded cone penetrates into the ground to the set depth, the end of the cargo hold close to the vehicle head assembly can be driven to move away from the vehicle beam assembly to an angle between the cargo hold and the vehicle beam assembly greater than or equal to a first set angle. The grip of the threaded cone on the side telescopic arm on the second side and the support force of the vertical telescopic arm on the side telescopic arm on the first side can effectively prevent the dump truck from overturning due to the shift of the center of gravity during unloading, thereby solving the problem of how to improve the stability of the dump truck during unloading. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 A flow chart of a dump truck control method of an embodiment is shown;

[0043] Figure 2 A schematic diagram of a dump truck of an embodiment is shown;

[0044] Figure 3 A schematic diagram of a dump truck of another embodiment is shown;

[0045] Figure 4 A partial schematic diagram of a support unit of an embodiment is shown;

[0046] Figure 5 A schematic view of a self-discharging vehicle is shown.

[0047] Reference signs: 01 vehicle head assembly; 11 cab; 12 first running unit; 02 vehicle beam assembly; 21 beam frame unit; 22 second running unit; 23 support unit; 231 side telescopic arm; 232 vertical telescopic arm; 233 threaded taper; 03 cargo loading assembly; 31 cargo compartment; 32 threaded rod; 33 vibration unit; 331 first vibrator; 332 second vibrator. DETAILED DESCRIPTION

[0048] The present disclosure will now be discussed with reference to several example embodiments. It should be appreciated that these embodiments are discussed only to better illustrate the present disclosure and are not intended to limit the scope of the present disclosure in any way.

[0049] As used herein, the terms "comprises," "comprising," "includes," "including," "has," "having," "contains," "containing," or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Further, unless expressly stated to the contrary, "or" refers to an inclusive or and not to an exclusive or. For example, a condition A or B is satisfied by any one of the following: A is true (or A can be satisfied); B is true (or B can be satisfied); or both A and B are true (or both A and B can be satisfied). Also, unless expressly stated to the contrary, "comprising" or "containing" refers to an open, non-limiting inclusion. For example, a process, method, article, or apparatus that comprises or contains an element or list of elements can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Further, unless expressly stated to the contrary, "based on" does not imply a re restrictive list of items. The words "a" or "an" do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item. The terms "another" and "one or more" do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item.

[0050] The dump vehicle is to unload the cargo by lifting one end of the cargo compartment 31 and tilting it at an angle, thereby using the weight of the cargo itself to unload the cargo to the ground. However, when the cargo compartment 31 is lifted with the cargo, the center of gravity of the cargo compartment 31 and the cargo is easily raised due to uneven road surface (often unhardened road surface) or different tire pressure of the vehicle, thereby causing the vehicle to roll over. If the cargo has certain viscosity, causing the cargo in the cargo compartment 31 to slide out unevenly, this will exacerbate the occurrence of the vehicle roll over, which will cause the vehicle to be easily damaged, and in severe cases, cause a safety accident with casualties. For example, Figure 2As shown, the dump vehicle can include a vehicle head assembly 01, a vehicle beam assembly 02, a cargo carrying assembly 03, and a control assembly. The vehicle beam assembly 02 can include a beam frame unit 21, a second driving unit 22, and a support unit 23. The support unit 23 can include a side telescopic arm 231, a vertical telescopic arm 232, and a threaded taper 233. One end of the side telescopic arm 231 can be detachably connected to one side of the beam frame unit 21, and the other end can be fixedly connected to one side of the vertical telescopic arm 232. As shown Figure 4 As shown, one end of the vertical telescopic arm 232 close to the ground can be detachably connected to the threaded taper 233. A plurality of support units 23 can be arranged at intervals on both sides of the cargo compartment 31 along the driving direction of the dump vehicle. To solve the problem of how to improve the stability of the dump vehicle during unloading, the embodiment provides a dump vehicle control method. As shown Figure 1 As shown, the dump vehicle control method can include steps S10-S50, and each step is described in detail as follows:

[0051] Step S10, when the unloading instruction is triggered, at this time the cargo compartment 31 has not been jacked up, the horizontal data of the cargo compartment 31 of the dump vehicle in the static state can be obtained. By obtaining the horizontal data of the cargo compartment 31, it is convenient to judge the inclination state of the cargo compartment 31 and then perform subsequent operations.

[0052] Step S20, the first side can be one side of the cargo compartment 31 when the dump vehicle is driving, and the second side can be the other side parallel to the first side. The first height can be the height of the first set position of the first side of the cargo compartment 31 relative to the reference horizontal plane, and the second height can be the height of the second set position of the second side of the cargo compartment 31 relative to the reference horizontal plane. When the first height of the cargo compartment 31 is lower than the second height of the cargo compartment 31 and the difference between the first height and the second height is within a first set range, when the cargo compartment 31 is subsequently jacked up for unloading, the vehicle center of gravity will deviate and be prone to rollover due to the first height of the cargo compartment 31 being lower than the second height of the cargo compartment 31. At this time, the side telescopic arms 231 of the first side of the cargo compartment 31 and the side telescopic arms 231 of the second side of the cargo compartment 31 can be driven to extend away from the cargo compartment 31, which is convenient for controlling the subsequent operation of the vertical telescopic arm 232 of the first side and the threaded taper 233 of the second side to prevent the vehicle from rolling over. The first set position and the second set position can be symmetrically arranged along the center symmetry plane of the cargo compartment 31. In this way, the first height data and the second height data are more accurate when compared, and errors in comparing the size of the first height and the second height are avoided, and subsequent correct operations are performed to prevent the vehicle from being prone to rollover due to the jacking up of the cargo compartment 31 causing the center of gravity to be high.

[0053] Step S30, when the extension of the side telescopic arm 231 on the first side is completed, one end of the vertical telescopic arm 232 on the side telescopic arm 231 on the first side can be driven to abut against the ground. In this way, the vertical telescopic arm 232 on the first side increases the support point of the vehicle by contacting one end of the vertical telescopic arm 232 with the ground, thereby improving the stability of the vehicle. In this way, more stable support force can be provided to the first side of the cargo compartment 31 during unloading to avoid side overturning.

[0054] Step S40, when the extension of the side telescopic arm 231 on the second side is completed and one end of the vertical telescopic arm 232 on the first side abuts against the ground, the threaded cone 233 on the side telescopic arm 231 on the second side can be driven to rotate and penetrate into the ground to a set depth. The threaded cone 233 penetrating into the ground to a set depth can provide reliable grip to ensure that the vehicle will not overturn during unloading due to the center of gravity deviating to the first side. At the same time, driving the threaded cone 233 on the side telescopic arm 231 on the second side to rotate and penetrate into the ground to a set depth after abutting one end of the vertical telescopic arm 232 on the first side against the ground can also buffer the reaction force generated when the threaded cone 233 penetrates into the ground, avoiding the second height from being raised.

[0055] Step S50, when the threaded cone 233 rotates and penetrates into the ground to a set depth (for example, the set depth can be 0.3-0.6 meters), after penetrating to the set depth, the end of the cargo compartment 31 close to the vehicle head assembly 01 can be driven to move away from the vehicle beam assembly 02 to an angle between the cargo compartment 31 and the vehicle beam assembly 02 greater than or equal to a first set angle (for example, the first set angle can be 40°). In this way, the goods can smoothly slide out of the cargo compartment 31 under the action of gravity. The grip of the threaded cone 233 on the side telescopic arm 231 on the second side and the support force of the vertical telescopic arm 232 on the side telescopic arm 231 on the first side can effectively prevent the dump truck from overturning due to the center of gravity deviation during unloading, thereby improving the stability of the dump truck during unloading.

[0056] In some embodiments, step S50 can include steps S501-S504, which are described in detail as follows:

[0057] Step S501, when the threaded cone 233 rotates and penetrates into the ground to a set depth, the end of the cargo compartment 31 close to the vehicle head assembly 01 can be driven to move away from the vehicle beam assembly 02 to facilitate the end of the cargo compartment 31 close to the vehicle head assembly 01 to be raised, and the goods to smoothly slide out of the cargo compartment 31 under the action of gravity.

[0058] Step S502, when the end of the cargo compartment 31 close to the vehicle head assembly 01 moves away from the vehicle beam assembly 02, the real-time weight of the cargo compartment 31 in the unloading state can be obtained to facilitate subsequent operations by determining whether the goods in the cargo compartment 31 are timely slid out of the cargo compartment 31.

[0059] Step S503, when the change rate of the real-time weight is in the first change range, it indicates that the change rate of the real-time weight in the unloading state is not in the normal range, the weight of the unloaded cargo in the unloading state is less than the weight of the unloaded cargo in the normal case, at this time it indicates that the cargo in the cargo compartment 31 is sticky or stuck in the cargo compartment 31, the threaded rod 32 can be driven to rotate, so that the threaded rod 32 generates a thrust to push the sticky cargo out of the cargo compartment 31, avoiding the sticky or stuck cargo remaining in the cargo compartment 31, thereby avoiding the occurrence of a vehicle rollover accident and improving the unloading efficiency.

[0060] Step S504, when the threaded rod 32 rotates, the real-time weight is in the set weight range and the angle between the cargo compartment 31 and the vehicle beam assembly 02 is greater than or equal to the first set angle, thereby ensuring that the cargo in the cargo compartment 31 smoothly slides out and the vehicle will not rollover.

[0061] In some embodiments, the driving of the cargo compartment 31 to move close to one end of the vehicle head assembly 01 in the direction away from the vehicle beam assembly 02 in step S502 can be moving the cargo compartment 31 to an angle between the cargo compartment 31 and the vehicle beam assembly 02 greater than or equal to a second set angle. The second set angle can be greater than or equal to 1 / 2 of the first set angle and less than the first set angle. When the cargo compartment 31 moves to an angle between the cargo compartment 31 and the vehicle beam assembly 02 less than 1 / 2 of the first set angle, the cargo compartment 31 has too small an inclination angle, and the thrust of the threaded rod 32 driven to rotate cannot smoothly push the cargo in the cargo compartment 31 out. Therefore, the cargo compartment 31 can be moved to an angle between the cargo compartment 31 and the vehicle beam assembly 02 greater than or equal to the second set angle before the threaded rod 32 is driven to rotate to generate a thrust, which can make the sticky cargo smoothly slide out of the cargo compartment 31 under the action of its own gravity, thereby improving the unloading efficiency.

[0062] In some embodiments, step S503 can include:

[0063] Step S5031, when the change rate of the real-time weight is in the first change range, the first pressure on the first side and the second pressure on the second side can be obtained, and the subsequent comparison of the first pressure on the first side and the second pressure on the second side can be used to determine whether the cargo on the first side or the cargo on the second side is in a sticky state during the unloading process.

[0064] Step S5032, when the first pressure is greater than the second pressure, it indicates that the cargo on the first side is sticky in the cargo compartment 31 and cannot slide out in time, the threaded rod 32 adjacent to the first side can be driven to rotate to generate a thrust on the cargo on the first side, so that the cargo is smoothly pushed out of the cargo compartment 31 under the action of its own gravity, thereby improving the efficiency of the threaded rod 32 and the unloading efficiency, avoiding the inconsistency of the cargo on the first side and the cargo on the second side sliding out of the cargo compartment 31, avoiding the center of gravity of the cargo deviating when the cargo compartment 31 rises, and reducing the risk of a vehicle rollover accident.

[0065] In some embodiments, step S503 can further include:

[0066] Step S5033, when the threaded rod 32 adjacent to the first side is rotated and the rate of change of the real-time weight is within the second change range, at this time it indicates that the rotation of the threaded rod 32 on the first side is insufficient to loosen the goods on the first side of the warehouse 31, and the goods on the first side are still adhered to the warehouse 31. The first vibrator 331 of the vibration unit 33 can be started to vibrate the first side, thereby further loosening the tightly packed or adhered goods, ensuring clean unloading and improving unloading efficiency. The first vibrator 331 can be arranged adjacent to the first side. Through the vibration auxiliary action of the first vibrator 331, the goods on the first side are more uniform and smooth to slide out of the warehouse 31, avoiding the inconsistency of the goods sliding out of the first side and the second side, which causes the center of gravity of the warehouse 31 to deviate, and avoiding the dump truck from rolling over during unloading.

[0067] In some embodiments, step S40 can include:

[0068] Step S41, when the side telescopic arm 231 on the second side is extended and one end of the vertical telescopic arm 232 on the first side is in abutment with the ground, since the first height of the warehouse 31 is lower than the second height of the warehouse 31 and the difference between the first height and the second height is within the first set range, the end of the vertical telescopic arm 232 on the first side away from the ground is driven to extend to a set height in a direction away from the ground, so that the vertical telescopic arm 232 on the first side can increase the first height of the warehouse 31, facilitating leveling with the second height of the warehouse 31.

[0069] Step S42, when the end of the vertical telescopic arm 232 on the first side away from the ground is extended to a set height in a direction away from the ground, and the first height of the warehouse 31 is leveled with the second height of the warehouse 31, the threaded cone 233 on the side telescopic arm 231 on the second side is driven to rotate and penetrate into the ground to a set depth. When the threaded cone 233 rotates and penetrates into the ground to a set depth, the real-time horizontal plane of the warehouse 31 is parallel to the reference horizontal plane. The real-time horizontal plane can be the horizontal plane of the warehouse 31 perpendicular to the first side and the second side. In this way, after leveling the warehouse 31, the end of the warehouse 31 close to the vehicle head assembly 01 is driven to move away from the vehicle beam assembly 02 to an angle between the warehouse 31 and the vehicle beam assembly 02 greater than or equal to the first set angle, avoiding the deviation of the center of gravity caused by the inconsistency between the first height of the warehouse 31 and the second height of the warehouse 31 during unloading, and the grip of the threaded cone 233 on the side telescopic arm 231 on the second side can effectively prevent the vehicle from rolling over.

[0070] In some embodiments, step S50 can include steps S521-S525, which are described in detail as follows:

[0071] Step S521, when the threaded cone 233 is rotated into the ground to a set depth, the cargo compartment 31 can be driven to move away from the vehicle beam assembly 02 relative to the one end of the vehicle head assembly 01.

[0072] Step S522, when the cargo compartment 31 moves away from the vehicle beam assembly 02 relative to the one end of the vehicle head assembly 01, the first height and the second height in the unloading state can be obtained, which facilitates subsequent comparison of the first height and the second height in the unloading state to determine whether the cargo compartment 31 is tilted in the driving direction, thereby facilitating subsequent operation.

[0073] Step S523, when the first height is greater than the second height in the unloading state and the difference between the first height and the second height is within a second set range, it indicates that the center of gravity of the cargo compartment 31 is inclined to the second side and is prone to rollover, and the one end of the vertical telescopic arm 232 on the second side away from the ground can be driven to extend away from the ground. The support force provided by the vertical telescopic arm 232 on the second side to the second side of the cargo compartment 31 can effectively prevent the vehicle from rolling over.

[0074] Step S524, after the one end of the vertical telescopic arm 232 on the second side away from the ground extends away from the ground, the threaded cone 233 on the first side can be driven to rotate into the ground while keeping the cargo compartment 31 parallel to the reference horizontal plane. The ground gripping force of the threaded cone 233 on the first side rotating into the ground and the support force provided by the vertical telescopic arm 232 on the second side to the second side of the cargo compartment 31 act on the cargo compartment 31, so that when the first height and the second height of the cargo compartment 31 are equal, subsequent unloading can be prevented from rolling over.

[0075] Step S525, when the cargo compartment 31 is kept parallel to the reference horizontal plane, i.e., the first height and the second height of the cargo compartment 31 are equal, the cargo compartment 31 and the vehicle beam assembly 02 can be driven to have an included angle greater than or equal to a first set angle. At this time, the goods can slide out of the cargo compartment 31 under the influence of their own gravity without rolling over, which can improve the unloading stability of the vehicle.

[0076] In some embodiments, step S523 comprises:

[0077] Step S5231, when the first height is greater than the second height in the unloading state and the difference between the first height and the second height is within a second set range, the threaded rod 32 adjacent to the second side can be driven to rotate. By driving the rotation of the threaded rod 32 adjacent to the second side, the adhered goods can be loosened so that the goods on the second side are unloaded as soon as possible to reduce the weight of the goods on the second side, which facilitates subsequent driving of the vertical telescopic arm 232 on the second side to provide support and quickly raise the second height of the cargo compartment 31, thereby improving the unloading efficiency and unloading safety.

[0078] In step S5232, when the threaded rod 32 adjacent to the second side rotates, it can drive the end of the vertical telescopic arm 232 on the second side away from the ground to extend in a direction away from the ground. As a result, the supporting force provided by the vertical telescopic arm 232 on the second side can raise the second height of the cargo compartment 31 as soon as possible, so that the first height and the second height are equal. This prevents the cargo compartment 31 from tipping over during unloading, thereby improving the stability of the dump truck when unloading.

[0079] This embodiment provides a dump vehicle that can be applied to any of the dump vehicle control methods described in the above embodiments, such as... Figure 2 As shown, a dump vehicle may include: a cab assembly 01, a beam assembly 02, a cargo assembly 03, and a control assembly.

[0080] like Figure 3 As shown, the cab assembly 01 may include a cab 11 and a first travel unit 12. One end of the first travel unit 12 may be detachably connected to the cab 11, and the other end may be in contact with the ground. The detachable connection facilitates quick disassembly or replacement of the first travel unit 12 as needed for maintenance. The first travel unit 12 can support the weight of the dump vehicle, enabling the dump vehicle to move on the ground.

[0081] The vehicle beam assembly 02 can include a beam frame unit 21, a second traveling unit 22, and a support unit 23. One side of the second traveling unit 22 can be detachably connected to one side of the beam frame unit 21, and the other side can be in abutment with the ground. The second traveling unit 22 can provide the dump truck with the ability to move, and the detachable connection facilitates quick disassembly or replacement of the second traveling unit 22 as needed for maintenance. One end of the beam frame unit 21 can be detachably connected to one side of the first traveling unit 12, and the other end can extend away from the first traveling unit 12. The beam frame unit 21 can serve as the skeleton of the vehicle beam assembly 02, providing structural support and load-bearing capacity, and the detachable connection facilitates the installation and replacement of the beam frame unit 21. The support unit 23 can include a side telescopic arm 231, a vertical telescopic arm 232, a threaded taper 233, a first driving part, a second driving part, and a third driving part. One end of the side telescopic arm 231 can be detachably connected to one side of the beam frame unit 21, and the other end can be fixedly connected to one side of the vertical telescopic arm 232. The detachable connection facilitates the installation of the side telescopic arm 231, and the fixed connection can enhance the stability of the connection between the one end of the side telescopic arm 231 and the one side of the vertical telescopic arm 232. The end of the vertical telescopic arm 232 close to the ground can be detachably connected to the threaded taper 233, and the detachable connection facilitates quick maintenance or replacement of the threaded taper 233 when it is worn out. The first driving part can be drivingly connected to the side telescopic arm 231 for driving the side telescopic arm 231 to perform telescopic motion. The second driving part can be drivingly connected to the vertical telescopic arm 232 for driving the vertical telescopic arm 232 to perform telescopic motion. The third driving part can be drivingly connected to the threaded taper 233 for driving the threaded taper 233 to rotate. Multiple support units 23 can be arranged at intervals on both sides of the cargo compartment 31 along the direction of travel of the dump truck, and can be controlled to act on the cargo compartment 31 according to different unloading operation requirements, thereby improving unloading efficiency and stability of the dump truck during unloading.

[0082] The load carrying assembly 03 can include a cargo compartment 31. The cargo compartment 31 is used to carry goods. One side of the cargo compartment 31 can be detachably connected to the side of the beam frame unit 21 away from the second traveling unit 22, and the detachable connection facilitates the installation of the cargo compartment 31 on the side of the beam frame unit 21 away from the second traveling unit 22.

[0083] The control assembly can be detachably connected to the cab 11, and the control assembly can be quickly replaced as needed. The control assembly can be arranged in the cab 11, making it more convenient for the driver to operate the control assembly. The control assembly can be signal-connected to the vehicle head assembly 01 and the vehicle beam assembly 02, respectively. The signal connection between the control assembly and the vehicle head assembly 01 and the vehicle beam assembly 02 can monitor the status of the vehicle head assembly 01 and the vehicle beam assembly 02 in real time, facilitating fault diagnosis. The signal connection ensures that control commands can be quickly transmitted to the vehicle head assembly 01 and the vehicle beam assembly 02, improving the response speed of the vehicle and the accuracy of the operation.

[0084] In some embodiments, as shown in Figure 5 The load assembly 03 can further include threaded rods 32, vibration units 33. One end of the threaded rod 32 can be detachably connected to the inner circumferential wall of the side of the cargo compartment 31 away from the cab 11, and the other end can extend to the inner circumferential wall of the side of the cargo compartment 31 close to the cab 11 in the driving direction of the dump truck, facilitating disassembly and replacement of the threaded rod 32 during maintenance, and improving the working efficiency of the threaded rod 32. The threaded rods 32 can be spaced apart in the cargo compartment 31, facilitating the rotation of the threaded rods 32 to better provide space to loosen the sticky cargo in the cargo compartment 31 for easy unloading. The first side can be one side of the cargo compartment 31 in the driving direction of the dump truck, and the second side can be the other side parallel to the first side. The vibration unit 33 can include first vibrators 331 and second vibrators 332. The first vibrators 331 can be detachably connected to the outer circumferential wall of the first side of the cargo compartment 31, and the first vibrators 331 of the vibration unit 33 can loosen the tightly packed or sticky cargo on the first side by vibrating the first side. The second vibrators 332 can be detachably connected to the outer circumferential wall of the second side of the cargo compartment 31, and the second vibrators 332 can loosen the tightly packed or sticky cargo on the second side by vibrating the second side.

[0085] In other embodiments, the control assembly can include a controller, a pressure sensor, a level sensor, and a weight sensor. The controller can be signal connected to the pressure sensor, the level sensor, and the weight sensor, respectively. The pressure sensor can be used to detect the first pressure of the first side and the second pressure of the second side. The first side can be one side of the cargo compartment 31 in the driving direction of the dump truck, and the second side can be the other side parallel to the first side. The level sensor can detect the level data of the cargo compartment 31. The weight sensor can detect the real-time weight of the cargo compartment 31. The load assembly 03 can further include a fourth driving portion and a fifth driving portion. The fourth driving portion can be drivingly connected to the cargo compartment 31 for driving the end of the cargo compartment 31 close to the cab assembly 01 to rise. The fifth driving portion can be drivingly connected to the threaded rod 32 for driving the threaded rod 32 to rotate.

[0086] Those skilled in the art can understand that the above embodiments are specific cases for implementing the present disclosure, and in actual application, various changes can be made in form and details without departing from the scope of the present disclosure.

Claims

1. A method for controlling a dump vehicle, characterized in that, The dump vehicle control method includes: Step S10: Based on the unloading command, obtain the horizontal data of the cargo compartment of the dump truck in a stationary state; Step S20: Based on the fact that the first height of the cargo hold is lower than the second height of the cargo hold and the difference between the first height and the second height is within a first predetermined range, drive the side telescopic arm on the first side of the cargo hold and the side telescopic arm on the second side of the cargo hold to extend away from the cargo hold; wherein, the first side is one side of the cargo hold when the dump vehicle is traveling in the same direction; the second side is the other side parallel to the first side; the first height is the height of the first predetermined position of the first side of the cargo hold relative to a reference horizontal plane; the second height is the height of the second predetermined position of the second side of the cargo hold relative to a reference horizontal plane; the first predetermined position and the second predetermined position are symmetrically arranged along the central symmetry plane of the cargo hold; Step S30: Based on the completion of the extension of the side telescopic arm on the first side, drive one end of the vertical telescopic arm on the side telescopic arm on the first side to abut against the ground. Step S40: Based on the completion of the extension of the side telescopic arm on the second side and the contact of one end of the vertical telescopic arm on the first side with the ground, drive the threaded cone on the side telescopic arm on the second side to rotate and penetrate into the ground to a set depth. Step S50: Based on the spiral cone rotating and penetrating the ground to a set depth, drive the end of the cargo compartment near the front assembly to move away from the beam assembly until the angle between the cargo compartment and the beam assembly is greater than or equal to the first set angle; Step S50 includes: Step S501: Based on the fact that the threaded cone has rotated and driven into the ground to a set depth, drive the end of the cargo compartment near the front assembly to move away from the beam assembly; Step S502: Based on the fact that the end of the cargo compartment near the front assembly moves away from the vehicle beam assembly, the real-time weight of the cargo compartment in the unloading state is obtained; Step S503: Based on the rate of change of the real-time weight within a first range, drive the threaded rod to rotate; Step S504: Based on the rotation of the threaded rod, the real-time weight is within a set weight range and the angle between the cargo compartment and the vehicle beam assembly is greater than or equal to the first set angle; Step S503 includes: Step S5031: Based on the rate of change of the real-time weight within a first range, obtain the first pressure on the first side and the second pressure on the second side; Step S5032: Based on the fact that the first pressure is greater than the second pressure, drive the threaded rod adjacent to the first side to rotate; wherein the threaded rod is spaced apart in the cargo compartment.

2. The method for controlling a dump vehicle according to claim 1, characterized in that, In step S502, driving the end of the cargo compartment near the front assembly to move away from the beam assembly means moving the cargo compartment until the angle between the cargo compartment and the beam assembly is greater than or equal to a second set angle; wherein the second set angle is greater than or equal to 1 / 2 of the first set angle and less than the first set angle.

3. The method for controlling a dump vehicle according to claim 2, characterized in that, Step S503 further includes: Step S5033: Based on the rotation of the threaded rod adjacent to the first side and the rate of change of the real-time weight within a second range, the first vibrator of the vibration unit is activated to vibrate the first side; wherein the first vibrator is disposed adjacent to the first side.

4. The method for controlling a dump vehicle according to claim 1, characterized in that, Step S40 includes: Step S41: Based on the completion of the extension of the side telescopic arm on the second side and the fact that one end of the vertical telescopic arm on the first side is in contact with the ground, drive the end of the vertical telescopic arm on the first side away from the ground to extend to a set height in the direction away from the ground. Step S42: Based on the end of the vertical telescopic arm on the first side that is away from the ground extending to a set height in a direction away from the ground, drive the threaded cone on the side telescopic arm on the second side to rotate and penetrate the ground to a set depth; wherein, when the threaded cone rotates and penetrates the ground to the set depth, the real-time horizontal plane of the cargo warehouse is parallel to the reference horizontal plane; the real-time horizontal plane is the horizontal plane of the cargo warehouse that is perpendicular to the first side and the second side.

5. The method for controlling a dump vehicle according to claim 1, characterized in that, Step S50 includes: Step S521: Based on the fact that the threaded cone has rotated and driven into the ground to a set depth, drive the end of the cargo compartment near the front assembly to move away from the beam assembly; Step S522: Based on the fact that the cargo compartment moves away from the vehicle beam assembly from the end near the front assembly, the first height and the second height in the unloading state are obtained; Step S523: Based on the fact that the first height is greater than the second height in the unloading state and the difference between the first height and the second height is within a second set range, drive the end of the vertical telescopic arm on the second side away from the ground to extend in a direction away from the ground. Step S524: Based on the extension of the end of the vertical telescopic arm on the second side away from the ground in a direction away from the ground, drive the threaded cone on the first side to rotate and penetrate into the ground while keeping the cargo compartment parallel to the reference horizontal plane. Step S525: Based on the fact that the cargo compartment remains parallel to the reference horizontal plane, drive the cargo compartment to have an angle greater than or equal to a first set angle with the vehicle beam assembly.

6. The method for controlling a dump vehicle according to claim 5, characterized in that, Step S523 includes: Step S5231: Based on the fact that the first height is greater than the second height in the unloading state and the difference between the first height and the second height is within a second set range, drive the threaded rod adjacent to the second side to rotate. Step S5232: Based on the rotation of the threaded rod adjacent to the second side, drive the end of the vertical telescopic arm on the second side away from the ground to extend in a direction away from the ground.

7. A dump vehicle, wherein the dump vehicle is used in a dump vehicle control method according to any one of claims 1-6, characterized in that, The dump trucks include: A vehicle front assembly, comprising a cab and a first driving unit; one end of the first driving unit is detachably connected to the cab, and the other end abuts against the ground. The vehicle beam assembly includes a beam frame unit, a second travel unit, and a support unit. One side of the second travel unit is detachably connected to one side of the beam frame unit, and the other side abuts against the ground. One end of the beam frame unit is detachably connected to one side of the first travel unit, and the other end extends away from the first travel unit. The support unit includes a side telescopic arm, a vertical telescopic arm, a threaded cone, a first drive unit, a second drive unit, and a third drive unit. One end of the side telescopic arm is detachably connected to one side of the beam frame unit, and the other end is fixedly connected to one side of the vertical telescopic arm. The end of the vertical telescopic arm near the ground is detachably connected to the threaded cone. The first drive unit is drivenly connected to the side telescopic arm. The second drive unit is drivenly connected to the vertical telescopic arm. The third drive unit is drivenly connected to the threaded cone. Multiple support units are spaced apart on both sides of the cargo compartment along the travel direction of the dump vehicle. A cargo loading assembly, the cargo loading assembly including a cargo compartment; one side of the cargo compartment is detachably connected to the side of the beam frame unit away from the second travel unit; A control component is detachably connected to the cab; the control component is disposed in the cab; the control component is signal-connected to the front assembly and the beam assembly respectively.

8. A dump vehicle according to claim 7, characterized in that, The cargo-carrying assembly also includes a threaded rod and a vibration unit; one end of the threaded rod is detachably connected to the inner peripheral wall of the cargo compartment away from the cab, and the other end extends along the driving direction of the dump vehicle to be detachably connected to the inner peripheral wall of the cargo compartment near the cab; the threaded rod is spaced apart within the cargo compartment; the vibration unit includes a first vibrator and a second vibrator; the first vibrator is detachably connected to the outer peripheral wall of the first side of the cargo compartment; the second vibrator is detachably connected to the outer peripheral wall of the second side of the cargo compartment; wherein, the first side is one side of the cargo compartment in the driving direction of the dump vehicle, and the second side is the other side parallel to the first side.

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