Overturn prevention system and method for construction machine
阅读说明:本技术 用于建筑机械的防翻覆系统和方法 (Overturn prevention system and method for construction machine ) 是由 周平升 李华南 王启斌 陈金鹏 于 2016-09-09 设计创作,主要内容包括:一种防翻覆系统,所述防翻覆系统防止建筑机械翻覆。所述防翻覆系统包括:第一角度检测单元(12),该第一角度检测单元被邻近于转动接头(11)布置,以检测上框架(5)的回转角度;第二角度检测单元(13),该第二角度检测单元被布置在上框架上,以检测上上框架的角运动;安全阀(40),该安全阀被布置在与用于工作附件(10)的液压缸及回转马达(26)连通的流动通道(25、32)上,以通过响应于外部信号打开和关闭所述流动通道来控制被供给到所述液压缸的工作油的流动;以及电子控制器(14),该电子控制器电连接到第一角度检测单元、第二角度检测单元和所述安全阀。该电子控制器包括重心计算部(14a)、安全范围确定部(14b)和信号输出部(14c)。还提供了用于建筑机械的防翻覆方法。在操作期间,当由于重心的偏离而增加了翻覆的风险时,所述系统能够通过用关于重心的信息警告操作员来防止翻覆并且强制地限制建筑机械的移动。(An anti-overturn system prevents a construction machine from overturning. The anti-overturning system comprises: a first angle detection unit (12) arranged adjacent to the rotary joint (11) to detect a turning angle of the upper frame (5); a second angle detecting unit (13) disposed on the upper frame to detect an angular movement of the upper frame; a relief valve (40) disposed on a flow passage (25, 32) communicating with a hydraulic cylinder and a swing motor (26) for a working attachment (10) to control a flow of working oil supplied to the hydraulic cylinder by opening and closing the flow passage in response to an external signal; and an electronic controller (14) electrically connected to the first angle detection unit, the second angle detection unit, and the relief valve. The electronic controller includes a center-of-gravity calculation section (14a), a safety range determination section (14b), and a signal output section (14 c). A method of preventing capsizing for a construction machine is also provided. During operation, the system is able to prevent overturning and forcibly limit the movement of the construction machine by warning the operator with information about the center of gravity when the risk of overturning increases due to a deviation of the center of gravity.)
1. An overturn prevention system for a construction machine, wherein the construction machine comprises: a working attachment, such as a boom, an arm, or a bucket, a plurality of hydraulic cylinders for driving the working attachment, and a swing motor for controlling a swing operation of an upper frame, the anti-overturn system including:
a first angle detecting unit disposed adjacent to a rotary joint disposed on a central portion of the upper frame rotatably disposed on a chassis to detect a turning angle of the upper frame;
a second angle detection unit disposed on the upper frame to detect an angular movement of the upper frame;
a relief valve disposed on a flow passage communicating with the hydraulic cylinder and the swing motor for the working attachment, wherein the relief valve controls a flow of working oil supplied to the hydraulic cylinder by opening and closing the flow passage in response to an external signal; and
an electronic controller electrically connected to the first angle detection unit, the second angle detection unit, and the safety valve, the electronic controller including a center-of-gravity calculation section, a safety range determination section, and a signal output section,
wherein the center of gravity calculation section calculates the center of gravity B of the chassis based on values of angles applied from the first angle detection unit and the second angle detection unit according to a preset algorithmucCenter of gravity B of the upper frameufCenter of gravity B of the working attachmentatA first center of gravity B of the construction machine in a first state1And a second center of gravity B of the construction machine in a second state2Wherein the first center of gravity B of the construction machine1Depending on the first state, the second center of gravity B of the construction machine2Depending on the second state, in the first state the bucket is at the furthest distance from the swing axis and is fully loaded, in the second state the bucket is at the closest distance G from the swing axis and is not loaded,
wherein the safety range determination section determines the buildingSaid first centre of gravity B of the machine1And the second center of gravity B2Whether or not it is present within a safe range, and
wherein when the first center of gravity B of the construction machine is1Or the second center of gravity B2The signal output section provides a closing signal for the safety valve and a warning signal to an operator when deviating from the safety range.
2. The overturn preventing system of claim 1, further comprising a display unit connected to the controller, wherein the display unit outputs the safety range provided by the signal output portion of the controller so that the operator can visually recognize the safety range.
3. The rollover prevention system as defined in claim 1, further comprising a warning unit connected to the controller, wherein when the first center of gravity B of the construction machine is present1Or the second center of gravity B2The warning unit provides audible information to the operator when deviating from the safe range.
4. The rollover prevention system as recited in claim 1, wherein the safety valve comprises: a first relief valve disposed on one of the flow passages to block a flow of oil fed from the first hydraulic pump; and a second relief valve that is disposed on the other of the flow passages to block a flow of oil fed from the second hydraulic pump.
5. The rollover prevention system as recited in claim 1, wherein the relief valve is disposed on a pilot signal line extending from the control device to a spool of the hydraulic control valve.
6. The rollover prevention system defined in claim 1 wherein the second angle detection unit comprises a system-on-chip device disposed on the electronic controller.
7. The anti-tip-over system of claim 4, wherein each of the safety valves comprises a solenoid valve.
8. The rollover prevention system defined in claim 5 wherein each of the safety valves includes a solenoid valve.
9. The anti-tip-over system of claim 1, wherein the first angle detection unit comprises a rotary encoder.
10. The overturn prevention system of claim 1, wherein the second angle detection unit includes a 2-axis angle sensor.
11. The anti-tip-over system of claim 6, wherein the second angle detection unit comprises a 2-axis angle sensor.
12. An overturn prevention method for a construction machine, comprising:
detecting a change in a turning angle of an upper frame of the construction machine about a turning axis Z with respect to a turning joint using a first angle detection unit arranged adjacent to the turning joint;
detecting angular movement of the upper frame along a width axis X 'and a longitudinal axis Y' of the construction machine using a second angle detection unit arranged adjacent to the upper frame;
calculating a barycentric coordinate B of the upper frame defined with respect to the width axis X, the longitudinal axis Y and the swivel axis Zuf(Xuf,Yuf,Zuf);
Based on a first weight W of the working attachment determined in the first stateat1And a second weight W of said working attachment determined in a second stateat2Calculating a first center of gravity B of the working attachment in the first stateat1(Xat1,Yat1,Zat1) And a second center of gravity B of the working attachment in the second stateat2(Xat2,Yat2,Zat2) In the first condition, the bucket is at the furthest distance from the swing axis Z and is fully loaded, and in the second condition, the bucket is at the closest distance from the swing axis Z and is not loaded;
barycentric coordinate B based on chassisuc(Xuc,Yuc,Zuc) Weight W of the chassisucWeight W of the upper frameufThe weight W of the working attachment in the first stateat1And the weight W of the working attachment in the second stateat2Calculating a first center of gravity B of the construction machine in the first state1(X1,Y1,Z1) And a second center of gravity B of the construction machine in the second state2(X2,Y2,Z2),
Wherein, Xuf、Yuf、Zuf、Xat1、Yat1、Zat1、Xuc、Yuc、Zuc、Wuc、B1And B2Defined by the following equation:
Xuf=Xuf0*cosθ-Yuf0*sinθ;
Yuf=Xuf0*sinθ+Yuf0*cosθ;
Zuf=Zuf0;
Xat1=Xat1′*cosθ-Yat1′*sinθ;
Yat1=Xat1′*sinθ+Yat1′*cosθ;
Zat1=Zat1′;
Xat2=Xat2′*cosθ-Yat2′*sinθ;
Yat2=Xat2′*sinθ+Yat2′*cosθ;
Zat2=Zat2′;
and
13. the rollover prevention method as recited in claim 12 further comprising
Determining the first center of gravity B of the construction machine1And the second center of gravity B of the construction machine2Is present within a safety range, wherein the safety range is set within a critical range defined by a contact surface between the chassis and the ground, wherein the critical range is limited to a rectangular configuration having a width W of the contact surface along the axis X and a length L of the contact surface along the axis Y.
14. The rollover prevention method as recited in claim 12, further comprising: when determining the first center of gravity B of the construction machine1Or the second center of gravity B2When deviating from the safety range, a closing signal for the safety valve is output and a warning signal is output to the operator.
15. The rollover prevention method as recited in claim 12, further comprising: resetting the first angle detection unit to detect a change in a swivel angle of the upper frame about the swivel axis Z with respect to the swivel joint.
16. The rollover prevention method as recited in claim 15, further comprising: resetting the second angle detection unit to detect angular movement of the upper swing structure or the upper frame along the width axis X 'and the longitudinal axis Y' of the construction machine.
17. The overturn preventing method of claim 12, wherein the first angle detecting unit includes a rotary encoder, and the second angle detecting unit includes a 2-axis angle sensor.
18. The overturn preventing method of claim 12,
wherein the 2-axis angle sensor defines an inclination angle α along the axis X 'and an inclination angle β along the axis Y' and the rotary encoder defines a swivel angle θ along the axis Z, and
wherein the swivel angle θ is set to 0 at a position where the working attachment faces forward.
Technical Field
The present disclosure relates to an anti-overturn system and method for a construction machine. More specifically, the present disclosure relates to an anti-overturn system and method for a construction machine, which: the system and method can warn an operator while preventing the supply of working oil to prevent the construction machine from overturning or tipping over when the center of gravity of the construction machine deviates from a safe range or enters a critical range during excavation in a construction site or on a slope.
Background
In the operation of a construction machine such as an excavator or a wheel loader, the center of gravity of the construction machine is changed differently. In particular, during excavation or extraction on a slope or in an operation of carrying a payload (including a large amount of rocks causing excessive load), the center of gravity of the construction machine may deviate from the allowable safety range, resulting in overturn.
Typically, the construction machine is safer when the center of gravity of the construction machine is close to the swing axis of the upper frame or the upper swing structure. In the case of a center of gravity that is far away from the swivel axis, the degree of safety is reduced and the risk of rollover increases. The operator in the cab cannot recognize the change in the center of gravity of the construction machine. Thus, the operator still allows movement of the working attachment for digging or excavating even in the case where the center of gravity of the construction machine has deviated from the permitted safety range. Since the working attachment moves during operation, the center of gravity of the construction machine becomes unstable.
Conventional construction machines are not provided with technical means for informing the operator that the center of gravity has deviated from the permitted safety range. There is no solution for limiting the movement of the working attachment or the construction machine when the risk of rollover increases because the center of gravity has moved away from the swivel axis.
As a well-known example, U.S. patent No.8,768,581 discloses "WORK MACHINE SAFETYDEVICE (safety device for construction machine)". This patent is directed to using a ZMP computing device to prevent the overturning of equipment.
However, this patent does not intend to automatically or forcibly restrict the movement of the working attachment or equipment when the risk of overturning increases due to the center of gravity deviating from the safe range.
Therefore, the construction machine needs one of the following functions: when the risk of rollover increases due to deviation of the center of gravity during operation, rollover can be prevented by warning the operator with information about the center of gravity and forcibly restricting the movement of the construction machine.
Disclosure of Invention
According to one aspect of the present disclosure, an anti-overturn system for a construction machine may include:
a first angle detecting unit disposed adjacent to a rotary joint disposed on a central portion of the upper frame rotatably disposed on the chassis to detect a turning angle of the upper frame;
a second angle detecting unit disposed on the upper frame to detect an angular movement of the upper swing structure;
a relief valve disposed on a flow passage communicating with a hydraulic cylinder and a swing motor for a working attachment, wherein the relief valve controls a flow of working oil supplied to the hydraulic cylinder by opening and closing the flow passage in response to an external signal; and
an electronic controller electrically connected to the first angle detecting unit, the second angle detecting unit, and the safety valve, the electronic controller including a center-of-gravity calculating part, a safety range determining part, and a signal output part,
wherein the center of gravity calculation section calculates the center of gravity B of the chassis based on the values of the angles applied from the first angle detection unit and the second angle detection unit according to a preset algorithmucCenter of gravity B of upper frameufCenter of gravity B of work attachmentatA first center of gravity B of the construction machine in a first state1And a second center of gravity B of the construction machine in a second state2Wherein the first center of gravity B of the construction machine1Depending on the first state, and a second center of gravity B of the construction machine2Depending on the second state, in the first state the bucket is at the furthest distance from the swing axis and is fully loaded, in the second state the bucket is at the closest distance G from the swing axis and is not loaded,
wherein the safety range determination unit determines a first center of gravity B of the construction machine1And a second center of gravity B2Whether or not it is present within a safe range, and
wherein when the first center of gravity B of the construction machine1Or the second center of gravity B2A signal output provides a shut-off signal for the safety valve and a warning signal to an operator when deviating from a safety range.
According to an embodiment of the present disclosure, the safety valve may include: a first relief valve disposed on one of the flow passages to block a flow of oil fed from the first hydraulic pump; and a second relief valve that is disposed on the other of the flow passages to block a flow of oil fed from the second hydraulic pump. When there is a risk of overturning, the movement of the construction machine is forcibly stopped.
According to another aspect of the present disclosure, a overturn prevention method for a construction machine may include:
detecting a change in a turning angle of an upper frame of the construction machine about a turning axis Z with respect to a turning joint using a first angle detection unit arranged adjacent to the turning joint;
detecting angular movement of the upper swing structure along the width axis X 'and the longitudinal axis Y' of the construction machine using a second angle detection unit arranged adjacent to the upper frame;
calculating the barycentric coordinate B of the upper frame defined with respect to said width axis X, longitudinal axis Y and rotation axis Zuf(Xuf,Yuf,Zuf);
Based on a first weight W of the working attachment determined in the first stateat1And a second weight W of the working attachment determined in the second stateat2Calculating a first center of gravity B of the work attachment in a first stateat1(Xat1,Yat1,Zat1) And a second center of gravity B of the working attachment in a second stateat2(Xat2,Yat2,Zat2) In a first condition, the bucket is at the furthest distance from the slewing axis Z and is fully loaded, and in a second condition, the bucket is at the closest distance from the slewing axis Z and is not loaded; and
barycentric coordinate B based on chassisuc(Xuc,Yuc,Zuc) Weight W of the chassisucWeight W of the upper frameufWeight W of the working attachment in the first stateat1And the weight W of the working attachment in the second stateat2Calculating a first center of gravity B of the construction machine in a first state1(X1,Y1,Z1) And a second center of gravity B of the construction machine in a second state2(X2,Y2,Z2)。
According to an embodiment of the present disclosure, the overturn prevention method may further include: when determining the first center of gravity B of the construction machine1Or the second center of gravity B2When deviating from the safety range, a closing signal for the safety valve is output and a warning signal is output to the operator.
Drawings
Fig. 1 is a perspective view showing an excavator to which the present disclosure is applied;
FIG. 2 is a hydraulic circuit diagram for the excavator shown in FIG. 1;
FIG. 3 is a block diagram illustrating a rollover prevention system for a construction machine according to an embodiment of the present disclosure;
FIG. 4 is a flow chart illustrating a method of rollover protection for a construction machine according to an embodiment of the present disclosure;
FIGS. 5a and 5b are schematic diagrams illustrating the steps of calculating a center of gravity and determining a safe range according to the present disclosure; and is
Fig. 6 is a schematic diagram showing a route drawn according to the movement of the bucket shown in fig. 1.
Detailed Description
Reference will now be made in detail to embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings. While the disclosure will be described in conjunction with the following embodiments, it will be understood that they are not intended to limit the disclosure to these embodiments alone. On the contrary, the present disclosure is intended to cover alternatives, modifications and equivalents, which may be included within the spirit and scope of the present disclosure as defined by the appended claims. Furthermore, in the following detailed description of the present disclosure, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. However, embodiments of the disclosure may be practiced without these specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail as not to unnecessarily obscure aspects of the present disclosure.
The overturn preventing system for a construction machine according to an exemplary embodiment of the present disclosure can be used in a construction machine such as an excavator or a wheel loader, and will be described with reference to an exemplary excavator. Fig. 1 is a perspective view showing an excavator to which the present disclosure is applied.
As shown in fig. 1, the excavator includes an
An
It is preferable that the bucket 4 is fixed to the distal end portion of the arm 3 using the
During an excavation work in a construction site such as a slope, the boom 2 is driven in response to extension and contraction of the
Preferably, the
Fig. 2 schematically illustrates a hydraulic circuit for the excavator shown in fig. 1. A dual pump hydraulic system is used to drive an excavator to which the present disclosure is applied.
Preferably, the hydraulic system includes an
A swing control valve 27 that controls the operation of the
Further, a
Fig. 3 is a block diagram illustrating a rollover prevention system for a construction machine according to an embodiment of the present disclosure.
Referring to fig. 3, the overturn preventing system for construction machinery according to the present disclosure includes a first
The first
For excavation work in a work site including a slope, each
Preferably, the
For example, the operator can control the operations of the
The anti-overturn system according to the present disclosure includes a
For example, the
The
Preferably, each
According to another embodiment of the present disclosure, although not shown therein, the
The overturn prevention system for a construction machine according to the present disclosure includes an
The center of
The safety range determination unit 14B determines the first center of gravity B of the construction machine1Or the second center of gravity B2Whether it is present within a safe range.
When the first center of gravity B of the construction machine1Or the second center of gravity B2When deviating from the safety range, the
According to the present disclosure, these centers of gravity are XYZ coordinates following the right-hand rule, which can be calculated and can be determined as coordinates based on the width axis X, the longitudinal axis Y and the swivel axis Z relative to the rotary joint 11 of the construction machine.
In addition, the safety range should be interpreted as a safety center of gravity range as shown in fig. 5b, in which the construction machine can safely perform excavation work on the surface of the ground or slope in the construction site without overturning or tipping.
The safety range is set within a critical range defined by the contact surface between the
The critical range includes a surface or tetrahedron, the center of gravity of which deviates from the safe range during operation.
The
The
Fig. 4 is a flowchart illustrating an anti-overturn method for a construction machine according to an embodiment of the present disclosure. The overturn preventing method comprises the following steps:
a step of detecting a change in a turning angle of the
a step of detecting angular movement of the
calculating the barycentric coordinate B of the
based on a first weight W of the working attachment determined in the first stateat1And a second weight W of the working attachment determined in the second stateat2To calculate a first center of gravity B of the working attachment in a first stateat1(Xat1,Yat1,Zat1) And a second center of gravity B of the working attachment in a second stateat2(Xat2,Yat2,Zat2) In a first condition, the bucket 4 is at the furthest distance from the axis of revolution Z and is fully loaded, and in a second condition, the bucket 4 is at the closest distance from the axis of revolution Z and is not loaded; and
barycentric coordinate B based on chassis 1uc(Xuc,Yuc,Zuc) Weight W of the
As shown in fig. 4, the parameter regarding the angular change about the revolution axis Z of the rotary joint 11 is read out from the rotary encoder, and the
In addition, parameters regarding the angular changes about the upper frame width axis X 'and the longitudinal axis Y' are read out from the 2-axis angle sensor, and the
Fig. 5a and 5b are schematic views showing the center of gravity of the chassis, the center of gravity of the upper frame, and the center of gravity of the working attachment of the construction machine.
As shown in FIGS. 5a and 5b, the chassis, the upper frame and the working attachment are schematically represented by boxes the second
According to the disclosure, barycentric coordinates B of the chassisuc(Xuc,Yuc,Zuc) Center of gravity coordinate B of upper frameuf(Xuf,Yuf,Zuf) And the barycentric coordinates B of the work attachmentat(Xat,Yat,Zat) Are calculated and determined separately as follows:
center of gravity coordinate B of chassisuc(Xuc,Yuc,Zuc) Is calculated by
If there are n parts of the
the total weight of the chassis (1) is Wuc。
Center of gravity coordinate B of upper frameuf(Xuf,Yuf,Zuf) Is calculated by
In this calculation, in order to detect a change in the turning angle of the
Referring to fig. 5a, a coordinate system oyx is established on the bottom plane of the chassis, wherein axis X is always along the width direction of the chassis, axis Y is always along the longitudinal direction of the chassis, and axis Z is the swivel axis. The coordinate system oyxyz will move with the chassis. When the swivel angle θ is 0 °, the original center of gravity of the
Zuf=Zuf0............(3.3)
to obtain BufOnly the 2-dimensional axis system OXY needs to be considered:
then, the coordinates X can be obtained as followsufAnd Yuf:
Center of gravity coordinates B of working attachmentat(Xat,Yat,Zat) Is calculated by
Fig. 6 is a schematic diagram showing a route drawn according to the movement of the bucket shown in fig. 1.
Referring to fig. 6, the relative center of gravity of the working attachment differs depending on the position of the working attachment. Thus, in order to obtain the centre of gravity B of the working attachmentatAssuming that the working
the first state: having a distance A furthest from the axis of rotation and a bucket fully loaded, the weight of said attachment being Wat1(ii) a And
the second state: having a distance G closest to the swivel axis and an unloaded bucket, the weight of the attachment being Wat2。
The first state is most likely to tip along the front interface edge between the chassis and the ramp (here, the fore-aft direction is according to the driver's line of sight in the cab), and the second state is most likely to tip along the rear interface edge. The centers of gravity of the first state and the second state are Bat1(Xat1,Yat1,Zat1) And Bat2(Xat2,Yat2,Zat2)。
When the swivel angle theta is equal to 0 DEG and it is assumed that the barycentric coordinates of the attachment in the first state and the second state are B, respectivelyat1’(Xat1’,Yat1’,Zat1’) And Bat2’(Xat2’,Yat2’,Zat2’) Then, B can be formulated according to a similar method to that of equation 3.1at1’(Xat1’,Yat1’,Zat1’) And Bat2’(Xat2’,Yat2’,Zat2’). Further, using a similar approach to equation 3.5, B can be formulated as followsat1(Xat1,Yat1,Zat1) And Bat2(Xat2,Yat2,Zat2) The coordinates of (a):
for calculating the coordinates B of the whole machine in the first and second states, respectively1And B2Assuming that the weight of the upper frame, the weight of the attachment in the first state, and the weight of the attachment in the second state are W, respectivelyuf、Wat1And Wat2The calculation method is similar to that of equation 3.1. Then, B can be formulated as follows1(X1,Y1,Z1) And B2(X2,Y2,Z2):
Next, referring to fig. 5a, a coordinate system oyx is established on the bottom plane of the chassis, wherein axis X is always along the width direction of the chassis and axis Y is always along the longitudinal direction of the chassis, which coordinate system oyx will move together with the chassis. A coordinate system O 'X' Y 'Z' is established on the bottom plane of the upper frame, wherein axis X 'is always along the width direction of the upper frame and axis Y' is always along the longitudinal direction of the upper frame, the coordinate system O 'X' Y 'Z' will move or rotate together with the upper frame. Assume that there is a horizontal plane H passing through point O, and the equation for plane H is:
x+By+Cz=0..................(5.1)
the inclination angle "α" is equal to the difference between the axis X' (parallel to the width direction of the upper frame) and the horizontal plane HAngle between the horizontal plane H and the axis Y '(parallel to the longitudinal direction of the upper frame) by an angle "β". The unit vector along the axis X' in the coordinate system OXYZ is represented by the angle "θ" of rotation
And the vector along the axis YCan be expressed as follows:
and, the vector
Is a normal vector to the horizontal plane H, which can be expressed as follows:
according to the definition of the angles "α" and "β", then
Via equation 5.5, the values of B and C can be calculated. Further, a formula for a plumb line passing through points B1(X1, Y1, Z1) and B2(X2, Y2, Z2) in the coordinate system oyxyz can be obtained. The plumb line passing through point B1(X1, Y1, Z1) is:
the plumb line passing through point B2(X2, Y2, Z2) is:
let us assume the passage B in the coordinate system OXYZ1(X1,Y1,Z1) Is B 'from the perpendicular to the plane XOY'1(X’1,Y’10), the intersection of the perpendicular passing through B2(X2, Y2, Z2) and the plane XOY is B'2(X’2,Y’2,0). According to equation 5.6, B 'can be obtained as follows'1(X’1,Y’1,0):
According to equation 5.7, B 'can be obtained as follows'2(X’2,Y’2,0):
In this calculation, in order to detect the angular movement of the
Comparison and determination with a safety range
The disclosure includes determining a first center of gravity B of the construction machine1Or a second center of gravity B of the construction machine2A step of determining whether a safety range exists, wherein the safety range is set within a critical range defined by a contact surface between the
For example, B 'can be prepared'1(X’1,Y’10) and B'2(X’2,Y’20) is compared with the formula of the contact surface between the chassis and the slope to determine whether the construction machine is likely to overturn.
Assuming that the contact surface between the chassis and the ramp has a width W and a length L, as shown in fig. 5b, the contact surface can be described in the coordinate system OXY as follows:
next, referring to FIG. 5B, when B'1(X’1,Y’10) and B'2(X’2,Y’20) is compared with equation 6.1 if B'1(X’1,Y’10) and B'2(X’2,Y’20) falls within the safety range of equation 6.1, the construction machine is safe. If B'1(X’1,Y’10) or B'2(X’2,Y’20) deviates from this safety range, there is a risk of tipping or overturning of the construction machine. In addition, in order to provide warning or alarm indications to the operator in advance, a critical parameter γ (0 ≦ γ ≦ 0.5) may be introduced, and the safety range in the coordinate system OXY can be updated as follows:
in this step, as noted above, when center of gravity B 'is determined'1(X’1,Y’10) or center of gravity B'2(X’2,Y’20) deviating from the safety range, information about the risk of rollover or the safety state is provided to the operator.
For example, the warning signal is converted and output by the
The present disclosure further includes the steps of: when determining the first center of gravity B of the construction machine1Or the second center of gravity B2When deviating from the safety range, a closing signal for the
According to another embodiment of the present disclosure, when the
As set forth above, the present disclosure can be variously applied to construction machines such as excavators and wheel loaders. The present disclosure provides safety information to an operator while allowing the center of gravity to remain within a safe range. In addition, when it is determined that the center of gravity of the construction machine deviates from a safety range or enters a critical range in the construction site or during excavation performed on a slope, a warning is provided to an operator and the supply of the working oil is stopped, thereby preventing overturn.
In addition, according to the present disclosure, safety awareness of the operator is enhanced, and rollover is prevented.
While the present disclosure has been described with reference to the preferred embodiments in the drawings, it should be noted that equivalents may be employed and substitutions made herein without departing from the scope of the disclosure as defined by the claims.
- 上一篇:一种医用注射器针头装配设备
- 下一篇:用于将传感器锁定到基座的系统及方法