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

Abstract

The application 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 slewing adjustment process of the boom section, the gravity and the slewing inertia force of the boom section can cause the boom section to change in stress, and the size of the stress change depends on the current posture of the boom section and the slewing adjustment speed, and the current posture specifically embodies the pitch angle and the twist angle of the boom section, and the slewing adjustment speed specifically embodies the slewing inertia acceleration. In the application, a response surface model between the pitch angle, the twist angle, the slewing inertia acceleration and the stress is constructed, and the measured pitch angle, twist angle and slewing inertia acceleration are substituted into the response surface model to obtain the actual maximum stress value of the boom section in the slewing adjustment process. When the actual maximum stress value 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 learn about the stress condition of the boom section in time, and then take safety measures to avoid plastic deformation of the boom section.

Description

Technical Field

[0001] This application belongs to the technical field of pump truck equipment, and specifically relates to pump truck early warning methods, systems, pump trucks, and machine-readable storage media. Background Technology

[0002] A concrete pump truck is a type of construction machinery used to pump concrete in building construction. It consists of a boom and a pumping pipeline mounted on the boom. The boom has multiple sections, and by adjusting the posture of each section, the pumping pipeline can be adapted to different working conditions and the pumping position can be adjusted. Boom posture adjustment is divided into slewing adjustment and pitch adjustment. Slewing adjustment is achieved by the movement of a turntable, while pitch adjustment is achieved by the movement of the telescopic cylinders between the boom sections. The movements of the turntable and telescopic cylinders are controlled by the operator.

[0003] During the attitude adjustment of the boom section, the boom section will be subjected to force and generate stress. If the stress is too great, it will cause plastic deformation of the boom section, thereby affecting the service life of the pump truck and even causing safety accidents. At present, there is no early warning method for excessive stress during the attitude adjustment of the boom section. Summary of the Invention

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

[0005] To achieve the above objectives, the first aspect of this application provides a pump truck early warning method, comprising:

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

[0007] Obtain the pitch angle, twist angle, and rotational inertial acceleration of the boom segment;

[0008] The actual value of the maximum stress of the boom section is obtained based on the pitch angle, the torsion angle, the rotational inertial acceleration, and the response surface model.

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

[0010] In some implementations, obtaining the actual maximum stress value of the boom segment based on the pitch angle, the torsion angle, the gyroscopic acceleration, and the response surface model includes:

[0011] Obtain the arm segment length, the distance between the center of mass and the pitch axis, the distance between the center of mass and the torsional axis, the arm segment mass, and the arm segment weight;

[0012] The bending moment at the root of the arm segment is obtained based on the pitch angle, the arm segment length, the distance between the center of mass and the pitch axis, and the arm segment weight.

[0013] The arm segment root torque is obtained based on the pitch angle, the torsion angle, the rotational inertial acceleration, the arm segment length, the distance between the center of mass and the pitch axis, the distance between the center of mass and the torsion axis, the arm segment mass, and the arm segment gravity.

[0014] Substituting the pitch angle, the torsion angle, the bending moment at the boom root, and the torque at the boom root into the response surface model yields the actual value of the maximum stress of the boom.

[0015] In some embodiments, obtaining the root bending moment of the boom segment based on the pitch angle, the boom segment length, the distance between the center of mass and the pitch axis, and the boom segment weight includes:

[0016] Substituting the pitch angle, the arm segment length, the distance between the center of mass and the pitch axis, and the arm segment weight into the first calculation formula, we obtain the bending moment at the root of the arm segment.

[0017] The first calculation formula includes:

[0018]

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

[0020] In some embodiments, the boom root torque is obtained based on the pitch angle, the torsion angle, the gyroscopic acceleration, the boom length, the distance between the center of mass and the pitch axis, the distance between the center of mass and the torsion axis, the boom mass, and the boom weight, including:

[0021] Substituting the pitch angle, the torsion angle, the rotational inertial acceleration, the arm segment length, the distance between the center of mass and the pitch axis, the distance between the center of mass and the torsion axis, the arm segment mass, and the arm segment gravity into the second calculation formula yields the arm segment root torque.

[0022] The second calculation formula includes:

[0023]

[0024] Among them, M Xi M is the torque at the root of the i-th boom segment; X(i+1) G is the torque at the root of the (i+1)th segment; i L′ is the weight of the i-th segment of the arm; i θ is the distance between the center of mass of the i-th arm segment and the pitch axis; i L is the pitch angle of the i-th arm segment; i α is the length of the i-th segment of the arm; i L″ is the torsion angle of the i-th arm segment; i m is the distance between the center of mass of the i-th arm segment and the torsional deflection axis; j Let J be the mass of the j-th arm segment; Let J be the acceleration component of the rotational inertial acceleration of the j-th arm segment 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 segment.

[0025] In some implementations, constructing a response surface model includes:

[0026] Construct a simulation model of the arm joint;

[0027] Different attitude and load conditions are applied to the simulation model according to different working conditions to obtain the maximum stress sample value of the boom segment under different working conditions.

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

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

[0030] While issuing the warning, stop the pumping operation or stop attitude adjustment.

[0031] A second aspect of this application provides a pump truck early warning system, comprising:

[0032] Attitude detection equipment is used to detect the pitch and torsion angles of the boom segment;

[0033] Acceleration detection equipment is used to detect the rotational inertial acceleration of the boom segment;

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

[0035] The processing device is communicatively connected to the attitude detection device, the acceleration detection device, and the early warning device, and is configured as follows:

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

[0037] Obtain the pitch angle, twist angle, and rotational inertial acceleration of the boom segment;

[0038] The actual value of the maximum stress of the boom section is obtained based on the pitch angle, the twist angle, the rotational inertial acceleration, and the response surface model.

[0039] When the actual value of the maximum stress of the boom section is determined to be greater than or equal to its maximum allowable stress value, the control and early warning device issues an early warning prompt.

[0040] In some embodiments, the acceleration detection device includes an acceleration sensor disposed at the center of mass of the arm segment.

[0041] In some embodiments, the processing device is also communicatively connected to pumping equipment performing the pumping operation, and the processing device is further configured to:

[0042] While issuing a warning, stop the pumping equipment.

[0043] In some embodiments, the processing device is also communicatively connected to an adjustment device for attitude adjustment, and the processing device is further configured to:

[0044] While issuing a warning, stop the adjustment device.

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

[0046] A fourth aspect of this application provides a machine-readable storage medium storing instructions that cause a machine to perform the pump truck early warning method described above.

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

[0048] During the boom's slewing adjustment process, the main forces acting on the boom are gravity and rotational inertia. These forces cause stress changes in the boom, the magnitude of which depends on the boom's current attitude and slewing adjustment speed. The current attitude is specifically manifested in the boom's pitch and twist angles, while the slewing adjustment speed is specifically manifested in the rotational inertial acceleration. In this application, a response surface model is constructed relating the pitch angle, twist angle, and rotational inertial acceleration to stress. The measured pitch angle, twist angle, and rotational inertial acceleration are then substituted into the response surface model to obtain the actual maximum stress value of the boom during the slewing adjustment process. When the actual maximum stress value is greater than or equal to the maximum allowable stress value, the pump truck is controlled to issue a warning, enabling operators to promptly understand the stress situation of the boom and take safety measures to prevent plastic deformation of the boom.

[0049] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0050] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0051] Figure 1 This is a flowchart illustrating the steps of a pump truck early warning method according to a specific embodiment of this application;

[0052] Figure 2 This is a schematic diagram of the coordinate system of the arm segment and the root segment according to a specific embodiment of this application;

[0053] Figure 3 This is a schematic diagram of the pitch angle according to a specific embodiment of this application;

[0054] Figure 4 This is a schematic diagram of the torsion angle according to a specific embodiment of this application;

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

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

[0057] Figure 7 This is a schematic diagram of the offset arm segment according to a specific embodiment of this application;

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

[0059] Explanation of reference numerals in the attached figures

[0060] 1. Arm segment; 2. Arm segment root; 3. Root coordinate system; 4. Offset arm segment; 5. Center of mass; 6. Pitch angle sensor; 7. Torsion angle sensor; 8. Accelerometer; 9. Processing equipment; 10. Early warning equipment. Detailed Implementation

[0061] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

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

[0063] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0064] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0065] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0066] like Figure 1 and Figure 2As shown, a specific embodiment of this application provides a pump truck early warning method, which includes:

[0067] Step S1: Construct the response surface model of arm segment 1;

[0068] Step S2: Obtain the pitch angle, twist angle, and rotational inertial acceleration of arm segment 1;

[0069] Step S3: Obtain the actual value of the maximum stress of arm section 1 based on the pitch angle, twist angle, rotational inertial acceleration, and response surface model;

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

[0071] As can be seen, in the specific embodiments of this application, the factors affecting the actual maximum stress value of boom section 1 during the slewing adjustment process include the current posture of boom section 1 and the slewing adjustment speed of boom section 1. The pitch angle and torsion angle determine the current posture of boom section 1, with different pitch and torsion angles representing different current postures. The slewing inertial acceleration determines the slewing adjustment speed of boom section 1, with different slewing inertial accelerations representing different slewing adjustment speeds and directions. The slewing adjustment action of boom section 1 is achieved by the turntable of the pump truck, and the operation of the turntable is controlled by the operator. In this application, the actual maximum stress value of boom section 1 during the slewing adjustment process is determined by comprehensively considering the current posture and slewing adjustment speed of boom section 1. This ensures that the actual maximum stress value of boom section 1 can be fed back to the operator while the operator is controlling the operation, preventing plastic deformation of boom section 1 caused by operator manipulation and avoiding safety accidents.

[0072] Specifically, the pump truck includes a turntable, on which a boom is connected. The boom is equipped with pumping pipes and has multiple boom sections 1, with telescopic cylinders positioned between adjacent boom sections 1. The rotation adjustment of the boom section 1 is achieved by rotating the turntable, and the attitude adjustment of the boom section 1 is achieved by the telescopic cylinders. In a specific embodiment of this application, only the case where stress changes during the rotation adjustment process cause plastic deformation of the boom section 1 is considered. That is, the attitude adjustment of the boom section 1 is completed before the rotation adjustment process, but applying the same rotation adjustment speed to boom sections 1 with different current attitudes will induce different stress changes, resulting in different actual maximum stress values. In other words, during the rotation adjustment process, the actual maximum stress value is determined by the current attitude of the boom and the rotation adjustment speed. Therefore, the actual maximum stress value obtained in this way has high reliability.

[0073] Furthermore, the reason for the stress change in boom 1 during the slewing adjustment process is the slewing action of the turntable. The slewing action is controlled by the operator. It is understood that the pump truck early warning method provided in the specific embodiment of this application can provide a safety warning for the sudden stress change of the pump truck boom caused by improper operation by the operator, thereby effectively avoiding the safety risks of the pump truck during operation and improving the safety of the pump truck.

[0074] The boom consists of multiple boom sections 1. Rotating shafts are connected between the first boom section 1 and the turntable, as well as between adjacent boom sections 1. These rotating shafts are used to adjust the pitch angle of the boom section 1. The boom section 1 is equipped with auxiliary components such as pumping pipes. These auxiliary components cause the weight of the boom section 1 to deviate from the center position, generating torque, which in turn causes the boom section 1 to twist and generate a torsion angle. Since the boom has multiple boom sections 1, a warning is issued as soon as the actual maximum stress value of any boom section 1 exceeds the maximum allowable stress value.

[0075] In some implementations, step S1 includes:

[0076] Step S11: Construct a simulation model of arm segment 1;

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

[0078] Step S13: Form sample points from the corresponding maximum stress sample values, attitude conditions and load conditions, and fit all sample points into a response surface model.

[0079] As can be seen, the specific embodiments of this application use numerical simulation to determine the response surface model. The response surface model is the conversion relationship between pitch angle, torsion angle, boom root bending moment and boom root torque and stress. That is, by obtaining the pitch angle, torsion angle, boom root bending moment and boom root torque and substituting them into the response surface model, the actual value of the maximum stress can be obtained.

[0080] Specifically, step S11 uses finite element simulation to model boom section 1, and step S12 uses finite element simulation to model the attitude and load conditions of boom section 1. The attitude conditions are the pitch angle and torsion angle of boom section 1, and the load conditions are the bending moment and torque at the boom root. The pitch angle, torsion angle, bending moment and torque at the boom root are not exactly the same under different working conditions. In other words, in step S12, it is necessary to simulate a large number of working conditions for the simulation model of 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 pitch angle, torsion angle, bending moment and torque at the boom root and stress. This allows the formed response surface model to obtain the actual value of the maximum stress in actual application, thereby improving the reliability of the pump truck early warning method.

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

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

[0083] Specifically, step S14 involves using the response surface model to back-verify the sample point. This involves substituting the pitch angle, torsion angle, boom root bending moment, and boom root torque of the sample point into the response surface model to verify whether the maximum stress verification value obtained is the maximum stress sample value corresponding to the sample point. If the maximum stress verification value of the same sample point differs from the maximum stress sample value within the allowable error range, it indicates that the response surface model conforms to this sample point; otherwise, it indicates that the response surface model does not conform to this sample point.

[0084] Furthermore, if the response surface model matches more than 95% of the sample points, the response surface model is considered to have acceptable conformity; if the response surface model matches less than 95% of the sample points, the response surface model is considered to have unacceptable conformity, and other response surface model construction methods need to be used to reconstruct the response surface model.

[0085] It should be noted that response surface model construction methods include genetic aggregation, standard response surface, and Krigin, etc. The above-mentioned response surface model construction methods are well known to those skilled in the art and are not the core inventive points of this application, so they will not be elaborated here.

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

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

[0088] Specifically, step S15 involves using newly generated verification points to verify the response surface model. These verification points differ from the sample points; specifically, pitch angle, torsion angle, boom root bending moment, and boom root torque are randomly generated and applied as attitude and load conditions to the boom 1 model to obtain the maximum stress sample value at the verification point. 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 at the verification point. If the ratio error between the maximum stress verification value and the maximum stress sample value at the same verification point is within the accuracy range, the response surface model is considered accurate; otherwise, the accuracy is insufficient.

[0089] Furthermore, when the ratio error between the maximum stress verification value and the maximum stress sample value is no greater than 10%, the accuracy of the response surface model is acceptable; when the ratio error between the maximum stress verification value and the maximum stress sample value is greater than 10%, the accuracy of the response surface model is unacceptable, and it is necessary to add sample points to reconstruct the response surface model. The reconstructed response surface model needs to undergo compliance verification and accuracy verification again.

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

[0091] In some implementations, step S2 obtains the pitch angle, twist angle, and rotational inertial acceleration of the boom 1 as values ​​under actual working conditions.

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

[0093] Step S31: Obtain the arm segment length, the distance between the center of mass 5 and the pitch axis, the distance between the center of mass 5 and the torsional axis, the arm segment mass, and the arm segment gravity;

[0094] Step S32: Calculate the bending moment at the root of the boom segment based on the pitch angle, boom segment length, distance between the center of mass 5 and the pitch axis, and boom segment weight;

[0095] Step S33: Calculate the root torque of the boom segment based on the pitch angle, twist angle, rotational inertial acceleration, boom segment length, distance between the center of mass 5 and the pitch axis, distance between the center of mass 5 and the torsional axis, boom segment mass, and boom segment gravity.

[0096] Step S34: Substitute the pitch angle, torsion angle, bending moment at the root of the boom section, and torque at the root of the boom section 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 steps S32 and S33 can be interchanged or performed simultaneously, that is, the execution order of calculating the bending moment at the root of the boom segment and the torque at the root of the boom segment is not necessarily restricted.

[0098] As can be seen, in the specific embodiments of this application, the bending moment and torque at the boom root are calculated using mechanical methods. The bending moment and torque at the boom root obtained by mechanical calculation are more accurate than those obtained by direct measurement or experimentation, thereby making the actual value of the maximum stress more accurate and improving the reliability of the pump truck early warning method.

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

[0100] Meanwhile, the boom has multiple boom sections 1, and the boom length, distance between the center of mass 5 and the pitch axis, distance between the center of mass 5 and the torsional axis, boom mass and boom weight of each boom section 1 are different. 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 in order to provide early warning of possible stress changes in each boom section 1.

[0101] In some implementations, step S32 includes:

[0102] Substituting the pitch angle, boom length, distance between the center of mass 5 and the pitch axis, and boom weight into the first calculation formula, we obtain the bending moment at the root of the boom.

[0103] The first calculation formula includes:

[0104]

[0105] Among them, M Zi M is the bending moment at the root of the i-th boom segment; Z(i+1) L is the bending moment at the root of the (i+1)th segment; i Let θ be the length of the i-th segment; i G is the pitch angle of the i-th arm segment; i Let L' be the arm segment weight of the i-th arm segment; i Let 5 be the distance between the center of mass 5 of the i-th arm segment and the pitch axis; the (i+1)-th arm segment is connected to the end of the i-th arm segment that is furthest from the vehicle body.

[0106] In some implementations, step S33 includes:

[0107] Substituting the pitch angle, twist angle, rotational inertial acceleration, arm segment length, distance between center of mass 5 and pitch axis, distance between center of mass 5 and twist axis, arm segment mass, and arm segment gravity into the second calculation formula yields the arm segment root torque.

[0108] The second calculation formula includes:

[0109]

[0110] Among them, M Xi M is the torque at the root of the i-th boom segment; X(i+1) G is the torque at the root of the (i+1)th arm segment; i Let L' be the arm segment weight of the i-th arm segment; i θ is the distance between the center of mass 5 of the i-th arm segment and the pitch axis; i L is the pitch angle of the i-th arm segment; i Let α be the length of the i-th segment; i Let L be the torsion angle of the i-th arm segment; i Let m be the distance between the center of mass 5 of the i-th arm segment and the torsional deflection axis; j Let J be the mass of the j-th arm segment; Let be the acceleration component of the rotational inertia acceleration of the j-th arm segment 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 segment.

[0111] The pitch and yaw axis refers to the central axis of the rotation axis of the arm root 2, the torsional yaw axis refers to the central axis of the arm 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 arm root 2, the x-axis of the root coordinate system 3 of the arm 1 is parallel to the central axis of the arm 1, and the z-axis of the root coordinate system 3 of the arm 1 is parallel to the central axis of the rotation axis of the arm root 2.

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

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

[0114] It should be noted that both the first and second calculation formulas are derived based on mechanical formulas. The derivation process is not the core inventive point of this application and will not be elaborated here. However, the introduction of rotational inertial acceleration when calculating the torque at the root of the boom is the core inventive point of this application. In other words, when obtaining the actual value of the maximum stress, the inertial force generated by the operator's operation of the turntable is taken into account. This ensures that the actual value of the maximum stress of boom 1 can be fed back while the operator is operating it, so as to avoid the operator's operation causing plastic deformation of boom 1 and avoid the occurrence of safety accidents.

[0115] like Figure 7 As shown, in some embodiments, arm segment 1 is an offset arm segment 4, which includes a straight segment, an oblique segment, and an offset segment connected in sequence. The offset segment and the straight segment are parallel to each other. The central axis of the offset segment and the central axis of the straight 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 also includes:

[0119] Step S4': While issuing the warning, stop the pumping operation;

[0120] Step S4”: Stop attitude adjustment while issuing a warning.

[0121] It should be noted that the execution order of steps S4' and S4" can be interchanged or performed simultaneously. That is, stopping the pumping operation and stopping the attitude adjustment do not necessarily have to be restricted in the execution order. Steps S4' and S4" can be executed one at a time or simultaneously to avoid plastic deformation failure of the boom segment 1 due to further operations.

[0122] like Figure 8As shown in the illustration, a specific embodiment of this application also provides a pump truck early warning system, including an attitude detection device, an acceleration detection device, an early warning device 10, and a processing device 9. The attitude detection device is used to detect the pitch and twist angles of the boom section 1; the acceleration detection device is used to detect the rotational inertial acceleration of the boom section 1; the early warning device 10 is used to issue early warning prompts; and the processing device 9 is communicatively connected to the attitude detection device, the acceleration detection device, and the early warning device 10, and is configured as follows:

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

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

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

[0126] If the actual maximum stress value of boom section 1 is determined to be greater than or equal to its maximum allowable stress value, the control and early warning device 10 will issue an early warning.

[0127] In some implementations, 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 attitude detection device includes a pitch angle sensor 6 and a torsion angle sensor 7, which are disposed at the root 2 of the arm segment; the acceleration detection device includes an acceleration sensor 8, which is disposed at the center of mass 5 of the arm segment 1; the warning device 10 can be a warning light, a buzzer, or a combination thereof.

[0129] In some embodiments, the processing device 9 is also communicatively connected to the pumping equipment performing the pumping operation, and the processing device 9 is further configured to:

[0130] While issuing the warning, stop the pumping equipment.

[0131] In some embodiments, the processing device 9 is also communicatively connected to an adjustment device for attitude adjustment, and the processing device 9 is further configured to:

[0132] While issuing the warning, 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 inventive points of this application, so they will not be elaborated here.

[0134] Specific embodiments of this application provide a pump truck including the pump truck early warning system described above. Because the pump truck employs all embodiments of the pump truck early warning system, it possesses all the beneficial effects of such a system.

[0135] A specific embodiment of this application also provides a machine-readable storage medium storing instructions that cause a machine to execute the pump truck early warning method described above.

[0136] A specific embodiment of this application also provides a machine-readable storage medium that can be directly installed on a crane. The machine-readable storage medium stores instructions that cause the machine to execute the crane control method described above.

[0137] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0138] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus 9 to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus 9, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0139] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device 9 to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1The 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, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0143] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0144] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0145] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A pump truck early warning method, characterized in that, include: Construct a response surface model of the arm segment (1); Obtain the pitch angle, twist angle and rotational inertial acceleration of the arm segment (1); The actual maximum stress value of the boom section (1) is obtained based on the pitch angle, the torsion angle, the rotational inertial acceleration, and the response surface model; When the actual value of the maximum stress of the boom section (1) is determined to be 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. The actual maximum stress value of the boom segment (1) obtained based on the pitch angle, the torsion angle, the rotational inertial acceleration, and the response surface model includes: Obtain the arm segment length, the distance between the center of mass (5) and the pitch axis, the distance between the center of mass (5) and the torsional axis, the arm segment mass, and the arm segment weight; The bending moment at the root of the arm segment is calculated based on the pitch angle, the arm segment length, the distance between the center of mass (5) and the pitch yaw axis, and the weight of the arm segment; the torque at the root of the arm segment is calculated based on the pitch angle, the torsion angle, the rotational inertial acceleration, the arm segment length, the distance between the center of mass (5) and the pitch yaw axis, the distance between the center of mass (5) and the torsional yaw axis, the mass of the arm segment, and the weight of the arm segment. Substituting the pitch angle, the torsion angle, the bending moment at the root of the boom segment, and the torque at the root of the boom segment into the response surface model, we obtain the actual value of the maximum stress of the boom segment (1).

2. The pump truck early warning method according to claim 1, characterized in that, The bending moment at the root of the arm segment is calculated based on the pitch angle, the arm segment length, the distance between the center of mass (5) and the pitch axis, and the arm segment weight, including: Substitute the pitch angle, the arm segment length, the distance between the center of mass (5) and the pitch axis, and the arm segment gravity into the first calculation formula to obtain the bending moment at the root of the arm segment; The first calculation formula includes: ； in, The bending moment at the root of the i-th segment; For the ( i+1 The bending moment at the root of the boom section; The length of the arm segment is the length of the i-th arm segment; Let be the pitch angle of the i-th arm segment; Let be the weight of the i-th arm segment; The distance between the center of mass (5) of the i-th arm segment and the pitch axis; the distance between the ( )-th arm segment and the pitch axis. i+1 The i-th section arm is connected to the end of the i-th section arm that is furthest from the vehicle body.

3. The pump truck early warning method according to claim 1, characterized in that, The arm segment root torque is calculated based on the pitch angle, the torsion angle, the rotational inertial acceleration, the arm segment 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 arm segment mass, and the arm segment gravity, including: Substituting the pitch angle, the torsion angle, the rotational inertial acceleration, the arm segment 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 segment mass, and the arm segment gravity into the second calculation formula, we obtain the arm segment root torque. The second calculation formula includes: ； ； in, The torque at the root of the i-th arm segment; For the ( i+1 The torque at the root of the boom section; Let be the weight of the i-th arm segment; The distance between the centroid (5) of the i-th arm segment and the pitch axis; Let be the pitch angle of the i-th arm segment; The length of the arm segment is the length of the i-th arm segment; Let be the torsion angle of the i-th arm segment; The distance between the centroid (5) of the i-th arm segment and the torsional deflection axis; For the first j The mass of the boom section; For the first j The acceleration component of the rotational inertial acceleration of the articulated arm section in the YOZ plane in the global coordinate system; for The coordinate system of the root of the i-th arm segment (3) x Distance between axes.

4. The pump truck early warning method according to claim 1, characterized in that, Constructing a response surface model includes: Construct a simulation model of the arm segment (1); Different attitude and load conditions are applied to the simulation model according to different working conditions to obtain the maximum stress sample value of the boom (1) under different working conditions; The corresponding maximum stress sample values, attitude conditions, and load conditions are used to form sample points, and all sample points are fitted into the response surface model.

5. The pump truck early warning method according to claim 1, characterized in that, The pump truck early warning method also includes: While issuing the warning, stop the pumping operation or stop attitude adjustment.

6. A pump truck early warning system, characterized in that, For performing the pump truck early warning method according to any one of claims 1 to 5, the pump truck early warning system comprises: Attitude detection equipment is used to detect the pitch and twist angles of the boom (1); An acceleration detection device is used to detect the rotational inertial acceleration of the boom (1); Early warning device (10), used to issue early warning prompts; and The processing device (9) is capable of communicating with the attitude detection device, the acceleration detection device, and the early warning device (10), and is configured as follows: Construct a response surface model of the arm segment (1); Obtain the pitch angle, twist angle and rotational inertial acceleration of the arm segment (1); The actual maximum stress value of the boom section (1) is obtained based on the pitch angle, the torsion angle, the rotational inertial acceleration, and the response surface model; When the actual value of the maximum stress of the boom segment (1) is determined to be greater than or equal to its maximum allowable stress value, the control warning device (10) issues a warning prompt.

7. The pump truck early warning system according to claim 6, characterized in that, The acceleration detection device includes an acceleration sensor (8), which is located at the center of mass (5) of the arm segment (1).

8. The pump truck early warning system according to claim 6, characterized in that, The processing device (9) is also capable of communicating with pumping equipment performing pumping operations, and the processing device (9) is further configured to: While issuing a warning, stop the pumping equipment; and / or, The processing device (9) is also capable of communicating with an adjustment device for attitude adjustment, and the processing device (9) is further configured to: While issuing a warning, stop the adjustment device.

9. A pump truck, characterized in that, Includes the pump truck early warning system according to any one of claims 6 to 8.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the pump truck early warning method according to any one of claims 1 to 5.

Images