Pump truck stability detection method and device, pump truck and medium

Abstract

The invention relates to the technical field of pump truck safety, and discloses a pump truck stability detection method and device, a pump truck and a medium, and the method comprises the steps: obtaining the real-time displacement of a suspension of each axle of the pump truck; according to the real-time displacement of the suspension of each bridge and the preset bridge load and displacement change relation of each bridge, the real-time bridge load of each bridge is determined; based on the real-time bridge load of each bridge, a tipping moment is obtained; and determining the stability of the pump truck according to the tipping moment and the maximum tipping moment. The stability of the running state of the pump truck can be accurately determined, so that the pump truck is prevented from tipping over.

Description

Technical Field

[0001] The present application relates to the technical field of pump truck safety, and specifically to a method and device for detecting the stability of a pump truck, a pump truck, and a medium. Background Art

[0002] A pump truck is a commonly used construction machinery and equipment, which can be regarded as an engineering vehicle combining a concrete placing boom mechanism and a type II chassis. The concrete placing boom mechanism usually consists of parts such as a boom, a slewing mechanism, and a telescopic mechanism. These parts work together to achieve the three-dimensional space transportation of concrete materials. The type II chassis, as the carrier of the pump truck, provides stable support and mobility for the entire equipment. Due to the relatively high weight of the concrete placing boom mechanism above the type II chassis, the overall center of mass position is relatively high, and there is a high risk of tipping during the climbing process of the pump truck.

[0003] In the prior art, for the method of judging whether a pump truck is in a tipping state, it only depends on whether the body inclination angle of the pump truck exceeds a certain preset fixed angle threshold. This judgment method is too single and one-sided. It ignores the complexity and variability of the working conditions faced by the pump truck during actual construction. Relying on a fixed angle threshold for tipping warning often cannot accurately reflect the true stability state of the pump truck under the current working conditions, and it is also difficult to make flexible adjustments according to the actual situation, thus limiting the safety of the pump truck under complex working conditions. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a method and device for detecting the stability of a pump truck, a pump truck, and a medium, so as to solve the defect in the prior art that only the body inclination angle and a certain set angle are used to judge whether the pump truck is tipping, and it cannot cope with complex working conditions.

[0005] To achieve the above purpose, the first aspect of the present application provides a method for detecting the stability of a pump truck, including:

[0006] Obtain the real-time displacement of the suspension of each axle of the pump truck;

[0007] According to the real-time displacement of the suspension of each axle and the preset axle load and displacement change relationship of each axle, respectively determine the real-time axle load of each axle;

[0008] Based on the real-time axle load of each axle, obtain the tipping moment;

[0009] According to the tipping moment and the maximum tipping moment, determine the stability of the pump truck.

[0010] In the embodiments of the present application, obtaining the tipping moment based on the real-time axle load includes:

[0011] Based on the real-time axle load and the first formula, obtain the tipping moment, where the first formula includes:

[0012] M q = F1(D1 +... + D n-1 ) + F2(D2 +... + D n-1 ) +... + F n-1 D n-1

[0013] M q represents the tipping moment, F1 represents the axle load of the first axle, D1 represents the axle spacing between the first axle and the second axle in the horizontal driving state, D n-1 represents the axle spacing between the (n - 1)-th axle and the n-th axle in the horizontal driving state, F2 represents the axle load of the second axle, D2 represents the axle spacing between the second axle and the third axle in the horizontal driving state, F n-1 represents the axle load of the (n - 1)-th axle, where the first axle to the n-th axle are arranged in sequence from the top of the slope to the bottom of the slope.

[0014] In the embodiment of the present application, determining the stability of the pump truck according to the tipping moment and the maximum tipping moment includes:

[0015] Based on the tipping moment and the maximum tipping moment, obtaining a tipping coefficient;

[0016] In the case where the tipping coefficient is less than the critical tipping coefficient, determining that the stability of the pump truck is unstable;

[0017] In the case where the tipping coefficient is greater than or equal to the critical tipping coefficient, determining that the stability of the pump truck is stable.

[0018] In the embodiment of the present application, the determination process of the preset axle load and displacement change relationship of each axle includes:

[0019] Performing settlement tests and lifting tests on each axle respectively through an axle load meter of the vehicle to obtain the displacement of the suspension of each axle and the axle load of each axle;

[0020] Based on the displacement of the suspension of each axle and the axle load of each axle, obtaining the preset axle load and displacement change relationship of each axle.

[0021] In the embodiment of the present application, it further includes:

[0022] Obtaining the body tilt angle of the pump truck;

[0023] Based on the body tilt angle and the real-time axle load, determining the weight of the pump truck;

[0024] Based on the body tilt angle and the weight, obtaining the horizontal distance between the center of gravity of the pump truck in the horizontal driving state and the n-th axle.

[0025] In the embodiment of the present application, based on the body tilt angle and the real-time axle load, determining the weight of the pump truck includes:

[0026] Determine the weight of the pump truck based on the body tilt angle, real-time axle load, and the second formula, where the second formula includes:

[0027] G = (F1 +... + F n ) / cosθ

[0028] In the formula, G represents the weight of the pump truck, θ represents the body tilt angle, F1 represents the axle load of the first axle, and F n represents the axle load of the nth axle, where the first axle to the nth axle are arranged in sequence from the top of the slope to the bottom of the slope.

[0029] In the embodiments of the present application, based on the body tilt angle and weight, obtain the horizontal distance between the center of gravity of the pump truck in the horizontal driving state and the nth axle, including:

[0030] Based on the body tilt angle, weight, and the third formula, obtain the horizontal distance between the center of gravity of the pump truck in the horizontal driving state and the nth axle, where the third formula includes:

[0031] D n = (F1(D1 +... + D n-1 ) + F2(D2 +... + D n-1 ) + … + F n-1 D n-1 ) / G cosθ

[0032] In the formula, D n represents the horizontal distance between the center of gravity of the pump truck in the horizontal driving state and the nth axle, F1 represents the axle load of the first axle, D1 represents the axle spacing between the first axle and the second axle in the horizontal driving state, and D n-1 represents the axle spacing between the (n - 1)th axle and the nth axle in the horizontal driving state, F2 represents the axle load of the second axle, D2 represents the axle spacing between the second axle and the third axle in the horizontal driving state, and F n-1 represents the axle load of the (n - 1)th axle, G represents the weight of the pump truck, and θ represents the body tilt angle, where the first axle to the nth axle are arranged in sequence from the top of the slope to the bottom of the slope.

[0033] The second aspect of the present application provides a stability detection device for a pump truck, including:

[0034] A memory configured to store instructions; and

[0035] A processor configured to call instructions from the memory and be able to implement the stability detection method of the pump truck according to the first aspect as described above when executing the instructions.

[0036] The third aspect of the present application provides a pump truck, including:

[0037] A plurality of displacement sensors for detecting the real-time displacement of the suspension of each axle of the pump truck;

[0038] A stability detection device for a concrete pump truck according to the second aspect.

[0039] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon for causing a machine to execute the stability detection method for a concrete pump truck according to the first aspect as described above.

[0040] According to the above technical solution, by using the real-time displacement of the suspension of each axle of the concrete pump truck and the preset relationship between the axle load and displacement change, the real-time axle load of each axle is obtained. Based on the real-time axle load, the tipping moment is obtained, and the stability of the concrete pump truck is determined based on the tipping moment and the maximum tipping coefficient. The stability of a multi-axle concrete pump truck during driving can be accurately determined to avoid the risk of the concrete pump truck tipping over.

[0041] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The 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 implementation, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0043] Figure 1 Schematically shows a flowchart of a stability detection method for a concrete pump truck according to an embodiment of the present application;

[0044] Figure 2 Schematically shows a schematic diagram of a zero position state according to an embodiment of the present application;

[0045] Figure 3 Schematically shows a schematic diagram of a maximum allowable limit state according to an embodiment of the present application;

[0046] Figure 4 Schematically shows a schematic diagram of a first driving state of a concrete pump truck according to an embodiment of the present application;

[0047] Figure 5 Schematically shows a schematic diagram of a second driving state of a concrete pump truck according to an embodiment of the present application.

[0048] Description of the reference numerals:

[0049] Label Name Label Name 11 First Bridge on the Upward Slope 12 Second Bridge on the Upward Slope 13 Third Bridge on the Upward Slope 21 First Bridge on the Downward Slope 22 Second Bridge on the Downward Slope 23 Third Bridge on the Downward Slope DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. It should be understood that the specific implementation manners described herein are only for explaining and interpreting the embodiments of this application, and are not used to limit the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts belong to the scope protected by this application.

[0051] It should be noted that the acquisition, transmission, storage, use, processing, etc. of data in the technical solutions of this application all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, some industry-existing solutions such as certain software, components, models, etc. may be mentioned. They should be regarded as exemplary, and their purpose is only to illustrate the feasibility in the implementation of the technical solutions of this application, but it does not mean that the applicant has already or necessarily used this solution.

[0052] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, then the directional indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0053] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, then the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0054] Figure 1 A schematic flowchart of a method for detecting the stability of a concrete pump truck according to an embodiment of this application is schematically shown. As Figure 1 shown, the embodiments of this application provide a method for detecting the stability of a concrete pump truck, and the method may include the following steps.

[0055] Step S110: Obtain the real-time displacement of the suspension of each bridge of the concrete pump truck.

[0056] Among them, the concrete pump truck includes multiple axles. As a heavy machinery and equipment, the concrete pump truck is usually equipped with multiple axles to support its huge body and the load during operation. On both sides of each axle, there is a suspension. The suspension not only ensures the smooth driving of the concrete pump truck on uneven roads, but also undertakes the key task of absorbing vibrations and maintaining the stability of the body during operation. Each suspension is equipped with a high-precision displacement sensor, which can monitor and record the minute displacement changes of the suspension in real time. The number of axles can be set according to actual needs, and the embodiments of the present application do not limit this.

[0057] Step S120: Determine the real-time axle load of each axle respectively according to the real-time displacement of the suspension of each axle and the relationship between the preset axle load and displacement change of each axle.

[0058] Among them, by corresponding the real-time displacement of the suspension of each axle to the relationship between the preset axle load and displacement change of each axle, the real-time axle load of each axle can be determined.

[0059] In an optional implementation manner, the determination process of the relationship between the preset axle load and displacement change of each axle includes:

[0060] Step S121: Perform a settlement test and a lifting test on each axle through an axle load meter for vehicles to obtain the displacement of the suspension of each axle and the axle load of each axle.

[0061] Step S122: Based on the displacement of the suspension of each axle and the axle load of each axle, obtain the relationship between the preset axle load and displacement change of each axle.

[0062] Among them, the axle load meter for vehicles senses the pressure changes on each axle of the concrete pump truck through sensors, and then calculates the axle load. The sensors are usually installed on the chassis or axles of the concrete pump truck. The premise of the test is to ensure that the vehicle does not tip over. Therefore, according to the actual situation, a vehicle body stability device needs to be additionally installed, and the vehicle body stability device does not affect the test results of the axle load and displacement.

[0063] Drive the concrete pump truck to the test area of the axle load meter for vehicles, and perform a settlement test and a lifting test on each axle of the concrete pump truck. It should be noted that each settlement test and lifting test is only performed on one axle of the concrete pump truck successively.

[0064] Schematically, take the axle at the front of the concrete pump truck as an example for detailed description. When performing the settlement test, the test area of the axle load meter for vehicles slowly settles until the tires of the concrete pump truck are separated from the test area of the axle load meter for vehicles, and record the displacement of the displacement sensor at this time as the zero position. Figure 2 Schematically shows a schematic diagram of a zero position state according to an embodiment of the present application, as Figure 2As shown, the settlement in the test area of the vehicle axle load meter reaches a state where the tire is disengaged from the test area. In this state, only gravity exists on the bridge at the front of the vehicle and no external load is applied. When conducting the lifting test, the test area of the vehicle axle load meter is slowly lifted, causing the suspension springs of the bridge to be gradually compressed to the maximum allowable limit, and the bridge load and the displacement corresponding to the bridge load are recorded. Figure 3 Schematically shows a schematic diagram of the maximum allowable limit state according to an embodiment of the present application, as Figure 3 shown, the test area of the vehicle axle load meter is lifted until the suspension springs of the bridge at the front of the vehicle are compressed to the maximum allowable limit. Based on the zero point, the bridge load, and the displacement corresponding to the bridge load, data processing is performed to fit a bridge load-displacement change curve. Subsequently, through the foregoing steps, the settlement test and the lifting test are successively performed on the remaining bridges of the pump truck, and finally, the bridge load-displacement change curves corresponding to each bridge are obtained. The bridge load-displacement change curve is used to characterize the relationship between the preset bridge load and the displacement change.

[0065] Step S130: Obtain the tipping moment based on the real-time bridge load of each bridge.

[0066] Among them, according to the real-time bridge load of each bridge, the tipping moment is calculated. The tipping moment is the moment of the bridge load of other bridges except the bridge on the side close to the bottom of the slope relative to the tipping center.

[0067] Further, step S130 includes the following steps:

[0068] Step S131: Obtain the tipping moment based on the real-time bridge load and the first formula, where the first formula includes:

[0069] M q = F1(D1 +... + D n-1 ) + F2(D2 +... + D n-1 ) +... + F n-1 D n-1

[0070] In the formula, M q represents the tipping moment, F1 represents the bridge load of the first bridge, D1 represents the bridge spacing between the first bridge and the second bridge in the horizontal driving state, D n-1 represents the bridge spacing between the (n - 1)th bridge and the nth bridge in the horizontal driving state, F2 represents the bridge load of the second bridge, D2 represents the bridge spacing between the second bridge and the third bridge in the horizontal driving state, F n-1 represents the bridge load of the (n - 1)th bridge, where the first bridge to the nth bridge are arranged in sequence from the top of the slope to the bottom of the slope.

[0071] Schematically, taking a three-bridge pump truck as an example, Figure 4 Schematically shows a schematic diagram of the first driving state of the pump truck according to an embodiment of the present application, as Figure 4As shown, the three-bridge pump truck is in an uphill driving state. The first uphill bridge 11, the second uphill bridge 12, and the third uphill bridge 13 of the three-bridge pump truck are arranged in sequence from the top of the slope to the bottom of the slope. The contact point M between the wheel of the third uphill bridge 13 at the bottom of the slope and the slope surface is taken as the tipping center, and the tipping moment is the moment of the axle loads of the first uphill bridge 11 and the second uphill bridge 12 relative to the tipping center M. When the pump truck is in an uphill driving state, the tipping moment is:

[0072] M q = F1(D1 + D2) + F2D2

[0073] In the formula, F1 represents the axle load of the first uphill bridge 11, D1 represents the axle distance between the first uphill bridge 11 and the second uphill bridge 12 in the horizontal driving state, D2 represents the axle distance between the second uphill bridge 12 and the third uphill bridge 13 in the horizontal driving state, and F2 represents the axle load of the second uphill bridge 12.

[0074] Schematically, taking the three-bridge pump truck as an example, Figure 5 Schematically shows a schematic diagram of the second driving state of the pump truck according to an embodiment of the present application. As Figure 5 shown, the three-bridge pump truck is in a downhill driving state. The first downhill bridge 21, the second downhill bridge 22, and the third downhill bridge 23 of the three-bridge pump truck are arranged in sequence from the top of the slope to the bottom of the slope. The contact point M' between the wheel of the third downhill bridge 23 at the bottom of the slope and the slope surface is taken as the tipping center, and the tipping moment is the moment of the axle loads of the first downhill bridge 21 and the second downhill bridge 22 relative to the tipping center M'. When the pump truck is in a downhill driving state, the tipping moment is:

[0075] M q = F1(D1 + D2) + F2D2

[0076] In the formula, F1 represents the axle load of the first downhill bridge 21, D1 represents the axle distance between the first downhill bridge 21 and the second downhill bridge 22 in the horizontal driving state, D2 represents the axle distance between the second downhill bridge 22 and the third downhill bridge 23 in the horizontal driving state, and F2 represents the axle load of the second downhill bridge 22.

[0077] Step S140: Determine the stability of the pump truck according to the tipping moment and the maximum tipping moment.

[0078] Among them, based on the tipping moment and the maximum tipping moment, the stability of the pump truck can be determined. The maximum tipping moment represents the moment generated by the maximum tipping force that the pump truck can resist without being damaged.

[0079] Further, step S140 includes the following steps:

[0080] Step S141: Obtain a tipping coefficient based on the tipping moment and the maximum tipping moment;

[0081] Step S142: When the tipping coefficient is less than the critical tipping coefficient, determine that the stability of the pump truck is unstable;

[0082] Step S143: When the tipping coefficient is greater than or equal to the critical tipping coefficient, determine that the stability of the pump truck is stable.

[0083] In step S141, the maximum tipping moment is obtained through the maximum tipping moment calculation formula, and then through the tipping moment and the maximum tipping moment, the tipping coefficient can be obtained.

[0084] The maximum tipping moment calculation formula includes:

[0085] M qmax = F 1e (D1 + D2) + F 2e D2

[0086] Schematically, as Figure 4 shown, when the three-axle pump truck is in the uphill driving state, in the formula, M qmax represents the maximum tipping moment, F 1e represents the maximum allowable axle load of the first uphill axle 11, D1 represents the axle spacing between the first uphill axle 11 and the second uphill axle 12 in the horizontal driving state, D2 represents the axle spacing between the second uphill axle 12 and the third uphill axle 13 in the horizontal driving state, F 2e represents the maximum allowable axle load of the second uphill axle 12.

[0087] Schematically, as Figure 5 shown, when the three-axle pump truck is in the downhill driving state, in the formula, M qmax represents the maximum tipping moment, F 1e represents the maximum allowable axle load of the first downhill axle 21, D1 represents the axle spacing between the first downhill axle 21 and the second downhill axle 22 in the horizontal driving state, D2 represents the axle spacing between the second downhill axle 22 and the third downhill axle 23 in the horizontal driving state, F 2e represents the maximum allowable axle load of the second downhill axle 22.

[0088] The tipping coefficient calculation formula includes:

[0089] k = M q / M qmax

[0090] In the formula, k represents the tipping coefficient, M q represents the tipping moment, M qmax represents the maximum tipping moment.

[0091] In step S142, when the tipping coefficient is less than the critical tipping coefficient, the stability of the pump truck is unstable, and an alarm can be used to send an alarm to remind the pump truck driver to avoid the tipping risk.

[0092] In step S143, when the tipping coefficient is greater than or equal to the critical tipping coefficient, the stability of the pump truck is stable.

[0093] It can be understood that the critical tipping coefficient in the embodiments of the present application is not specifically limited and can be set according to actual needs.

[0094] In the embodiments of the present application, the real-time bridge load of each bridge of the pump truck is obtained through the real-time displacement of each bridge suspension of the pump truck and the preset relationship between the bridge load and displacement change. Based on the real-time bridge load of each bridge, the tipping moment is obtained. According to the tipping moment and the maximum tipping moment, the stability of the multi-bridge pump truck can be determined, avoiding the tipping risk of the multi-bridge pump truck and ensuring the personal safety of the driver.

[0095] The embodiments of the present application provide a method for detecting the stability of a pump truck, and the method may further include the following steps.

[0096] Step S210: Obtain the body tilt angle of the pump truck.

[0097] Among them, the body tilt angle is collected by an inclination sensor, and the installation position of the inclination sensor is not limited, as long as it can reflect the body tilt angle of the pump truck due to the slope.

[0098] Step S220: Determine the weight of the pump truck based on the body tilt angle and the real-time bridge load.

[0099] Among them, the weight of the pump truck can be obtained according to the body tilt angle and the real-time bridge load.

[0100] In an alternative embodiment, step S220 includes:

[0101] Step S221: Determine the weight of the pump truck based on the body tilt angle, the real-time bridge load, and the second formula, where the second formula includes:

[0102] G = (F1 +... + F n ) / cosθ

[0103] In the formula, G represents the weight of the pump truck, θ represents the body tilt angle, F1 represents the bridge load of the first bridge, and F n represents the bridge load of the nth bridge, where the first bridge to the nth bridge are arranged in sequence from the top of the slope to the bottom of the slope.

[0104] Schematically, taking a three-bridge pump truck as an example, the weight G of the pump truck is:

[0105] G = (F1 + F2 + F3) / cosθ

[0106] In the formula, F2 represents the axle load of the second axle, and F3 represents the axle load of the third axle.

[0107] Step S230: Based on the body tilt angle and weight, obtain the horizontal distance between the center of gravity of the pump truck in the horizontal driving state and the nth axle.

[0108] Among them, based on the body tilt angle and weight, the horizontal distance between the center of gravity of the pump truck in the horizontal driving state and the nth axle can be obtained.

[0109] Further, step S230 includes the following steps:

[0110] Step S231: Based on the body tilt angle, weight, and the third formula, obtain the horizontal distance between the center of gravity of the pump truck in the horizontal driving state and the nth axle, where the third formula includes:

[0111] D n =(F1(D1 +... + D n-1 ) + F2(D2 +... + D n-1 ) + … + F n-1 D n-1 ) / G cosθ

[0112] In the formula, D n represents the horizontal distance between the center of gravity of the pump truck in the horizontal driving state and the nth axle, F1 represents the axle load of the first axle, D1 represents the axle spacing between the first axle and the second axle in the horizontal driving state, D n-1 represents the axle spacing between the (n - 1)th axle and the nth axle in the horizontal driving state, F2 represents the axle load of the second axle, D2 represents the axle spacing between the second axle and the third axle in the horizontal driving state, F n-1 represents the axle load of the (n - 1)th axle, G represents the weight of the pump truck, θ represents the body tilt angle, where the first axle to the nth axle are arranged in sequence from the top of the slope to the bottom of the slope.

[0113] Schematically, taking a three-axle pump truck as an example, the horizontal distance D3 between the center of gravity of the pump truck in the horizontal driving state and the third axle is:

[0114] D3 = (F1(D1 + D2) + F2D2) / G cos θ

[0115] In the embodiment of the present application, the body tilt angle of the pump truck is also introduced. Based on the real-time axle load and combined with the body tilt angle to obtain the weight of the pump truck, and then through the body tilt angle and the weight of the pump truck, the horizontal distance between the center of gravity of the pump truck in the horizontal driving state and the nth axle, so that the tipping moment can also be calculated by the weight of the pump truck, the body tilt angle, and the horizontal distance between the center of gravity of the pump truck in the horizontal driving state and the nth axle. The tipping moment M q is:

[0116] Mq = GD n cosθ

[0117] Schematically, taking a three - bridge pump truck as an example, the tipping moment M q is:

[0118] M q = GD3cosθ

[0119] In the embodiment of the present application, when the weight and the center of gravity of the pump truck change, the weight of the pump truck and the horizontal distance between the center of gravity of the pump truck in the horizontal driving state and the nth bridge can be updated in real time, so as to more accurately judge the tipping risk of the pump truck.

[0120] Optionally, the embodiment of the present application further provides a stability detection device for a pump truck, including:

[0121] A memory configured to store instructions; and

[0122] A processor configured to call instructions from the memory and be able to implement the stability detection method for a pump truck as described above when executing the instructions.

[0123] It can be understood that the stability detection device for a pump truck provided by the embodiment of the present application can implement each process of the stability detection method for a pump truck in the above - mentioned embodiment, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0124] Optionally, the embodiment of the present application further provides a pump truck, including:

[0125] A plurality of displacement sensors for detecting the real - time displacement of the suspension of each bridge of the pump truck;

[0126] The stability detection device for a pump truck as described above.

[0127] The pump truck may further include an inclination sensor and an alarm. Among them, the inclination sensor is used to collect and determine the inclination angle of the vehicle body, and the alarm is used to give an alarm when the stability of the pump truck is unstable.

[0128] It can be understood that the pump truck provided by the embodiment of the present application can implement each process of the stability detection method for a pump truck in the above - mentioned embodiment, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0129] Optionally, the embodiment of the present application further provides a machine - readable storage medium, on which instructions are stored, and the instructions are used to make a machine execute the stability detection method for a pump truck as described above. And it can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0130] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0131] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the specified functions in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0132] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implement the specified functions in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0133] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the specified functions in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0134] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0135] The memory may include non-permanent memory in the computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0136] 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.

[0137] 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.

[0138] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for detecting the stability of a pump truck, characterized in that: include: Acquire the real-time displacement of the suspension of each bridge of the pump truck; Determine the real-time bridge load of each bridge respectively according to the real-time displacement of the suspension of each bridge and the relationship between the preset bridge load and the displacement of each bridge; Based on the real-time bridge load of each bridge, a tipping moment is obtained; The stability of the pump truck is determined according to the tipping moment and the maximum tipping moment.

2. The method according to claim 1, characterized in that The method of obtaining the tipping moment based on the real-time bridge load comprises: The tipping moment is obtained based on the real-time bridge load and a first formula, wherein the first formula includes: M q =F1(D1+...+D n-1 )+F2(D2+...+D n-1 )+...+F n-1 D n-1 M q represents the tipping moment, F1 represents the bridge load of the first bridge, D1 represents the bridge distance between the first bridge and the second bridge in the horizontal driving state, and D n-1 represents the distance between the n-1 bridge and the n bridge in the horizontal driving state, F2 represents the bridge load of the second bridge, D2 represents the distance between the second bridge and the third bridge in the horizontal driving state, F n-1 Represents the bridge load of the n-1th bridge, wherein the first bridge to the nth bridge are arranged in sequence from the top to the bottom of the slope.

3. The method according to claim 1, characterized in that Determining the stability of the pump truck according to the tipping moment and the maximum tipping moment includes: Based on the tipping moment and the maximum tipping moment, a tipping coefficient is obtained; When the rollover coefficient is less than the critical rollover coefficient, determining that the stability of the pump truck is unstable; When the rollover coefficient is greater than or equal to the critical rollover coefficient, the stability of the pump truck is determined to be stable.

4. The method according to claim 1, characterized in that: The process of determining the relationship between the preset bridge load and displacement change of each bridge includes: Performing a settlement test and a lifting test on each bridge respectively by using a vehicle axle load meter to obtain the displacement of the suspension of each bridge and the bridge load of each bridge; Based on the displacement of the suspension of each bridge and the bridge load of each bridge, the relationship between the preset bridge load and the displacement change of each bridge is obtained.

5. The method according to claim 1, characterized in that: Also includes: Obtaining the body inclination angle of the pump truck; Determining the weight of the pump truck based on the vehicle body inclination angle and the real-time bridge load; Based on the vehicle body inclination angle and the weight, a horizontal distance between the center of gravity of the pump truck and the nth bridge in a horizontal driving state is obtained.

6. The method according to claim 5, characterized in that The determining the weight of the pump truck based on the vehicle body tilt angle and the real-time bridge load includes: The weight of the pump truck is determined based on the vehicle body inclination angle, the real-time bridge load and a second formula, wherein the second formula includes: G=(F1+...+F n ) / cosθ In the formula, G represents the weight of the pump truck, θ represents the inclination angle of the vehicle body, F1 represents the bridge load of the first bridge, and F n represents the bridge load of the nth bridge, wherein the first bridge to the nth bridge are arranged in sequence from the top to the bottom of the slope.

7. The method according to claim 5, characterized in that The obtaining, based on the vehicle body tilt angle and the weight, a horizontal distance between the center of gravity of the pump truck and the nth bridge in a horizontal driving state includes: Based on the vehicle body inclination angle, the weight and a third formula, a horizontal distance between the center of gravity of the pump truck and the nth bridge in a horizontal driving state is obtained, wherein the third formula includes: D n =(F1(D1+...+D n-1 )+F2(D2+...+D n-1 )+…+F n-1 D n-1 ) / G cosθ Where D n represents the horizontal distance between the center of gravity of the pump truck and the nth bridge in the horizontal driving state, F1 represents the bridge load of the first bridge, D1 represents the bridge distance between the first bridge and the second bridge in the horizontal driving state, and D n-1 represents the distance between the n-1 bridge and the n bridge in the horizontal driving state, F2 represents the bridge load of the second bridge, D2 represents the distance between the second bridge and the third bridge in the horizontal driving state, F n-1 represents the bridge load of the n-1th bridge, G represents the weight of the pump truck, and θ represents the inclination angle of the vehicle body, wherein the first bridge to the nth bridge are arranged in sequence from the top to the bottom of the slope.

8. A pump truck stability detection device, characterized in that: include: a memory configured to store instructions; as well as The processor is configured to call the instruction from the memory and implement the stability detection method of the pump truck according to any one of claims 1 to 7 when executing the instruction.

9. A pump truck, characterized in that: include: A plurality of displacement sensors, used for detecting the real-time displacement of the suspension of each bridge of the pump truck; The stability detection device for a pump truck according to claim 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable a machine to execute the stability detection method for a pump truck according to any one of claims 1 to 7.

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