Pump truck early warning method and system, pump truck and machine readable storage medium

Abstract

The invention belongs to the technical field of pump truck equipment, and particularly relates to a pump truck early warning method and system, a pump truck and a machine readable storage medium. In the rotation adjusting process of the arm section, the gravity and the rotation inertia force of the arm section can cause stress change of the arm section, the stress change depends on the current posture and the rotation adjusting speed of the arm section, the current posture specifically represents the pitch angle and the torsion angle of the arm section, and the rotation adjusting speed specifically represents the rotation inertia acceleration. According to the method, a response surface model between the pitch angle, the torsion angle and the rotation inertia acceleration and the stress is constructed, the measured pitch angle, torsion angle and rotation inertia acceleration are substituted into the response surface model to obtain the maximum stress actual value of the cantilever crane in the rotation adjusting process, and when the maximum stress actual value is larger than or equal to the maximum stress allowable value, the maximum stress actual value of the cantilever crane in the rotation adjusting process is determined. And the pump truck is controlled to give out an early warning prompt, so that an operator can know the stress condition of the arm section in time, and then safety measures are taken to avoid plastic deformation of the arm section.

Description

Technical Field

[0001] The present application belongs to the technical field of pump truck equipment, and specifically relates to a pump truck early warning method, system, pump truck and machine-readable storage medium. Background Art

[0002] A pump truck is a kind of engineering machinery used to pump concrete in construction. The pump truck includes a boom and a pumping pipeline arranged on the boom. The boom has multiple boom sections. By adjusting the posture of each boom section, the pumping pipeline can be adapted to pumping operations under different working conditions and the pumping position can be adjusted. The posture adjustment of the boom section is divided into slewing adjustment and pitch adjustment. The slewing adjustment is achieved by the action of the turntable, and the pitch adjustment is achieved by the action of the telescopic cylinders between the boom sections. The actions of the turntable and the telescopic cylinders are controlled by the operator.

[0003] During the process of adjusting the arm's posture, the arm will be subjected to the force and generate stress. Once the stress is too large, the arm will cause plastic deformation, thereby affecting the service life of the pump truck and even causing a safety accident. Currently, there is a lack of early warning methods for excessive stress during the process of adjusting the arm's posture. Summary of the invention

[0004] The purpose of the present application is to provide a pump truck early warning method, system, pump truck and machine-readable storage medium to provide an early warning prompt for excessive stress in the boom section during posture adjustment.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a pump truck early warning method, comprising:

[0006] Construct the response surface model of the arm segment;

[0007] Obtaining the pitch angle, torsion angle and rotational inertial acceleration of the arm section;

[0008] Obtaining an actual value of the maximum stress of the boom section according to the pitch angle, the torsion angle, the gyroscopic inertia acceleration and the response surface model;

[0009] When it is determined that the actual value of the maximum stress of the boom section is greater than or equal to the allowable value of the maximum stress of the boom section, the pump truck is controlled to issue an early warning prompt.

[0010] In some embodiments, obtaining the actual value of the maximum stress of the arm section according to the pitch angle, the torsion angle, the gyroscopic inertial acceleration and the response surface model includes:

[0011] Obtain the length of the boom section, the distance between the center of mass and the pitch and yaw axis, the distance between the center of mass and the twist and yaw axis, the mass of the boom section, and the gravity of the boom section;

[0012] Obtaining a bending moment at a boom section root according to the pitch angle, the boom section length, the distance between the center of mass and the pitch deflection axis, and the boom section gravity;

[0013] Obtaining a boom section root torque according to the pitch angle, the torsion angle, the gyroscopic inertia acceleration, the boom section length, the distance between the center of mass and the pitch yaw axis, the distance between the center of mass and the torsion yaw axis, the boom section mass, and the boom section gravity;

[0014] The pitch angle, the torsion angle, the bending moment at the root of the boom section, and the torque at the root of the boom section are substituted into the response surface model to obtain the actual value of the maximum stress of the boom section.

[0015] In some embodiments, obtaining the bending moment at the root of the boom section according to the pitch angle, the length of the boom section, the distance between the center of mass and the pitch yaw axis, and the boom section gravity includes:

[0016] Substituting the pitch angle, the boom section length, the distance between the center of mass and the pitch deflection axis, and the boom section gravity into the first calculation formula to obtain the boom section root bending moment;

[0017] Wherein, the first calculation formula includes:

[0018]

[0019] Among them, M Zi M is the bending moment at the root of the i-th boom section; Z(i+1) L is the bending moment at the root of the (i+1)th boom section; i is the length of the i-th boom section; θ i is the pitch angle of the i-th boom section; G i is the boom section weight of the i-th boom section; L' i is the distance between the mass center of the i-th boom section and the pitch yaw axis; the (i+1)-th boom section is connected to the end of the i-th boom section away from the vehicle body.

[0020] In some embodiments, obtaining the arm section root torque according to the pitch angle, the torsion angle, the gyroscopic inertia acceleration, the arm section length, the distance between the center of mass and the pitch yaw axis, the distance between the center of mass and the torsion yaw axis, the arm section mass, and the arm section gravity includes:

[0021] Substituting the pitch angle, the torsion angle, the gyroscopic inertia acceleration, the arm section length, the distance between the center of mass and the pitch yaw axis, the distance between the center of mass and the torsion yaw axis, the arm section mass and the arm section gravity into a second calculation formula to obtain the arm section root torque;

[0022] Wherein, the second calculation formula includes:

[0023]

[0024] Among them, M Xi M is the arm root torque of the i-th arm; X(i+1) G is the root torque of the (i+1)th boom section; i is the boom section weight of the i-th boom section; L' i θ is the distance between the mass center of the i-th boom section and the pitch axis; i is the pitch angle of the i-th boom section; L i is the length of the i-th boom section; α i is the torsion angle of the i-th boom section; L″ i is the distance between the mass center of the i-th boom section and the torsion deflection axis; m j is the mass of the j-th boom section; is the acceleration component of the rotational inertia acceleration of the j-th boom section in the YOZ plane in the global coordinate system; for The distance from the x-axis of the root coordinate system of the i-th boom section.

[0025] In some embodiments, constructing a response surface model comprises:

[0026] Construct a simulation model of the boom section;

[0027] Applying different posture conditions and load conditions to the simulation model according to different working conditions to obtain maximum stress sample values ​​of the boom section under different working conditions;

[0028] The mutually corresponding maximum stress sample values, the posture conditions and the load conditions are used to form sample points, and all the sample points are fitted into the response surface model.

[0029] In some implementations, the pump truck early warning method further includes:

[0030] When the warning is issued, the pumping operation or the posture adjustment is stopped.

[0031] The second aspect of the present application provides a pump truck early warning system, comprising:

[0032] Attitude detection equipment, used to detect the pitch angle and torsion angle of the boom section;

[0033] Acceleration detection equipment, used to detect the rotational inertia acceleration of the boom section;

[0034] Early warning equipment, used to issue early warning alerts; and

[0035] A processing device capable of being communicatively connected with the posture detection device, the acceleration detection device and the early warning device, and configured as follows:

[0036] Construct the response surface model of the arm segment;

[0037] Obtaining the pitch angle, torsion angle and rotational inertial acceleration of the arm section;

[0038] Obtaining an actual value of the maximum stress of the boom section according to the pitch angle, the torsion angle, the gyroscopic inertia acceleration and the response surface model;

[0039] When it is determined that the actual value of the maximum stress of the arm section is greater than or equal to the allowable value of the maximum stress, the early warning device is controlled to issue an early warning prompt.

[0040] In some embodiments, the acceleration detection device includes an acceleration sensor, and the acceleration sensor is arranged at the center of mass of the arm section.

[0041] In some embodiments, the processing device can also be communicatively connected with a pumping device that performs a pumping operation, and the processing device is further configured to:

[0042] When the warning prompt is issued, the pumping equipment is stopped.

[0043] In some embodiments, the processing device can also be communicatively connected with an adjustment device for performing posture adjustment, and the processing device is further configured to:

[0044] When the warning prompt is issued, the regulating device is stopped.

[0045] A third aspect of the present application provides a pump truck, comprising the pump truck early warning system as described above.

[0046] A fourth aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the pump truck early warning method as described above.

[0047] Through the above technical solution, the pump truck early warning method, system, pump truck and machine-readable storage medium provided by the present application have the following beneficial effects:

[0048] During the rotation adjustment process of the boom section, the main forces acting on the boom section are gravity and rotational inertia force. The gravity and rotational inertia force of the boom section will cause stress changes in the boom section. The magnitude of the stress change depends on the current posture of the boom section and the rotation adjustment speed. The current posture is specifically reflected in the pitch angle and torsion angle of the boom section, and the rotation adjustment speed is specifically reflected in the rotational inertia acceleration. In this application, a response surface model between the pitch angle, torsion angle, rotational inertia acceleration and stress is constructed, and the measured pitch angle, torsion angle and rotational inertia acceleration are substituted into the response surface model to obtain the actual value of the maximum stress of the boom during the rotation adjustment process. When the actual value of the maximum stress is greater than or equal to the maximum stress allowable value, the pump truck is controlled to issue a warning prompt, so that the operator can understand the stress condition of the boom section in time, and then take safety measures to avoid plastic deformation of the boom section.

[0049] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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 embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0051] Figure 1 It is a step diagram of a pump truck early warning method according to a specific embodiment of the present application;

[0052] Figure 2 It is a schematic diagram of the arm section and root coordinate system according to a specific embodiment of the present application;

[0053] Figure 3 A schematic diagram of a pitch angle according to a specific embodiment of the present application;

[0054] Figure 4 A schematic diagram of a torsion angle according to a specific embodiment of the present application;

[0055] Figure 5 is a schematic diagram of the distance between the center of mass and the pitch and yaw axis according to a specific embodiment of the present application;

[0056] Figure 6 is a schematic diagram of the distance between the center of mass and the torsional deflection axis according to a specific embodiment of the present application;

[0057] Figure 7 is a schematic diagram of an offset arm section according to a specific embodiment of the present application;

[0058] Figure 8It is a schematic diagram of a pump truck early warning system according to a specific embodiment of the present application.

[0059] Description of Reference Numerals

[0060] 1. Boom section; 2. Boom section root; 3. Root coordinate system; 4. Offset boom section; 5. Center of mass; 6. Pitch angle sensor; 7. Torsion angle sensor; 8. Acceleration sensor; 9. Processing equipment; 10. Early warning equipment. DETAILED DESCRIPTION

[0061] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0062] The following describes the pump truck early warning method, system, pump truck and machine-readable storage medium according to the present application with reference to the accompanying drawings.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] like Figure 1 and Figure 2As shown, a specific embodiment of the present application provides a pump truck early warning method, the early warning method comprising:

[0067] Step S1: constructing a response surface model of arm segment 1;

[0068] Step S2: obtaining the pitch angle, torsion angle and rotational inertial acceleration of arm section 1;

[0069] Step S3: obtaining the actual value of the maximum stress of the boom section 1 according to the pitch angle, the torsion angle, the rotational inertial acceleration and the response surface model;

[0070] Step S4: Determine whether the actual maximum stress value of the boom section 1 is greater than or equal to the allowable maximum stress value of the boom section 1, and control the pump truck to issue an early warning prompt.

[0071] It can be seen that in the specific embodiment of the present application, the factors affecting the actual value of the maximum stress of the arm section 1 during the rotation adjustment process include the current posture of the arm section 1 and the rotation adjustment speed of the arm section 1, wherein the pitch angle and the torsion angle determine the current posture of the arm section 1, and different pitch angles and torsion angles represent different current postures of the arm section 1; the rotation inertia acceleration determines the rotation adjustment speed of the arm section 1, and different rotation inertia accelerations represent different rotation adjustment speeds and directions of the arm section 1, and the rotation adjustment action of the arm section 1 is realized by the turntable of the pump truck, and the action of the turntable is controlled by the operator. In the present application, the actual value of the maximum stress of the arm section 1 during the rotation adjustment process is determined by comprehensively considering the current posture of the arm section 1 and the rotation adjustment speed, thereby ensuring that the actual value of the maximum stress of the arm section 1 can be fed back while the operator is operating whether it exceeds the maximum stress allowable value, thereby avoiding the operator's operation causing plastic deformation of the arm section 1 and avoiding the occurrence of safety accidents.

[0072] Specifically, the pump truck includes a turntable, to which a boom is connected, a pumping pipeline is arranged on the boom, and the boom has a plurality of boom sections 1, and telescopic cylinders are arranged between adjacent boom sections 1. The rotation adjustment of the boom section 1 is achieved by the rotation of the turntable, and the posture adjustment of the boom section 1 is achieved by the telescopic cylinder. In a specific embodiment of the present application, only the situation that the stress change of the boom section 1 during the rotation adjustment process causes plastic deformation of the boom section 1 is considered, that is, the posture adjustment of the boom section 1 has been completed before the rotation adjustment process, but applying the same rotation adjustment speed to the boom section 1 with different current postures will cause different stress changes to produce different maximum stress actual values. In other words, during the rotation adjustment process, the maximum stress actual value is determined by the current posture of the boom and the rotation adjustment speed. It can be seen that the maximum stress actual value obtained thereby has a higher reliability.

[0073] Furthermore, the reason why the stress change of the arm section 1 during the rotation adjustment process is the rotation action of the turntable, and the rotation action is controlled by the operator. It can be understood that the pump truck early warning method provided in the specific embodiment of the present application can provide a safety warning for the situation where the stress of the pump truck arm frame suddenly changes due to improper operation of the operator, thereby effectively avoiding the safety risks of the pump truck during operation, and thus improving the safety of the pump truck.

[0074] The boom comprises multiple boom sections 1. A rotating shaft is connected between the first boom section 1 and the turntable and between adjacent boom sections 1. The rotating shaft is used to adjust the pitch angle of the boom section 1. The boom section 1 is provided with auxiliary components such as a pumping pipeline. The auxiliary components will cause the gravity of the boom section 1 to deviate from the center position and generate torque, thereby causing the boom section 1 to twist and generate a torsion angle. Since the boom has multiple boom sections 1, as long as the actual value of the maximum stress of any boom section 1 exceeds the allowable value of the maximum stress, an early warning prompt will be issued.

[0075] In some embodiments, step S1 comprises:

[0076] Step S11: constructing a simulation model of the boom section 1;

[0077] Step S12: applying different posture conditions and load conditions to the simulation model according to different working conditions to obtain the maximum stress sample value of the boom section 1 under different working conditions;

[0078] Step S13: The corresponding maximum stress sample values, posture conditions and load conditions are formed into sample points, and all sample points are fitted into a response surface model.

[0079] It can be seen that the specific embodiment of the present application uses numerical simulation to determine the response surface model. The response surface model is the conversion relationship between the pitch angle, torsion angle, bending moment at the root of the boom section, torque at the root of the boom section and stress. That is, the pitch angle, torsion angle, bending moment at the root of the boom section and torque at the root of the boom section are obtained and substituted into the response surface model to obtain the actual value of the maximum stress.

[0080] Specifically, step S11 uses finite element simulation to model the boom section 1, and step S12 uses finite element simulation to simulate the posture condition and load condition of the boom section 1. The posture condition is the pitch angle and torsion angle of the boom section 1, and the load condition is the bending moment and torque at the root of the boom section. The pitch angle, torsion angle, bending moment and torque at the root of the boom section corresponding to different working conditions are not exactly the same. In other words, in step S12, it is necessary to simulate a large number of working conditions for the simulation model of the boom section 1 to obtain a large number of maximum stress sample values, so that the number of sample points obtained in step S13 is sufficient. Only when the number of sample points is sufficient can the fitted response surface model correctly reflect the conversion relationship between the pitch angle, torsion angle, bending moment and torque at the root of the boom section and stress, so that the formed response surface model can obtain the real maximum stress actual value in actual application, thereby improving the reliability of the pump truck early warning method.

[0081] In some embodiments, step S1 further includes:

[0082] Step S14: Verify the conformity of the response surface model.

[0083] Specifically, step S14 is to use the response surface model to reversely verify the sample point, that is, to substitute the pitch angle, torsion angle, boom root bending moment and boom root torque of the sample point into the response surface model to obtain the maximum stress verification value corresponding to the sample point. If the maximum stress verification value and the maximum stress sample value of the same sample point differ within the allowable error range, it means that the response surface model conforms to this sample point, otherwise, it means that the response surface model does not conform to this sample point.

[0084] Furthermore, when the response surface model conforms to more than 95% of the sample points, the conformity of the response surface model is qualified; when the response surface model conforms to less than 95% of the sample points, the conformity of the response surface model is unqualified, and other response surface model construction methods are needed to reconstruct the response surface model.

[0085] It should be noted that the response surface model construction methods include genetic algorithm (Genetic Aggregation), response surface method (Standard Response Surface), Kriging method (Krigin), etc. The above-mentioned response surface model construction methods are well known to those skilled in the art and do not belong to the core invention of this application, so they will not be elaborated here.

[0086] In some embodiments, step S1 further includes:

[0087] Step S15: Verify the accuracy of the response surface model.

[0088] Specifically, step S15 is to use the newly generated verification point to verify the response surface model, and the verification point is different from the sample point, that is, the pitch angle, torsion angle, boom root bending moment and boom root torque are randomly generated and the generated pitch angle, torsion angle, boom root bending moment and boom root torque are applied to the boom 1 model as posture conditions and load conditions to obtain the maximum stress sample value of the verification point, and then the pitch angle, torsion angle, boom root bending moment and boom root torque of the verification point are substituted into the response surface model to obtain the maximum stress verification value of the verification point. If the ratio error of the maximum stress verification value and the maximum stress sample value of the same verification point is within the accuracy range, it means that the accuracy of the response surface model is feasible, otherwise, it means that the accuracy of the response surface model is insufficient.

[0089] Furthermore, when the ratio error of the maximum stress verification value to the maximum stress sample value is no more than 10%, the accuracy of the response surface model is qualified; when the ratio error of the maximum stress verification value to the maximum stress sample value is greater than 10%, the accuracy of the response surface model is unqualified, and it is necessary to add sample points to reconstruct the response surface model, and the reconstructed response surface model needs to be verified for conformity and accuracy again.

[0090] It should be noted that step S14 and step S15 have a clear execution order, and the accuracy of the response surface model needs to be verified only after the conformity of the response surface model is qualified.

[0091] In some implementations, the pitch angle, torsion angle, and rotational inertial acceleration of the arm section 1 acquired in step S2 are all values ​​under actual working conditions.

[0092] like Figures 3 to 6 As shown, in some embodiments, step S3 includes:

[0093] Step S31: Acquire the length of the boom section, the distance between the center of mass 5 and the pitch yaw axis, the distance between the center of mass 5 and the torsion yaw axis, the mass of the boom section, and the gravity of the boom section;

[0094] Step S32: Obtain the bending moment at the root of the boom section according to the pitch angle, the length of the boom section, the distance between the center of mass 5 and the pitch deflection axis, and the gravity of the boom section;

[0095] Step S33: obtaining the boom root torque according to the pitch angle, the torsion angle, the rotational inertia acceleration, the boom length, the distance between the center of mass 5 and the pitch yaw axis, the distance between the center of mass 5 and the torsion yaw axis, the boom mass and the boom gravity;

[0096] Step S34: Substitute the pitch angle, torsion angle, boom root bending moment, and boom root torque into the response surface model to obtain the actual value of the maximum stress of boom section 1.

[0097] It should be noted that the execution order of step S32 and step S33 can be interchanged or performed simultaneously, that is, the calculation of the boom root bending moment and the calculation of the boom root torque are not necessarily limited in the execution order.

[0098] It can be seen that in the specific embodiment of the present application, the bending moment and torque at the root of the boom section are calculated by mechanical calculation, and the bending moment and torque at the root of the boom section obtained by mechanical calculation have higher accuracy than those obtained by direct measurement or experiment, so that the actual value of the maximum stress obtained has higher accuracy, thereby improving the reliability of the pump truck early warning method.

[0099] In addition, the arm section 1 has a certain size, and the bending moment and torque obtained by selecting different calculation positions are also different. The arm section root 2 refers to the end of the arm section 1 which is relatively close to the turntable along the axial direction and is provided with a rotating shaft. In the specific embodiment of the present application, the arm section root 2 is selected as the calculation position. When performing step S1, the load condition applied by constructing the response surface model also selects the arm section root 2 as the loading position, so that the calculated arm section root bending moment and arm section root torque can be applied to the response surface model to obtain an accurate actual value of the maximum stress.

[0100] At the same time, the boom has multiple boom sections 1, and each boom section 1 has differences in boom section length, distance between center of mass 5 and pitch yaw axis, distance between center of mass 5 and torsion yaw axis, boom section mass and boom section gravity. In other words, in step S3, it is necessary to obtain the above parameters of each boom section 1 and calculate the actual value of the maximum stress of each boom section 1, so as to give an early warning of possible stress mutation in each boom section 1.

[0101] In some embodiments, step S32 includes:

[0102] Substitute the pitch angle, boom section length, the distance between the center of mass 5 and the pitch deflection axis, and the boom section gravity into the first calculation formula to obtain the boom section root bending moment;

[0103] The first calculation formula includes:

[0104]

[0105] Among them, M Zi is the bending moment at the root of the i-th boom section; M Z(i+1) is the bending moment at the root of the (i+1)th boom section; L i is the length of the i-th arm section; θ i is the pitch angle of the i-th boom section; G i is the boom gravity of the i-th boom; L′ i is the distance between the mass center 5 of the i-th boom section and the pitch and yaw axis; the (i+1)-th boom section is connected to the end of the i-th boom section away from the vehicle body.

[0106] In some embodiments, step S33 includes:

[0107] Substitute the pitch angle, torsion angle, gyration inertia acceleration, boom length, distance between the center of mass 5 and the pitch yaw axis, distance between the center of mass 5 and the torsion yaw axis, boom mass and boom gravity into the second calculation formula to obtain the boom root torque;

[0108] The second calculation formula includes:

[0109]

[0110] Among them, M Xi is the boom root torque of the i-th boom; M X(i+1) is the boom root torque of the (i+1)th boom; G i is the boom gravity of the i-th boom; L′ i θ is the distance between the mass center 5 of the i-th boom section and the pitch axis; i is the pitch angle of the i-th boom section; L i is the length of the i-th arm section; α i is the torsion angle of the i-th arm section; L i is the distance between the mass center 5 of the i-th boom section and the torsion deflection axis; m j is the boom section mass of the jth boom section; is the acceleration component of the rotational inertia acceleration of the jth boom section in the YOZ plane of the global coordinate system; for The distance from the x-axis of the root coordinate system 3 of the i-th boom section.

[0111] The pitch yaw axis refers to the central axis of the rotation axis of the boom root 2, the torsion yaw axis refers to the central axis of the boom 1, the global coordinate system refers to the geodetic coordinate system, the root coordinate system 3 is parallel to the geodetic coordinate system, but the origin of the root coordinate system 3 is located at the boom root 2, the x-axis of the root coordinate system 3 of the boom 1 is parallel to the central axis of the boom 1, and the z-axis of the root coordinate system 3 of the boom 1 is parallel to the central axis of the rotation axis of the boom root 2.

[0112] Specifically, when calculating the boom section root bending moment and the boom section root torque, the first boom section 1 connected to the turntable is the first boom section 1, the second boom section 1 is the second boom section 1, and so on. When calculating the boom section root bending moment and the boom section root torque of the first boom section 1, i in the first calculation formula is equal to 1, and when calculating the boom section root bending moment and the boom section root torque of the second boom section 1, i is equal to 2, and so on.

[0113] Furthermore, when calculating the boom section root bending moment and boom section root torque of the first boom section 1, it is necessary to first calculate the boom section root bending moment and boom section root torque of the second boom section 1; when calculating the boom section root bending moment and boom section root torque of the second boom section 1, it is necessary to first calculate the boom section root bending moment and boom section root torque of the third boom section 1, and so on.

[0114] It should be noted that the first calculation formula and the second calculation formula are both derived based on mechanical formulas. The derivation process is not the core invention point of the present application and will not be elaborated here. However, the introduction of rotational inertia acceleration when calculating the torque at the root of the arm section belongs to the core invention point of the present application. In other words, the inertia force generated by the operator manipulating the rotation of the turntable is taken into account when obtaining the actual value of the maximum stress, thereby ensuring that the actual value of the maximum stress of the arm section 1 exceeds the allowable value of the maximum stress while the operator is operating, thereby avoiding plastic deformation of the arm section 1 caused by the operator's operation and avoiding the occurrence of safety accidents.

[0115] like Figure 7 As shown, in some embodiments, the arm section 1 is an offset arm section 4, and the offset arm section 4 includes a straight line segment, an oblique line segment, and an offset segment connected in sequence. The offset segment and the straight line segment are parallel to each other, and the central axis of the offset segment and the central axis of the straight line segment have an offset distance along the z-axis direction of the root coordinate system 3. In other words, gravity will generate an offset torque. Adding the offset torque, the second calculation formula includes:

[0116]

[0117] Where ΔZ is the offset distance.

[0118] In some implementations, the pump truck early warning method further includes:

[0119] Step S4': stopping the pumping operation while issuing an early warning prompt;

[0120] Step S4": while issuing a warning prompt, stop the posture adjustment.

[0121] It should be noted that the execution order of step S4' and step S4" can be interchanged or performed simultaneously, that is, stopping the pumping operation and stopping the posture adjustment are not necessarily limited in the execution order, and step S4' and step S4" can be executed either one or at the same time to avoid plastic deformation failure of the arm section 1 due to further operation.

[0122] like Figure 8As shown, the specific embodiment of the present application also provides a pump truck early warning system, including a posture detection device, an acceleration detection device, an acceleration detection device, an early warning device 10 and a processing device 9, wherein the posture detection device is used to detect the pitch angle and the torsion angle of the boom section 1; the acceleration detection device is used to detect the rotational inertia acceleration of the boom section 1; the early warning device 10 is used to issue an early warning prompt; the processing device 9 can be connected to the posture detection device, the acceleration detection device and the early warning device 10 in communication, and is configured as follows:

[0123] Construct the response surface model of arm segment 1;

[0124] Obtain the pitch angle, torsion angle and rotational inertial acceleration of arm section 1;

[0125] The actual value of the maximum stress of boom section 1 is obtained based on the pitch angle, torsion angle, rotational inertial acceleration and response surface model;

[0126] It is determined that the actual maximum stress value of the boom section 1 is greater than or equal to the allowable maximum stress value thereof, and the early warning device 10 is controlled to issue an early warning prompt.

[0127] In some embodiments, examples of the processing device 9 may include, but are not limited to, a general purpose processor, a special purpose processor, a conventional processor, a digital signal processor (DSP), multiple microprocessors, one or more microprocessors associated with a DSP core, a controller, a microcontroller, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) circuit, any other type of integrated circuit (IC), and a state machine, etc.

[0128] In some embodiments, the posture detection device includes a pitch angle sensor 6 and a torsion angle sensor 7, and the pitch angle sensor 6 and the torsion angle sensor 7 are arranged at the root 2 of the arm section; the acceleration detection device includes an acceleration sensor 8, and the acceleration sensor 8 is arranged at the center of mass 5 of the arm section 1; the early warning device 10 can be an alarm light, a buzzer or other device or a combination thereof.

[0129] In some embodiments, the processing device 9 can also be connected in communication with a pumping device that performs a pumping operation, and the processing device 9 is further configured to:

[0130] When the warning is issued, the pumping equipment is stopped.

[0131] In some embodiments, the processing device 9 can also be connected in communication with an adjustment device for performing posture adjustment, and the processing device 9 is further configured to:

[0132] When the warning prompt is issued, stop adjusting the equipment.

[0133] It should be noted that the working principles of the pitch angle sensor 6, the torsion angle sensor 7, the acceleration sensor 8, the alarm light, and the buzzer are well known to those skilled in the art, and are not the core invention points of the present application, and will not be elaborated here.

[0134] The specific embodiment of the present application provides a pump truck, including the pump truck early warning system as described above. Since the pump truck adopts all the embodiments of the pump truck early warning system, the pump truck has all the beneficial effects brought by the pump truck early warning system.

[0135] A specific embodiment of the present application further provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the pump truck early warning method as described above.

[0136] A specific embodiment of the present application further provides a machine-readable storage medium that can be directly installed on a crane for use. The machine-readable storage medium stores instructions that are used to enable the machine to execute the above-mentioned crane control method.

[0137] 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 on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0138] 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 9 to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device 9 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.

[0139] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device 9 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 1A function specified in one or more boxes.

[0140] These computer program instructions may also be loaded onto a computer or other programmable data processing device 9 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 executing on the computer or other programmable device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0141] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0142] 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.

[0143] 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 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.

[0144] 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.

[0145] 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 pump truck early warning method, characterized in that: include: Constructing a response surface model of the arm segment (1); Obtaining the pitch angle, torsion angle and rotational inertial acceleration of the arm section (1); Obtaining the actual value of the maximum stress of the arm section (1) according to the pitch angle, the torsion angle, the rotational inertial acceleration and the response surface model; When it is determined that the actual value of the maximum stress of the boom section (1) is greater than or equal to the allowable value of the maximum stress of the boom section (1), the pump truck is controlled to issue an early warning prompt.

2. The pump truck early warning method according to claim 1, characterized in that: The actual value of the maximum stress of the arm section (1) obtained according to the pitch angle, the torsion angle, the rotational inertia acceleration and the response surface model includes: Obtaining the length of the boom section, the distance between the center of mass (5) and the pitch yaw axis, the distance between the center of mass (5) and the twist yaw axis, the mass of the boom section, and the gravity of the boom section; The bending moment at the root of the boom section is calculated according to the pitch angle, the length of the boom section, the distance between the center of mass (5) and the pitch deflection axis, and the gravity of the boom section; The arm section root torque is calculated based on the pitch angle, the torsion angle, the rotational inertia acceleration, the arm section length, the distance between the center of mass (5) and the pitch deflection axis, the distance between the center of mass (5) and the torsion deflection axis, the arm section mass and the arm section gravity; The pitch angle, the torsion angle, the bending moment at the root of the boom section, and the torque at the root of the boom section are substituted into the response surface model to obtain the actual value of the maximum stress of the boom section (1).

3. The pump truck early warning method according to claim 2, characterized in that: The bending moment at the root of the boom section calculated according to the pitch angle, the length of the boom section, the distance between the center of mass (5) and the pitch deflection axis, and the gravity of the boom section includes: Substituting the pitch angle, the boom section length, the distance between the center of mass (5) and the pitch deflection axis, and the boom section gravity into the first calculation formula to obtain the boom section root bending moment; Wherein, the first calculation formula includes: Among them, M Zi M is the bending moment at the root of the i-th boom section; Z(i+1) L is the bending moment at the root of the (i+1)th boom section; i is the length of the i-th boom section; θ i is the pitch angle of the i-th boom section; G i is the boom section gravity of the i-th boom section; L i is the distance between the mass center (5) of the i-th boom section and the pitch and yaw axis; the (i+1)-th boom section is connected to the end of the i-th boom section away from the vehicle body.

4. The pump truck early warning method according to claim 2, characterized in that: The arm root torque calculated according to the pitch angle, the torsion angle, the rotational inertia acceleration, the arm length, the distance between the center of mass (5) and the pitch deflection axis, the distance between the center of mass (5) and the torsion deflection axis, the arm mass and the arm gravity includes: Substituting the pitch angle, the torsion angle, the rotational inertia acceleration, the arm section length, the distance between the center of mass (5) and the pitch deflection axis, the distance between the center of mass (5) and the torsion deflection axis, the arm section mass and the arm section gravity into a second calculation formula to obtain the arm section root torque; Wherein, the second calculation formula includes: Among them, M Xi M is the arm root torque of the i-th arm; X(i+1) is the root torque of the (i+1)th boom section; G i is the boom section gravity of the i-th boom section; L i θ is the distance between the mass center (5) of the i-th boom section and the pitch axis; i is the pitch angle of the i-th boom section; L i is the length of the i-th boom section; α i is the torsion angle of the i-th boom section; L″ i is the distance between the mass center (5) of the i-th boom section and the torsional deflection axis; m j is the mass of the j-th boom section; is the acceleration component of the rotational inertia acceleration of the j-th boom section in the YOZ plane in the global coordinate system; for The distance from the x-axis of the root coordinate system (3) of the i-th boom section.

5. The pump truck early warning method according to claim 1, characterized in that: Building a response surface model involves: Constructing a simulation model of the arm section (1); Applying different posture conditions and load conditions to the simulation model according to different working conditions, so as to obtain maximum stress sample values ​​of the arm section (1) under different working conditions; The mutually corresponding maximum stress sample values, the posture conditions and the load conditions are used to form sample points, and all the sample points are fitted into the response surface model.

6. The pump truck early warning method according to claim 1, characterized in that: The pump truck early warning method further includes: When the warning is issued, the pumping operation or the posture adjustment is stopped.

7. A pump truck warning system, characterized in that: include: An attitude detection device, used to detect the pitch angle and torsion angle of the arm section (1); An acceleration detection device, used for detecting the rotational inertial acceleration of the arm section (1); An early warning device (10) for issuing an early warning prompt; and The processing device (9) is capable of being connected to the posture detection device, the acceleration detection device and the early warning device (10) in communication, and is configured as follows: Constructing a response surface model of the arm segment (1); Obtaining the pitch angle, torsion angle and rotational inertial acceleration of the arm section (1); Obtaining the actual value of the maximum stress of the arm section (1) according to the pitch angle, the torsion angle, the rotational inertial acceleration and the response surface model; When it is determined that the actual value of the maximum stress of the arm section (1) is greater than or equal to its allowable maximum stress value, the early warning device (10) is controlled to issue an early warning prompt.

8. The pump truck warning system according to claim 7, characterized in that: The acceleration detection device comprises an acceleration sensor (8), and the acceleration sensor (8) is arranged at the center of mass (5) of the arm section (1).

9. The pump truck warning system according to claim 7, characterized in that: The processing device (9) can also be connected in communication with a pumping device for performing a pumping operation, and the processing device (9) is further configured to: While issuing the warning prompt, stopping the pumping equipment; and / or, The processing device (9) can also be connected in communication with an adjustment device for performing posture adjustment, and the processing device (9) is also configured to: When the warning prompt is issued, the regulating device is stopped.

10. A pump truck, characterized in that: It comprises a pump truck warning system according to any one of claims 7 to 9.

11. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the pump truck early warning method according to any one of claims 1 to 6.

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