Overturn-preventing system, hoisting equipment and overturn-preventing method

Abstract

The invention discloses an anti-overturning system, hoisting equipment and an anti-overturning method. The anti-overturning system comprises a detection device which is used for being arranged on a vehicle body of the hoisting equipment and detecting motion parameters of the hoisting equipment; and the electronic control system is used for being connected with the detection device and a driving mechanism of the hoisting equipment, so that when it is determined that the hoisting equipment has an overturning trend according to the motion parameters, driving parameters of the driving mechanism are corrected according to the direction of relieving the overturning trend, and the hoisting equipment is driven to rotate. And controlling the driving mechanism to act according to the corrected driving parameters so as to prevent the hoisting equipment from overturning. According to the scheme, under the condition that it is determined that the hoisting equipment has the overturning trend, the overturning prevention action can be automatically conducted, the operation risk is reduced, and the operation safety can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of anti-overturning, and more particularly to an anti-overturning system, lifting equipment and an anti-overturning method. Background Art

[0002] At present, lifting equipment such as forklifts and reach stackers at docks are at risk of overturning in the event of sudden braking, sudden turning, excessive load, sudden braking while loaded, or uneven road conditions, which may cause damage to cargo and equipment at the very least, or even casualties at the worst.

[0003] In the prior art, when a lifting device has a tendency to overturn, it will sound an alarm to alert the driver, but it is unable to automatically perform anti-overturning actions in a timely manner, resulting in a higher risk and not conducive to improving operational safety. Summary of the Invention

[0004] In view of this, the present application provides an anti-overturning system, lifting equipment and anti-overturning method to solve the problem that when there is a tendency to overturn, the equipment cannot automatically perform anti-overturning operations in time, resulting in low operational safety.

[0005] The present application provides an anti-overturning system, which includes: a detection device, which is used to be arranged on the body of a lifting equipment and detect the motion parameters of the lifting equipment; an electronic control system, which is used to be connected to the detection device and the driving mechanism of the lifting equipment, so that when it is determined that the lifting equipment has a tendency to overturn according to the motion parameters, the driving parameters of the driving mechanism are corrected in a direction to reduce the overturning tendency, and the action of the driving mechanism is controlled according to the corrected driving parameters, thereby preventing the lifting equipment from overturning.

[0006] Preferably, the electronic control system is used to compare the motion parameters with the corresponding limit thresholds of the lifting equipment under normal operating conditions, and to correct the driving parameters of the driving mechanism based on the comparison results; and / or, the electronic control system includes a PID controller, which is used to perform PID compensation on the current driving parameters and position difference of the driving mechanism, and then output the corrected driving parameters in combination with the deviation value of the driving mechanism and the limit parameters of the driving mechanism, wherein the position difference is the difference between the target position and the actual position of the lifting equipment.

[0007] Preferably, the overturning tendency includes a tilting tendency, and when the electronic control system determines that the lifting equipment has the tilting tendency, the correction of the driving parameters of the driving mechanism includes at least one of limiting the rotation angle of the lifting equipment, limiting the movement speed of the lifting equipment, and reversing the movement direction of the lifting equipment; and / or, the overturning tendency includes a forward tilting tendency, and when the electronic control system determines that the lifting equipment has the forward tilting tendency, the correction of the driving parameters of the driving mechanism includes at least one of limiting the lifting of the lifting arm of the lifting equipment, limiting the lifting speed of the lifting arm, and limiting the movement speed of the lifting equipment.

[0008] Preferably, the detection device includes a gyroscope, and the gyroscope includes: an inclination angle sensor for measuring at least one of the roll angle, roll angular velocity and forward pitch angular velocity of the lifting equipment; an acceleration sensor for measuring at least one of the lateral acceleration and lifting acceleration of the lifting equipment; wherein the motion parameters include at least one of the roll angle, roll angular velocity, forward pitch angular velocity, lateral acceleration and lifting acceleration.

[0009] Preferably, the electronic control system is used to perform at least one of the following: when at least one of the roll angle, the roll angular velocity and the lateral acceleration is greater than or equal to the corresponding limit threshold, determining that the lifting equipment has a roll tendency, and the overturning trend includes the roll tendency; when at least one of the lifting acceleration and the forward tilt angular velocity is greater than or equal to the corresponding limit threshold, determining that the lifting equipment has a forward tilt tendency, and the overturning trend includes the forward tilt tendency; determining a turning radius based on the roll angular velocity, and determining a steering angle and a steering speed based on the steering radius, so as to prevent the lifting equipment from rolling.

[0010] Preferably, the detection device includes a lifting limiter, which is used to determine the weight of the cargo lifted by the lifting equipment; the electronic control system is used to determine the torque based on the weight and the lever arm, and the lever arm is the distance from the position where the lifting arm of the lifting equipment suspends the cargo to the center of gravity of the lifting equipment; the motion parameters include the torque, and the electronic control system is used to determine that the lifting equipment has a tendency to tilt forward when the torque continues for a set time greater than the corresponding limit threshold or the torque is near the corresponding limit threshold, and the overturning tendency includes the forward tilting tendency.

[0011] Preferably, the anti-overturning system also includes: at least one mechanical anti-overturning mechanism, which is used to be arranged on the lifting equipment, and the electronic control system is connected to the mechanical anti-overturning mechanism, and is used to control the corresponding mechanical anti-overturning mechanism to move in the direction of reducing the overturning tendency when it is determined that the corrected driving parameters still cause the lifting equipment to have a overturning tendency, so as to prevent the lifting equipment from overturning.

[0012] Preferably, the mechanical anti-overturning mechanism is arranged at the bottom of the vehicle body, and the mechanical anti-overturning mechanism includes a length adjustment mechanism or includes a length adjustment mechanism, a universal joint and a foot plate, one end of the length adjustment mechanism is connected to the vehicle body, and the foot plate is arranged at the other end of the length adjustment mechanism facing the ground through the universal joint; the electronic control system can adjust the length of the corresponding length adjustment mechanism according to the difference between the motion parameters detected by the detection device under the corrected driving parameters and the limit threshold value corresponding to the normal operation of the lifting equipment, and the overturning trend, so that the mechanical anti-overturning mechanism contacts the ground for support, thereby realizing the control of the action of the mechanical anti-overturning mechanism.

[0013] Preferably, the length adjustment mechanism includes: a cylinder body, a liquid inlet is provided at one end of the cylinder body close to the ground; a piston rod, one end of the piston rod serves as one end of the length adjustment mechanism, and the other end of the piston rod passes through the other end of the cylinder body away from the ground and extends into the cylinder body; the electronic control system causes the piston rod to extend from the cylinder body when controlling the liquid to enter the liquid inlet, so as to increase the length of the length adjustment mechanism, and causes the piston rod to extend into the cylinder body when controlling the liquid to flow out of the liquid inlet, so as to reduce the length of the length adjustment mechanism.

[0014] In the second aspect, the present application provides a lifting equipment, which includes: a vehicle body and a lifting arm rotatably connected to the vehicle body; a driving mechanism and the above-mentioned anti-overturning system, wherein the detection device of the anti-overturning system is arranged on the vehicle body, and the electronic control system of the anti-overturning system is connected to the driving mechanism and is used to control the driving mechanism to drive the vehicle body and / or the lifting arm to move.

[0015] On the third aspect, the present application provides an anti-overturning method, comprising: obtaining motion parameters of a lifting equipment, the motion parameters including at least one of operating inclination, acceleration and load capacity; comparing the motion parameters with corresponding limit thresholds of the lifting equipment under normal operating conditions; when it is determined that the motion parameters are greater than the corresponding limit thresholds, correcting the driving parameters of the driving mechanism of the lifting equipment, and controlling the driving mechanism according to the corrected driving parameters to prevent the lifting equipment from overturning.

[0016] Preferably, the anti-overturning method comprises: when it is determined that the corrected driving parameters still cause the lifting equipment to have a tendency to overturn, controlling the corresponding mechanical anti-overturning mechanism of the lifting equipment to act so as to prevent the lifting equipment from overturning.

[0017] In the technical solution of this application, when the electronic control system determines that the lifting equipment has a tendency to overturn based on motion parameters detected by a detection device installed on the body of the lifting equipment, it can correct the driving parameters of the drive mechanism in a direction to reduce the overturning tendency and control the operation of the drive mechanism based on the corrected driving parameters, thereby preventing the lifting equipment from overturning. This can automatically perform anti-overturning actions in the event of a tendency to overturn, reducing operational risks and promoting operational safety.

[0018] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which constitute part of this application, are used to provide a further understanding of the application, and the exemplary embodiments of the application and their descriptions are used to explain the application. In the accompanying drawings:

[0020] Figure 1 A schematic structural diagram of an anti-overturning system provided in an embodiment of the present application;

[0021] Figure 2 is an exemplary load curve diagram of a lifting device;

[0022] Figure 3 for Figure 1 The structural diagram of the mechanical anti-overturning mechanism of the anti-overturning system is shown.

[0023] Figure 4 A flowchart of an anti-overturning method provided in an embodiment of the present application;

[0024] Figure 5 A flowchart of another anti-overturning method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The technical solution of the present application will be described in detail below with reference to the accompanying drawings and in combination with the implementation methods.

[0026] Existing lifting equipment will sound an alarm to alert the driver when there is a tendency to overturn, but it is unable to automatically perform anti-overturning actions in a timely manner, resulting in a higher risk and not conducive to improving operational safety. In order to solve the technical problem in the prior art that lifting equipment cannot automatically perform anti-overturning operations in a timely manner when there is a tendency to overturn, resulting in low operational safety, the present application provides an anti-overturning system. When the anti-overturning system determines that the lifting equipment has a tendency to overturn, it can automatically perform anti-overturning actions, reducing operational risks and helping to improve operational safety. Among them, the anti-overturning system can be applied to lifting equipment such as empty container stackers, reach stackers, and truck cranes in regional yards such as ports.

[0027] Figure 1 This is a schematic diagram of the structure of an anti-overturning system provided in an embodiment of the present application. Figure 1 The anti-overturning system includes a detection device 1 and an electronic control system 2. The detection device 1 is configured to be mounted on the body of the lifting equipment and detect the motion parameters of the lifting equipment. The electronic control system 2 is configured to connect to the detection device 1 and the driving mechanism D of the lifting equipment so that, when the lifting equipment is determined to have a tendency to overturn based on the motion parameters, the driving parameters of the driving mechanism D are corrected in a manner that mitigates the tendency, and the operation of the driving mechanism D is controlled based on the corrected driving parameters, thereby preventing the lifting equipment from overturning. For example, the driving parameters may include speed, acceleration, angle, distance, direction of movement, etc.

[0028] In the technical solution of this application, when the electronic control system determines that the lifting equipment has a tendency to overturn based on motion parameters detected by a detection device installed on the body of the lifting equipment, it can correct the driving parameters of the drive mechanism in a direction to reduce the overturning tendency, and control the operation of the drive mechanism based on the corrected driving parameters, thereby preventing the lifting equipment from overturning. This can automatically implement anti-overturning actions in the event of a tendency to overturn, reducing operational risks and promoting operational safety.

[0029] In some embodiments, the electronic control system 2 is configured to compare the motion parameters with corresponding threshold values ​​of the lifting device under normal operation, and to modify the drive parameters of the drive mechanism D based on the comparison results. The corresponding threshold values ​​of the lifting device under normal operation may be pre-stored in the electronic control system 2.

[0030] In other embodiments, the electronic control system 2 includes a PID controller (Proportion Integration Differentiation, proportional-integral-differential controller), which is used to perform PID compensation on the current driving parameters and position difference of the driving mechanism D, and then output the corrected driving parameters in combination with the deviation value of the driving mechanism D and the limiting parameters of the driving mechanism D (such as the limit threshold), wherein the position difference is the difference between the target position and the actual position of the lifting equipment.

[0031] For example, the overturning tendency may include a lateral tilting tendency and / or a forward tilting tendency. When the electronic control system 2 determines that the lifting equipment has a lateral tilting tendency, the modification of the driving parameters of the driving mechanism D may include at least one of limiting the rotation angle of the lifting equipment, limiting the movement speed of the lifting equipment, and reversing the movement direction of the lifting equipment. When the electronic control system 2 determines that the lifting equipment has a forward tilting tendency, the modification of the driving parameters of the driving mechanism D may include at least one of limiting the lifting of the lifting arm of the lifting equipment, limiting the lifting speed of the lifting arm, and limiting the movement speed of the lifting equipment.

[0032] like Figure 1 As shown, in some embodiments, the detection device 1 includes a gyroscope 11, which includes a tilt angle sensor and an acceleration sensor. The tilt angle sensor is used to measure at least one of the roll angle, roll angular velocity, and pitch angular velocity of the lifting equipment. The acceleration sensor is used to measure at least one of the lateral acceleration and lifting acceleration of the lifting equipment. The motion parameter includes at least one of the roll angle, roll angular velocity, pitch angular velocity, lateral acceleration, and lifting acceleration.

[0033] A gyroscope is a device that uses the angular moment of a high-speed rotating body to sense the angular motion of a housing relative to its inertial space about one or two axes orthogonal to the axis of rotation. Angular motion detection devices based on other principles that perform the same function are also called gyroscopes. A vehicle rollover detection system determines whether a crane is in a rollover state by measuring the vehicle's roll angle and roll velocity. This requires a gyroscope, a sensor that measures angular velocity. While the crane is in motion, the gyroscope monitors the vehicle's angular velocity and acceleration and, using a specific algorithm, fuses the data to determine the crane's real-time roll angle. If the detected roll angle exceeds a certain limit, the system issues a warning and outputs an output to the vehicle control unit (VCU), thereby preventing the crane from rolling over.

[0034] When a vehicle turns, the wheels rotate around the axle, generating centrifugal force. Within the same timeframe, the faster the vehicle turns, the greater the angular velocity and centrifugal force. Once the centrifugal force becomes too large, the vehicle can easily run out of the curve or skid. Therefore, to improve vehicle safety when turning, a gyroscope calculates the turning angle and angular velocity of the four wheels. Once the angle or angular velocity exceeds the specified safety angle, the system alerts the driver to decelerate in time to ensure safe driving on the curve. At the same time, a steering limiter is implemented to prevent the vehicle from overturning due to speed and steering errors.

[0035] Some drivers tend to brake or accelerate suddenly, which can easily lead to rear-end collisions. Furthermore, the strong impact force generated by sudden acceleration or braking is crucial. A gyroscope can measure the vehicle's acceleration and its inclination relative to the road, thereby determining whether the driver has applied the brakes or accelerator suddenly. Furthermore, as a vehicle accelerates, it tilts forward. The gyroscope senses the forward tilt of the longitudinal axis of the center of gravity. By measuring the rotational speed around the vehicle's center of gravity, the gyroscope determines the vehicle's inclination relative to the road, or the rotation angle, effectively correcting the adverse effects of the vehicle's forward tilt.

[0036] Preferably, the electronic control system 2 is used to perform at least one of the following: when at least one of the roll angle, roll angular velocity and lateral acceleration is greater than or equal to the corresponding limit threshold, it is determined that the lifting equipment has a roll tendency, and the overturning trend includes the roll tendency; when at least one of the lifting acceleration and the forward tilt angular velocity is greater than or equal to the corresponding limit threshold, it is determined that the lifting equipment has a forward tilt tendency, and the overturning trend includes the forward tilt tendency; determine the turning radius according to the roll angular velocity, and determine the steering angle and steering speed according to the steering radius to prevent the lifting equipment from tilting.

[0037] In other embodiments, the detection device 1 may include a lifting limiter 12, which is used to determine the weight of the cargo lifted by the lifting equipment; the electronic control system 2 is used to determine the torque based on the weight and the lever arm, and the lever arm is the distance from the position where the cargo is suspended by the lifting equipment's lifting arm to the center of gravity of the lifting equipment; the motion parameters include the torque, and the electronic control system 2 is used to determine that the lifting equipment has a tendency to tilt forward when the torque continues for a set time greater than the corresponding limit threshold or the torque is near the corresponding limit threshold, and the overturning tendency includes a tendency to tilt forward.

[0038] Figure 2This is an exemplary load curve diagram for a lifting device. The lifting device equipped with the anti-overturning system according to an embodiment of the present application may also include a display screen for displaying the load curve of the lifting device and the position of the torque when the boom is lifting cargo within the load curve. When the torque is greater than the corresponding limit threshold, the torque is located above the load curve of the lifting device; when the torque is near the corresponding limit threshold, the torque is located near the load curve of the lifting device.

[0039] In other embodiments: 1) When the roll angle and the roll angular velocity reach the overturning setting threshold, it is judged that the overturning tendency of the equipment is not caused by the inclination of the road surface itself, and intervention is required; 2) When the roll angle and the lateral acceleration reach the overturning setting threshold, it is judged that the equipment has a roll posture and intervention is required; 3) When the lateral acceleration and the roll angular velocity reach the overturning setting threshold, it is judged that the roll tendency of the equipment increases and intervention is required; 4) When the lifting acceleration and the front roll angular velocity reach the overturning setting threshold (can also be combined with the detection result of the lifting limiter), it is judged that the equipment has a forward overturning tendency due to loaded lifting and intervention is required.

[0040] The working principle of an electronic control system, such as a microcontroller unit (MCU), is as follows: When an action command is triggered during device operation (i.e., intervention is required), the MCU adjusts the vector control parameters of a drive mechanism, such as a motor, to achieve at least one of the following: torque reduction / increase for the corresponding drive mechanism, such as the motor, activation of the Electronic Stability Program (ESP), and so on, thereby returning the device to normal operating state. Furthermore, to address aggressive driving behaviors, such as high-speed cornering, the MCU can limit the steering angle during high-speed cornering or activate ESP to brake a specific wheel to prevent oversteer.

[0041] Continue to refer Figure 1 Preferably, the anti-overturning system further includes at least one mechanical anti-overturning mechanism 3. The at least one mechanical anti-overturning mechanism 3 is used to be installed on the lifting equipment. The electronic control system 2 is connected to the mechanical anti-overturning mechanism 3 and is used to control the corresponding mechanical anti-overturning mechanism 3 to operate in a direction to reduce the overturning tendency when it is determined that the corrected driving parameters still cause the lifting equipment to overturn, so as to prevent the lifting equipment from overturning.

[0042] For example, two mechanical anti-rollover mechanisms 3 are spaced apart on opposite sides of the vehicle body. If the lifting equipment tends to tilt to the left, the electronic control system 2 can control at least one of the two mechanical anti-rollover mechanisms 3 on the left to prevent the lifting equipment from tilting. If the lifting equipment tends to tilt to the right, the electronic control system 2 can control at least one of the two mechanical anti-rollover mechanisms 3 on the right to prevent the lifting equipment from tilting.

[0043] Figure 3 for Figure 1 The schematic diagram of the structure of the mechanical anti-overturning mechanism of the anti-overturning system is shown in FIG. Figure 3 As shown, the mechanical anti-rollover mechanism 3 is provided at the bottom of the vehicle body. The mechanical anti-rollover mechanism 3 includes a length adjustment mechanism 31 or includes the length adjustment mechanism 31, a universal joint 32, and a foot plate 33. One end of the length adjustment mechanism 31 is connected to the vehicle body, and the foot plate 33 is provided at the other end of the length adjustment mechanism 31 facing the ground through the universal joint 32.

[0044] The electronic control system 2 can adjust the length of the corresponding length adjustment mechanism 31 according to the difference between the motion parameters detected by the detection device 1 under the corrected driving parameters and the corresponding limit threshold value under normal operation of the lifting equipment, and the overturning trend, so that the mechanical anti-overturning mechanism 3 contacts the ground for support, thereby realizing the control of the action of the mechanical anti-overturning mechanism 3.

[0045] The anti-rollover system of the embodiment of the present application relies on equipment such as a lifting limiter and a vehicle-mounted gyroscope. By collecting the status of the above two devices, it calculates information such as the load capacity and acceleration of the lifting equipment. When an abnormality of the vehicle body is detected, the vehicle-mounted controller (i.e., the electronic control system) controls the operation of the vehicle drive mechanism to make appropriate corrections to the vehicle body (such as limiting the turning angle, slowing down the vehicle, etc.); when the correction fails to work, the mechanical anti-rollover mechanism is driven to work, and the lifting equipment is prevented from overturning at the physical level, which effectively reduces the risk of overturning of the lifting equipment and improves the safety of equipment operation.

[0046] The length adjustment mechanism 31 may be a telescopic mechanism or a folding mechanism. Figure 3 As shown, the length adjustment mechanism 31 includes a cylinder 311 and a piston rod 312. A liquid inlet is provided at the end of the cylinder 311, which is close to the ground. One end of the piston rod 312 serves as one end of the length adjustment mechanism 31, while the other end of the piston rod 312 extends through the other end of the cylinder 311, which is away from the ground, and into the cylinder 311. The electronic control system 2 extends the piston rod 312 from the cylinder 311 when controlling liquid to enter the liquid inlet, thereby increasing the length of the length adjustment mechanism 31. It also extends the piston rod 312 into the cylinder 311 when controlling liquid to exit the liquid inlet, thereby decreasing the length of the length adjustment mechanism 31.

[0047] Continue to refer Figure 3 The length adjustment mechanism may further include a bolt M, a buffer sleeve T and an anti-wear ring H. The cylinder body 311 may include a cylinder head G1 and a cylinder barrel G2. The cylinder head G1 and the cylinder barrel G2 may be connected by a bolt M, and the cylinder head G1 and the cylinder barrel G2 may be locked by the bolt M to achieve sealing, and may withstand the high pressure inside the cylinder barrel G2, and a sealing ring and a dust ring may be provided. The anti-wear ring H is provided in the circumferential direction of the cylinder barrel G2 in the end of the cylinder barrel G2 close to the ground. The buffer sleeve T is provided at the other end of the cylinder barrel G2 away from the ground, and a flange is provided on the piston rod 312. The flange is located on the side of the buffer sleeve T facing the anti-wear ring H.

[0048] In addition, an embodiment of the present application also provides a lifting equipment, which includes a vehicle body, a lifting arm rotatably connected to the vehicle body, a drive mechanism D and the above-mentioned anti-rollover system, the detection device 1 of the anti-rollover system is arranged on the vehicle body, and the electronic control system 2 of the anti-rollover system is connected to the drive mechanism D and is used to control the drive mechanism D to drive the vehicle body and / or the lifting arm to move.

[0049] Exemplarily, the drive mechanism includes a first drive mechanism and a second drive mechanism. The first drive mechanism is used to drive the boom to lift or lower cargo. The second drive mechanism is used to drive the vehicle body to move on the ground. The electronic control system is used to drive the first drive mechanism and / or the second drive mechanism to move in a direction that can reduce the tendency to overturn to provide reverse compensation.

[0050] In the anti-overturning system, the load of the lifting equipment is collected in real time through a lifting limiter (with a scale). The load is then calculated and combined with the load curve to determine whether the load weight is within the allowable range, ensuring that the lifting equipment operates within the safe range. If the safe load is exceeded, the entire machine can limit the lifting function. Furthermore, the gyroscope can also be used to collect information such as equipment acceleration and inclination. When abnormal acceleration and inclination are detected, the algorithm can promptly perform reverse compensation to avoid accidents. If the above fails to work, the system activates the mechanical anti-overturning mechanism to quickly achieve physical anti-overturning.

[0051] Furthermore, the three working states of the lifting equipment are taken as an example for explanation.

[0052] The first operating condition: The vehicle is overloaded, speeding, and may require sudden braking. In this case, the vehicle's load, mechanical load curve, and sudden braking inertia are used to calculate the allowable safe speed. The vehicle controller, such as the electronic control system, controls the speed to prevent it from exceeding the safe speed.

[0053] The second working state: a sudden turn. In this case, the gyroscope can be used to calculate the allowable turning radius, and the vehicle controller controls the turning range to control the steering angle so as not to turn too quickly and cause rollover.

[0054] The third working state: physical support for overturning. In this case, the risk of vehicle overturning can be determined by using gyroscope angular velocity and inertia. By releasing the electronic lock of the anti-overturning mechanism in the overturning direction and maintaining the hydraulic pressure in the mechanism, it can support the lifting equipment to prevent overturning.

[0055] Figure 4 The present application provides a flowchart of an anti-overturning method. Figure 4 As shown, the anti-overturning method includes the following steps:

[0056] S401, obtaining motion parameters of the lifting equipment, where the motion parameters include at least one of operating inclination, acceleration, and load capacity.

[0057] The motion parameters can be obtained using the aforementioned detection device. Specifically, the operating inclination and acceleration can be determined using at least one of the roll angle, roll angular velocity, pitch angular velocity, lateral acceleration, and lifting acceleration detected by a gyroscope. The load capacity (i.e., the weight of the cargo being lifted by the lifting equipment) can be determined using a lifting limiter.

[0058] S402: Compare the motion parameters with corresponding limit thresholds of the lifting equipment under normal operation.

[0059] S403: When it is determined that the motion parameter is greater than the corresponding limit threshold, the driving parameter of the driving mechanism of the lifting equipment is corrected, and the driving mechanism is controlled according to the corrected driving parameter to prevent the lifting equipment from overturning.

[0060] Optionally, the anti-overturning method may further include the following steps: S404, when it is determined that the corrected driving parameters still cause the lifting equipment to have a tendency to overturn, controlling the corresponding mechanical anti-overturning mechanism of the lifting equipment to actuate to prevent the lifting equipment from overturning.

[0061] For example, the modified driving parameter can be compared with the corresponding limit threshold value of the lifting equipment under normal operation. If it is determined that the modified driving parameter is still greater than the corresponding limit threshold value, it is determined that the lifting equipment has a tendency to overturn. An exemplary specific structure of the mechanical anti-overturning mechanism can be found above. Figure 3 Relevant introduction of the department.

[0062] Figure 5 This is a flow chart of another anti-overturning method provided in an embodiment of the present application. Figure 5As shown, the anti-rollover method includes the following steps: first, collecting the vehicle's running inclination, acceleration, load and other motion parameters; then, comparing the vehicle's running classic values ​​and limit values ​​to determine whether the above motion parameters exceed the threshold value; if the judgment result is no, the vehicle runs normally; if the judgment result is yes, negative feedback is given to the drive through algorithms such as PID to enable the drive mechanism to drive the vehicle to run under the corrected drive parameters; then, determine whether the feedback is effective; if the judgment result is yes, the vehicle runs normally; if the judgment result is no, the vehicle's running inclination, acceleration, load and other motion parameters collected under the corrected drive parameters, if the motion parameters still exceed the limit value, start the physical anti-rollover device. Exemplarily, the physical anti-rollover device can be the above-mentioned mechanical anti-rollover mechanism.

[0063] Professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0064] It should be noted that references in this specification to "one embodiment," "an embodiment," "an exemplary embodiment," "some embodiments," and the like indicate that the described embodiments may include a particular feature, structure, or characteristic, but not necessarily every embodiment includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0065] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An anti-overturning system, characterized in that: include: A detection device (1) is used to be arranged on a body of a lifting device and detect motion parameters of the lifting device; An electronic control system (2) is used to be connected to the detection device (1) and the driving mechanism (D) of the lifting equipment so that when it is determined that the lifting equipment has a tendency to overturn based on the motion parameters, the driving parameters of the driving mechanism (D) are corrected in a direction to reduce the overturning tendency, and the operation of the driving mechanism (D) is controlled based on the corrected driving parameters, thereby preventing the lifting equipment from overturning.

2. The anti-overturning system according to claim 1, characterized in that: The electronic control system (2) is used to compare the motion parameters with corresponding limit thresholds of the lifting equipment under normal operation, and to modify the drive parameters of the drive mechanism (D) according to the comparison result; and / or, The electronic control system (2) includes a PID controller, which is used to perform PID compensation on the current driving parameters and position difference of the driving mechanism (D), and then output the corrected driving parameters in combination with the deviation value of the driving mechanism (D) and the limiting parameters of the driving mechanism (D), wherein the position difference is the difference between the target position and the actual position of the lifting equipment.

3. The anti-overturning system according to claim 1, characterized in that: The overturning tendency includes a tilting tendency, and when the electronic control system (2) determines that the lifting equipment has the tilting tendency, the driving parameters of the driving mechanism (D) are modified by at least one of limiting the rotation angle of the lifting equipment, limiting the movement speed of the lifting equipment, and reversing the movement direction of the lifting equipment; and / or, The overturning tendency includes a forward tilting tendency. When the electronic control system (2) determines that the lifting equipment has the forward tilting tendency, the driving parameters of the driving mechanism (D) are modified to include at least one of limiting the lifting of the lifting arm of the lifting equipment, limiting the lifting speed of the lifting arm, and limiting the movement speed of the lifting equipment.

4. The anti-overturning system according to claim 1, characterized in that: The detection device (1) includes a gyroscope (11), and the gyroscope (11) includes: a tilt angle sensor for measuring at least one of a roll angle, a roll angular velocity, and a forward pitch angular velocity of the lifting equipment; an acceleration sensor for measuring at least one of a lateral acceleration and a lifting acceleration of the lifting equipment; The motion parameter includes at least one of a roll angle, a roll angular velocity, a pitch angular velocity, a lateral acceleration and a lifting acceleration.

5. The anti-overturning system according to claim 4, characterized in that: The electronic control system (2) is configured to perform at least one of the following: When at least one of the roll angle, the roll angular velocity, and the lateral acceleration is greater than or equal to a corresponding limit threshold, determining that the lifting equipment has a roll tendency, the overturning tendency including the roll tendency; When at least one of the lifting acceleration and the forward tilting angular velocity is greater than or equal to a corresponding limit threshold, it is determined that the lifting equipment has a forward tilting tendency, and the overturning tendency includes the forward tilting tendency; A turning radius is determined according to the roll angular velocity, and a turning angle and a turning speed are determined according to the turning radius to prevent the lifting equipment from rolling.

6. The anti-overturning system according to claim 1, characterized in that: The detection device (1) includes a lifting limiter (12), the lifting limiter (12) is used to determine the weight of the cargo lifted by the lifting equipment; the electronic control system (2) is used to determine the torque based on the weight and the lever arm, the lever arm being the distance from the position where the lifting arm of the lifting equipment suspends the cargo to the center of gravity of the lifting equipment; The motion parameter includes the torque, and the electronic control system (2) is used to determine that the lifting equipment has a forward tilting tendency when the torque continues to be set for a time greater than a corresponding limit threshold or the torque is located near the corresponding limit threshold, and the overturning tendency includes the forward tilting tendency.

7. The anti-overturning system according to any one of claims 1 to 6, characterized in that: Also includes: At least one mechanical anti-overturning mechanism (3) is provided on the lifting equipment, the electronic control system (2) is connected to the mechanical anti-overturning mechanism (3), and is used to control the corresponding mechanical anti-overturning mechanism (3) to act in a direction to reduce the overturning tendency when it is determined that the corrected driving parameters still cause the lifting equipment to have a tendency to overturn, so as to prevent the lifting equipment from overturning.

8. The anti-overturning system according to claim 7, characterized in that: The mechanical anti-overturning mechanism (3) is arranged at the bottom of the vehicle body, and the mechanical anti-overturning mechanism (3) includes a length adjustment mechanism (31) or includes a length adjustment mechanism (31), a universal joint (32) and a foot plate (33), one end of the length adjustment mechanism (31) is connected to the vehicle body, and the foot plate (33) is arranged at the other end of the length adjustment mechanism (31) facing the ground through the universal joint (32); The electronic control system (2) can adjust the length of the corresponding length adjustment mechanism (31) based on the difference between the motion parameters detected by the detection device (1) under the corrected driving parameters and the limit threshold value corresponding to the normal operation of the lifting equipment, and the overturning tendency, so that the mechanical anti-overturning mechanism (3) contacts the ground for support, thereby realizing the control of the action of the mechanical anti-overturning mechanism (3).

9. The anti-overturning system according to claim 8, characterized in that: The length adjustment mechanism (31) comprises: A cylinder body (311), wherein a liquid inlet is provided at one end of the cylinder body (311) close to the ground; a piston rod (312), one end of the piston rod (312) serving as one end of the length adjustment mechanism (31), and the other end of the piston rod (312) passing through the other end of the cylinder body (311) away from the ground and extending into the cylinder body (311); The electronic control system (2) causes the piston rod (312) to extend from the cylinder body (311) when controlling the liquid to enter the liquid inlet, thereby increasing the length of the length adjustment mechanism (31); and causes the piston rod (312) to extend into the cylinder body (311) when controlling the liquid to flow out of the liquid inlet, thereby reducing the length of the length adjustment mechanism (31).

10. A lifting equipment, characterized in that: include: a vehicle body and a lifting arm rotatably connected to the vehicle body; A driving mechanism (D) and an anti-rollover system according to any one of claims 1 to 9, wherein the detection device (1) of the anti-rollover system is arranged on the vehicle body, and the electronic control system (2) of the anti-rollover system is connected to the driving mechanism (D) and is used to control the driving mechanism (D) to drive the vehicle body and / or the crane arm to move.

11. An anti-overturning method, characterized in that: include: Acquiring motion parameters of the lifting equipment, wherein the motion parameters include at least one of an operating inclination, an acceleration, and a load; comparing the motion parameter with a corresponding limit threshold value of the lifting equipment under normal operation; When it is determined that the motion parameter is greater than the corresponding limit threshold, the driving parameter of the driving mechanism of the lifting equipment is corrected, and the driving mechanism is controlled according to the corrected driving parameter to prevent the lifting equipment from overturning.

12. The anti-overturning method according to claim 11, characterized in that: include: When it is determined that the corrected driving parameters still cause the lifting equipment to have a tipping tendency, a corresponding mechanical anti-tipping mechanism of the lifting equipment is controlled to actuate to prevent the lifting equipment from tipping over.

Images