阅读说明：本技术 用于泵车的控制方法、控制装置及处理器 (Control method and control device for pump truck and processor ) 是由 曾中炜 尹君 李淇阳 万梁 佟祥伟 于 2021-08-02 设计创作，主要内容包括：本发明涉及工程机械车辆领域,公开了一种用于泵车的控制方法、控制装置及处理器,控制方法包括：获取泵车的车身倾角；根据车身倾角确定泵车所在地面的地面倾角；根据地面倾角判断地面是否满足泵车的作业支撑条件；根据判断结果控制泵车工作。采用本发明的方案可以提高作业安全性。(The invention relates to the field of engineering machinery vehicles, and discloses a control method, a control device and a processor for a pump truck, wherein the control method comprises the following steps: acquiring a vehicle body inclination angle of the pump vehicle; determining a ground inclination angle of the ground where the pump truck is located according to the inclination angle of the truck body; judging whether the ground meets the operation supporting condition of the pump truck or not according to the ground inclination angle; and controlling the pump truck to work according to the judgment result. By adopting the scheme of the invention, the operation safety can be improved.)

1. A control method for a pump truck, characterized by comprising:

acquiring a body inclination angle of the pump truck;

determining a ground inclination angle of the ground where the pump truck is located according to the body inclination angle;

judging whether the ground meets the operation supporting condition of the pump truck or not according to the ground inclination angle;

and controlling the pump truck to work according to the judgment result.

2. The control method according to claim 1, wherein the determining the ground inclination angle of the ground on which the pump truck is located according to the body inclination angle comprises:

and determining a ground inclination angle of the ground where the pump truck is located according to the vehicle body inclination angle and a pre-stored first preset inclination angle, wherein the first preset inclination angle is a vehicle body inclination angle value of the pump truck on the horizontal ground and in a running state.

3. The control method according to claim 2, wherein the determining the ground inclination angle of the ground on which the pump truck is located according to the body inclination angle and the first preset body inclination angle comprises:

and subtracting the first preset inclination angle from the inclination angle of the vehicle body to obtain a ground inclination angle of the ground where the pump truck is located.

4. The control method according to claim 2, wherein the judging whether the ground meets the operation support condition of the pump truck according to the ground inclination angle comprises:

judging whether the ground inclination angle is greater than zero degree;

and under the condition that the ground inclination angle is larger than zero degree, judging whether the ground meets the operation supporting condition of the pump truck or not according to the relation between the ground inclination angle and a pre-stored first preset inclination angle and a second preset inclination angle, wherein the second preset inclination angle is a vehicle body inclination angle value of the pump truck on the horizontal ground under the condition of full supporting and under the condition that front and rear tires of the pump truck touch the ground critically.

5. The control method according to claim 4, wherein the determining whether the ground meets the operation support condition of the pump truck according to the relationship between the ground inclination angle and a pre-stored first preset inclination angle and a pre-stored second preset inclination angle comprises:

determining a first angle difference between the second preset inclination angle and the first preset inclination angle;

adding the first angle difference to the ground inclination angle to obtain a first angle result;

comparing the first angle result with a pre-stored first angle threshold;

and under the condition that the first angle result is smaller than or equal to the first angle threshold value, judging that the ground meets the operation supporting condition of the pump truck.

6. The control method according to claim 4, characterized by further comprising:

and under the condition that the ground inclination angle is judged to be less than or equal to zero degree, judging whether the ground meets the operation supporting condition of the pump truck according to the relation between the ground inclination angle and a pre-stored first preset inclination angle and a pre-stored third preset inclination angle, wherein the third preset inclination angle is the maximum value of the vehicle body inclination angle under the conditions that the pump truck is on the horizontal ground and is in a full supporting condition, and the rear tire of the pump truck lands critically and the front tire of the pump truck is suspended.

7. The control method according to claim 6, wherein the determining whether the ground meets the operation support condition of the pump truck according to the relationship between the ground inclination angle and a pre-stored first preset inclination angle and a pre-stored third preset inclination angle includes:

determining a second angle difference between the third preset inclination angle and the first preset inclination angle;

adding the ground inclination angle to the second angle difference to obtain a second angle result;

comparing the second angle result with a pre-stored second angle threshold;

and under the condition that the second angle result is greater than or equal to the second angle threshold value, judging that the ground meets the operation supporting condition of the pump truck.

8. The control method according to claim 1, wherein the controlling the pump truck to operate according to the determination result includes:

and controlling the pump truck to park for operation under the condition that the ground meets the operation supporting condition.

9. The control method according to claim 1, characterized by further comprising:

and feeding back the judgment result to the user in a mode of at least one of sound, graphics and characters.

10. The control method according to claim 5, characterized in that the first angle threshold is 3 °.

11. Control method according to claim 7, characterized in that the second angle threshold is-3 °.

12. The control method according to claim 7, characterized in that the second angle threshold is 0 °.

13. A processor, characterized in that the processor is configured to execute the control method for a pump truck according to any one of claims 1 to 12.

14. A control device for a pump truck, comprising:

an inclination angle detection device configured to detect a body inclination angle of the pump truck; and

the processor of claim 13.

15. A pump truck, comprising:

a vehicle body;

a support device; and

the control device for a pump truck according to claim 14.

Technical Field

The invention relates to the field of engineering machinery vehicles, in particular to a control method, a control device and a processor for a pump truck.

Background

At present, the existing concrete pump truck generally needs to level the truck before entering an operation state, and a leveling device is arranged for the purpose. When the concrete pump truck works, the concrete pump truck can be parked on a horizontal road surface in some cases, and can be parked on a slope in some cases. When the jacking stroke of the conventional supporting device is leveled on a slope or a horizontal road surface, the inclination angle of the vehicle body is usually obtained, a leveling strategy is selected according to the magnitude relation between the inclination angle of the vehicle body and a set threshold value, and the supporting device of the vehicle is driven to level the vehicle body according to the leveling strategy. In the above method, selecting a leveling strategy and leveling according to the inclination angle of the vehicle body may result in the driver parking in a place where the work support condition is not satisfied, i.e. there is a risk of rollover due to forced support. Therefore, the prior art has the problem of low operation safety.

Disclosure of Invention

The invention aims to provide a control method, a control device, a processor and a pump truck for a pump truck, so as to solve the problem of low operation safety in the prior art.

In order to achieve the above object, a first aspect of the present invention provides a control method for a pump truck, the control method comprising:

acquiring a vehicle body inclination angle of the pump vehicle;

determining a ground inclination angle of the ground where the pump truck is located according to the inclination angle of the truck body;

judging whether the ground meets the operation supporting condition of the pump truck or not according to the ground inclination angle;

and controlling the pump truck to work according to the judgment result.

In the embodiment of the invention, the determining the ground inclination angle of the ground where the pump truck is located according to the vehicle body inclination angle comprises the following steps: and determining a ground inclination angle of the ground where the pump truck is located according to the vehicle body inclination angle and a pre-stored first preset inclination angle, wherein the first preset inclination angle is a vehicle body inclination angle value of the pump truck on the horizontal ground and in a running state.

In the embodiment of the invention, the determining the ground inclination angle of the ground where the pump truck is located according to the vehicle body inclination angle and the first preset vehicle body inclination angle comprises the following steps: and subtracting the first preset inclination angle from the inclination angle of the vehicle body to obtain the ground inclination angle of the ground where the pump truck is located.

In the embodiment of the invention, judging whether the ground meets the operation supporting condition of the pump truck according to the ground inclination angle comprises the following steps: judging whether the ground inclination angle is greater than zero degree; and under the condition that the ground inclination angle is larger than zero degree, judging whether the ground meets the operation supporting condition of the pump truck or not according to the relation between the ground inclination angle and a pre-stored first preset inclination angle and a second preset inclination angle, wherein the second preset inclination angle is a vehicle body inclination angle value of the pump truck on the horizontal ground under the full supporting condition and under the condition that front and rear tires of the pump truck touch the ground critically.

In the embodiment of the present invention, determining whether the ground meets the operation support condition of the pump truck according to the relationship between the ground inclination angle and the pre-stored first preset inclination angle and second preset inclination angle includes: determining a first angle difference between a second preset inclination angle and a first preset inclination angle; adding the first angle difference to the ground inclination angle to obtain a first angle result; comparing the first angle result with a pre-stored first angle threshold; and under the condition that the first angle result is smaller than or equal to the first angle threshold value, judging that the ground meets the operation supporting condition of the pump truck.

In the embodiment of the present invention, the control method further includes: and under the condition that the ground inclination angle is judged to be less than or equal to zero degree, judging whether the ground meets the operation supporting condition of the pump truck or not according to the relation between the ground inclination angle and a pre-stored first preset inclination angle and a third preset inclination angle, wherein the third preset inclination angle is the maximum value of the vehicle body inclination angle under the condition that the pump truck is on the horizontal ground and is in the full supporting condition, and under the condition that a rear tire of the pump truck lands critically and a front tire of the pump truck is suspended.

In the embodiment of the present invention, determining whether the ground meets the operation support condition of the pump truck according to the relationship between the ground inclination angle and the pre-stored first preset inclination angle and third preset inclination angle includes: determining a second angle difference value between the third preset inclination angle and the first preset inclination angle; adding the ground inclination angle to the second angle difference to obtain a second angle result; comparing the second angle result with a pre-stored second angle threshold; and under the condition that the second angle result is greater than or equal to the second angle threshold value, judging that the ground meets the operation supporting condition of the pump truck.

In the embodiment of the invention, the step of controlling the pump truck to work according to the judgment result comprises the following steps: and controlling the pump truck to park for operation under the condition that the ground meets the operation supporting condition.

In the embodiment of the present invention, the control method further includes: and feeding back the judgment result to the user in at least one mode of sound, graphics and characters.

In an embodiment of the invention, the first angle threshold is 3 °.

In an embodiment of the invention, the second angle threshold is-3 °.

In another embodiment of the present invention, the second angle threshold is 0 °.

A second aspect of the invention provides a processor configured to perform the control method for a pump truck described above.

A third aspect of the present invention provides a control device for a pump truck, comprising: an inclination angle detection device configured to detect a body inclination angle of the pump truck; and a processor according to the above.

A fourth aspect of the present invention provides a pump truck, comprising: a vehicle body; a support device; and the control device for the pump truck.

According to the technical scheme, the body inclination angle of the pump truck is obtained, and the ground inclination angle of the ground where the pump truck is located is determined according to the body inclination angle, so that whether the ground meets the operation supporting condition of the pump truck or not is judged according to the ground inclination angle, and the pump truck is further controlled to work according to the judgment result. According to the method, the ground inclination angle is obtained through the vehicle body inclination angle, so that whether the pump truck meets the operation supporting condition or not is judged according to the ground inclination angle, namely whether the leveling possibility is met or not is judged, whether the requirements of the pump truck construction on the vehicle body levelness and the hopper position can be met or not can be judged in advance within the supporting posture limit before the parking is switched to the operation state, the transition and parking efficiencies of the pump truck are improved, the pump truck can be supported to the specified state under the parking position condition, and the operation safety is further guaranteed.

Additional features and advantages of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 schematically shows a flow chart of a control method for a pump truck according to an embodiment of the present invention;

fig. 2 is a schematic diagram illustrating an application scenario of a first preset tilt angle according to an embodiment of the present invention;

fig. 3 is a schematic diagram illustrating an application scenario of a second preset inclination angle according to an embodiment of the present invention;

fig. 4 is a schematic diagram illustrating an application scenario of a third preset tilt angle according to an embodiment of the present invention;

fig. 5 is a schematic flow chart showing a control method for a pump truck according to another embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating an application scenario of criterion 1 in an embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating an application scenario of criterion 2 in an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating an application scenario of criterion 3 in an embodiment of the present invention;

fig. 9 is a schematic flow chart showing a control method for a pump truck according to another embodiment of the present invention;

fig. 10 is a schematic flow chart showing a control method for a pump truck according to another embodiment of the present invention;

fig. 11 is a block diagram schematically showing the construction of a control device for a pump truck according to an embodiment of the present invention;

fig. 12 is a block diagram schematically showing a control system for a pump truck according to an embodiment of the present invention.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

In the prior art, a hopper of a concrete pump truck is a receiving container for receiving the unloading of a mixer truck, and the concrete pump truck conveys concrete dumped into the hopper of the concrete pump truck from the mixer truck to a material distribution point at the tail end of an arm frame along a material conveying pipe arranged on the arm frame through a pumping unit. For the compatibility to the trucd mixer discharge apparatus height when guaranteeing the pump truck operation, the trucd mixer is unloaded to the convenience, and equipment operator can let the hopper position as far as possible low usually when manual operation pump truck landing leg supports, and the pump truck is not in complete horizontally state, but head perk, afterbody sink. That is to say, the pump truck is firstly required to find a parking position after entering a construction site, the pump truck is well supported, the inclination angle of the body of the pump truck is ensured to meet the requirement, and the position of the hopper cannot be too high.

Fig. 1 schematically shows a flow chart of a control method for a pump truck according to an embodiment of the present invention. As shown in fig. 1, in the embodiment of the present invention, a control method for a pump truck is provided, which is described by taking a processor of the pump truck as an example, and the control method may include the following steps:

and S102, acquiring the inclination angle of the body of the pump truck.

Specifically, the processor may detect the inclination angle of the vehicle body through the inclination angle detection device, so as to obtain the inclination angle of the vehicle body detected by the inclination angle detection device, and the inclination angle detection device may be installed on the chassis of the vehicle body or other positions of other vehicle bodies.

And step S104, determining the ground inclination angle of the ground where the pump truck is located according to the vehicle body inclination angle.

Specifically, the processor may determine a ground inclination angle of the ground on which the current pump truck is located according to the acquired body inclination angle of the pump truck.

In one embodiment, determining the ground inclination angle of the ground on which the pump truck is located according to the vehicle body inclination angle comprises: and determining the ground inclination angle of the ground where the pump truck is located according to the vehicle body inclination angle and a pre-stored first preset inclination angle.

It is understood that the first preset inclination angle is an inclination angle value of a vehicle body of the pump vehicle on a horizontal ground and in a running state, namely an initial inclination angle value of the pump vehicle on the horizontal ground and in front and at the back of the vehicle body in the running condition.

Specifically, the processor may determine a ground inclination angle of the ground on which the pump truck is located at the moment according to the acquired vehicle body inclination angle and a first preset inclination angle stored in advance.

In one embodiment, determining a ground inclination angle of the ground on which the pump truck is located according to the body inclination angle and the first preset body inclination angle comprises: and subtracting the first preset inclination angle from the inclination angle of the vehicle body to obtain the ground inclination angle of the ground where the pump truck is located.

Specifically, the processor may subtract the acquired vehicle body inclination angle from the first preset inclination angle, that is, subtract the first preset inclination angle from the vehicle body inclination angle, so as to obtain a ground inclination angle of the ground where the pump truck is located.

The ground inclination angle may be specifically calculated with reference to the following formula (1):

alfa ═ beta1-deta0, equation (1)

The elevation is a ground inclination angle, the beta1 is a car body inclination angle, and the deta0 is a first preset inclination angle.

And S106, judging whether the ground meets the operation supporting condition of the pump truck or not according to the ground inclination angle.

It can be understood that the operation support condition of the pump truck is that the hopper position of the pump truck is at a low position (enough for the mixer truck to unload) and the inclination angle of the body of the pump truck meets the inclination angle limitation requirement.

Specifically, the processor can judge whether the current ground of the pump truck meets the operation supporting condition of the pump truck according to the size of the ground inclination angle, that is, before the actual operation of the pump truck, whether the current ground of the pump truck can support the leveling of the pump truck needs to be judged, if the leveling condition is met, the pump truck can operate, namely concrete dumped into a hopper of the pump truck from a mixer truck is conveyed to a material distribution point at the tail end of the boom along a material conveying pipe arranged on the boom through the pumping unit.

And S108, controlling the pump truck to work according to the judgment result.

Specifically, under the condition that the ground inclination angle of the ground where the current pump truck is located meets the operation supporting condition of the pump truck, the processor can control the pump truck to level so as to enter an operation state; under the condition that the inclination angle of the ground where the current pump truck is located does not meet the operation supporting condition of the pump truck, the processor can control the pump truck not to level, namely, not to enter an operation state, for example, the pump truck can be kept in a running state.

In one embodiment, controlling the operation of the pump truck according to the determination result includes: and controlling the pump truck to park for operation under the condition that the ground meets the operation supporting condition.

According to the control method for the pump truck, the body inclination angle of the pump truck is obtained, and the ground inclination angle of the ground where the pump truck is located is determined according to the body inclination angle, so that whether the ground meets the operation supporting condition of the pump truck or not is judged according to the ground inclination angle, and the pump truck is further controlled to work according to the judgment result. According to the method, the ground inclination angle is obtained through the vehicle body inclination angle, so that whether the pump truck meets the operation supporting condition or not is judged according to the ground inclination angle, namely whether the leveling possibility is met or not is judged, whether the requirements of the pump truck construction on the vehicle body levelness and the hopper position can be met or not can be judged in advance within the supporting posture limit before the parking is switched to the operation state, the transition and parking efficiencies of the pump truck are improved, the pump truck can be supported to the specified state under the parking position condition, and the operation safety is further guaranteed.

In one embodiment, the judging whether the ground meets the operation supporting condition of the pump truck according to the ground inclination angle comprises the following steps: judging whether the ground inclination angle is greater than zero degree; and under the condition that the ground inclination angle is larger than zero degree, judging whether the ground meets the operation supporting condition of the pump truck or not according to the relation between the ground inclination angle and the pre-stored first preset inclination angle and second preset inclination angle.

It can be understood that the second preset inclination angle is a vehicle body inclination angle value of the pump vehicle on a horizontal ground and under a full-support condition and under a condition that front and rear tires of the pump vehicle touch the ground critically, and specifically, a vehicle body front and rear inclination angle reference value of the pump vehicle under the full-support condition and under a condition that the front and rear tires of the pump vehicle touch the ground critically can be obtained through testing. When the inclination angle of the ground is larger than zero degree, the ground where the pump truck is located is an ascending slope.

In one embodiment, the determining whether the ground meets the operation supporting condition of the pump truck according to the relationship between the ground inclination angle and the pre-stored first preset inclination angle and second preset inclination angle includes: determining a first angle difference between a second preset inclination angle and a first preset inclination angle; adding the first angle difference to the ground inclination angle to obtain a first angle result; comparing the first angle result with a pre-stored first angle threshold; and under the condition that the first angle result is smaller than or equal to the first angle threshold value, judging that the ground meets the operation supporting condition of the pump truck.

It will be appreciated that the first angle threshold may be a predetermined magnitude of the inclination limit that is satisfied by the inclination requirement of the pump truck body.

Specifically, the determination may be made according to the following formula (2):

alfa >0 and (deta1-deta0) + alfa ≦ first angle threshold, equation (2)

Where alfa is the ground inclination angle, deta1 is the second predetermined inclination angle, and deta0 is the first predetermined inclination angle.

That is, if the condition expressed by the above formula (2) is satisfied, it can be judged that the ground on which the pump truck is currently located satisfies the work support condition of the pump truck.

In one embodiment, the first angle threshold may be 3 °.

Understandably, when the first angle threshold is 3 degrees, a supporting state meeting the working condition requirement exists, and the pump truck meets the vehicle body inclination angle limiting requirement of the industry standard at the moment.

In one embodiment, the control method further comprises: and under the condition that the ground inclination angle is judged to be less than or equal to zero degree, judging whether the ground meets the operation supporting condition of the pump truck or not according to the relation between the ground inclination angle and the pre-stored first preset inclination angle and third preset inclination angle.

It can be understood that the third preset inclination angle is the maximum value of the inclination angle of the vehicle body of the pump vehicle on the horizontal ground and under the full-support condition, and under the condition that the rear tire of the pump vehicle lands critically and the front tire of the pump vehicle is suspended, and specifically, the maximum value of the front and rear inclination angles of the vehicle body of the pump vehicle under the full-support condition and under the condition that the pump vehicle can only land critically under the rear tire can be obtained through testing. In some embodiments, the third preset inclination angle may be greater than zero degrees.

In one embodiment, the determining whether the ground meets the operation supporting condition of the pump truck according to the relationship between the ground inclination angle and the pre-stored first preset inclination angle and third preset inclination angle includes: determining a second angle difference value between the third preset inclination angle and the first preset inclination angle; adding the ground inclination angle to the second angle difference to obtain a second angle result; comparing the second angle result with a pre-stored second angle threshold; and under the condition that the second angle result is greater than or equal to the second angle threshold value, judging that the ground meets the operation supporting condition of the pump truck.

It will be appreciated that the second angle threshold may be a predetermined magnitude of the inclination limit that is satisfied by the inclination requirement of the pump truck body.

Specifically, the determination may be made according to the following formula (3):

alfa is less than or equal to 0 and (deta2-deta0) + alfa is greater than or equal to a second angle threshold, formula (3)

The alfa is a ground inclination angle, the deta2 is a third preset inclination angle, and the deta0 is a first preset inclination angle.

That is, if the condition represented by the above equation (3) is satisfied, it can be judged that the ground on which the pump truck is currently located satisfies the work support condition of the pump truck.

In one embodiment, the second angle threshold may be-3 °.

Understandably, when the second angle threshold is-3 degrees, a supporting state meeting the working condition requirement exists, and the pump truck meets the vehicle body inclination angle limiting requirement of the industry standard at the moment.

In one embodiment, the second angle threshold may be 0 °.

Understandably, when the second angle threshold is 0 degrees, the supporting state meeting the requirement of the optimal working condition exists, and the pump truck meets the criterion of absolute leveling.

In one embodiment, the control method further comprises: and feeding back the judgment result to the user in at least one mode of sound, graphics and characters.

Specifically, the judgment information can be fed back to the driver in a voice broadcast or image-text reminding mode, that is, an interaction unit can be arranged to be connected with the processor, and the interaction unit can adopt media forms such as voice, images, characters, horn sounds and the like.

The invention discloses a control method for a pump truck, which can quickly determine whether a parking position of the pump truck can have a supporting and leveling prospect, and can quickly determine whether the current ground inclination degree of the pump truck can meet basic operation requirements by applying the method, thereby improving the efficiency of operation preparation of the pump truck and avoiding rework.

The above-mentioned requirement "to satisfy the basic operation requirement" is: the hopper is as low as possible (enough to allow the mixer truck to unload), the rear wheel does not touch the ground, and the requirement of restricting the inclination of the truck body of the pump truck is met.

Fig. 2 schematically illustrates an application scenario of the first preset tilt angle in an embodiment of the present invention. Fig. 3 schematically illustrates an application scenario of the second preset inclination angle in an embodiment of the present invention. Fig. 4 schematically illustrates an application scenario of a third preset tilt angle in an embodiment of the present invention. First, as shown in fig. 2, regarding the determination of the first preset inclination, an initial inclination value deta0 before and after the vehicle body under the driving condition on the horizontal ground may be obtained according to the structural design of the chassis or the chassis; secondly, as shown in fig. 3, with regard to the determination of the second preset inclination angle, the reference value deta1 of the front and rear inclination angles of the vehicle body can be obtained through testing when the pump vehicle is under the full-support condition and the pump vehicle can realize the critical landing of the front and rear tires; finally, as shown in fig. 4, with respect to the determination of the third preset inclination angle, it can be obtained through testing that the pump truck can achieve the maximum value of the front-rear inclination angle deta2 of the truck body under the condition that only the rear tire is critically grounded, and that there should be a det 2> 0.

Fig. 5 schematically shows a flow chart of a control method for a pump truck according to another embodiment of the present invention. As shown in fig. 5, in the embodiment of the present invention, a control method for a pump truck is provided, which is described by taking a processor of the pump truck as an example, and the control method may include the following steps:

step S502, start.

And step S504, transferring the site in the first state.

In step S506, a vehicle body inclination angle beta1 is acquired.

In step S508, the ground inclination alfa is calculated.

In step S510, it is determined whether the leveling target can be achieved.

Specifically, if the leveling target can be achieved, the process proceeds to step S512, otherwise, the process returns to the steps after step S502.

In step S512, the parking is switched to the second state.

And step S514, ending.

The first state of the pump truck is a traveling state, and the second state is an operating state.

The formula for calculating the ground inclination angle alfa can refer to the following formula (1):

alfa ═ beta1-deta0, equation (1)

The criteria for judging whether the leveling target can be achieved are as follows:

alfa is less than or equal to 0, (deta2-deta0) + alfa is more than or equal to 0, and criterion 1

Namely, a support state that the tire does not touch the ground exists, so that the real-time inclination angle beta1 of the vehicle body meets the state that beta1-deta0+ alfa is 0, namely the state that the vehicle body is horizontal and the material level position is in a low position state, fig. 6 schematically shows an application scene schematic diagram of the criterion 1 in an embodiment of the invention, as shown in fig. 6, and the vehicle body is horizontal at the last diagram in fig. 6.

Criterion 1 is a criterion for satisfying absolute leveling. However, in practice, the pump truck is only required to operate at body inclination of + -3 deg. according to industry standards, i.e., Abs (beta1-deta0) ≦ 3 deg., where Abs () is a function of absolute values.

Thus, criterion 1 may be changed to:

alfa is less than or equal to 0 and (deta2-deta0) + alfa is more than or equal to a first threshold value, and the criterion 2

Wherein the first threshold takes-3.

Whether a supporting ground capable of meeting construction requirements exists or not can be judged according to the criterion 2, and fig. 7 schematically shows an application scenario diagram of the criterion 2 in an embodiment of the present invention, as shown in fig. 7.

Fig. 8 schematically shows an application scenario diagram of criterion 3 in an embodiment of the present invention. In general, when the ground inclination angle alfa >0, the hopper will be far from the ground in order to level the body during distribution, the second diagram shown in fig. 8 does not meet the operational requirements, but since the pump truck should meet within ± 3 ° according to the industry standard, the conditions shown in the first diagram and the third diagram in fig. 8 can still meet the operational requirements:

alfa >0 and (deta1-deta0) + alfa ≦ second threshold, criterion 3

Wherein the second threshold value takes 3.

In summary, when criterion 2 or criterion 3 is satisfied, there is a support attitude that satisfies the cloth and vehicle body inclination angle requirements, and the parking position is a position that can effectively support and switch to the working state. When the criterion 1 is met, an effective working condition that the inclination angle of the vehicle body is minimum and the position of the hopper is low exists, and the working condition is also an optimal working condition.

Therefore, based on the above-described criterion logic for implementing the parking control, fig. 9 schematically shows a flow chart of a control method for a pump truck in another embodiment of the present invention. Fig. 10 schematically shows a flow chart of a control method for a pump truck in another embodiment of the present invention.

In the flowchart shown in fig. 9, the control method for the pump truck includes not only detection and judgment but also control of permission of switching from the first state to the second state. By applying the control method, the driver can be prevented from parking in a place which does not meet the operation supporting condition, the waste of operation time is avoided, and the rollover risk caused by forced supporting is avoided. In a word, the method can improve the transition and parking efficiency, ensure that the pump truck can be supported to a specified state under the condition of a parking position, and further ensure the operation safety.

In the alternative flow chart of fig. 10, the steps of subdividing supportable or supportable judgment classifications and increasing human-computer interaction by using the interaction unit are a more complete technical application scheme. The equipment control system can prompt human-computer interaction according to whether the preferred working condition exists or not and whether the satisfied working condition exists or not.

In conclusion, the method can be used for judging whether the requirements of pump truck construction on the levelness of the truck body and the position of the hopper can be met or not in the limit of the supporting posture before the parking is switched to the second state, so that the transition efficiency and the parking efficiency are improved, the pump truck can be supported to the specified state under the condition of the parking position, and the operation safety is further guaranteed.

Compared with the prior art, the method provides a method for acquiring the true ground inclination angle; this scheme has still considered the material level position and should pressed close to the reality restraint on ground as far as possible, and two restraints of this scheme are: 1. the rear wheel of the pump truck needs to be grounded; 2. in the inclination angle range of the vehicle body +/-3 degrees, because of the first constraint, the scheme does not simply detect the inclination angle of the vehicle body and implement control through the constraint 2, but embodies an application scene (see fig. 6-8) and forms a judgment method, and can ensure that the attitude of the pump truck can be 'leveled' to the specified and actually required attitude in a manual or automatic mode; the scheme provides a complete criterion and judgment method for judging whether the leveling possibility can be met, and the criterion 2 and the criterion 3 as well as the prejudgment and guarantee of the control strategy diagram 9 and the control strategy diagram 10 on the realizability of the standard constraint are provided; the scheme provides a constraint control method for driving/operation state switching, which can protect the operation safety of equipment in advance, and the method can meet the requirement of low position of a hopper and the actual operation condition of the equipment. Furthermore, the scheme can also feed the judgment information back to the driver in a voice broadcast or image-text reminding mode (see fig. 10).

Fig. 11 is a block diagram schematically showing the configuration of a control device for a pump truck according to an embodiment of the present invention. As shown in fig. 11, in an embodiment of the present invention, there is provided a control device for a pump truck, including: a tilt detection device 112 and a processor 114, wherein:

and an inclination angle detection device 112 configured to detect an inclination angle of a body of the pump truck.

A processor 114 configured to: acquiring a vehicle body inclination angle of the pump vehicle; determining a ground inclination angle of the ground where the pump truck is located according to the inclination angle of the truck body; judging whether the ground meets the operation supporting condition of the pump truck or not according to the ground inclination angle; and controlling the pump truck to work according to the judgment result.

In the control device for the pump truck, the body inclination angle of the pump truck is obtained through the inclination angle detection device 112, and the processor 114 determines the ground inclination angle of the ground where the pump truck is located according to the body inclination angle, so as to judge whether the ground meets the operation supporting condition of the pump truck according to the ground inclination angle, and further control the pump truck to work according to the judgment result. The ground inclination angle is obtained through the vehicle body inclination angle, so that whether the pump truck meets the operation supporting condition of the pump truck or not is judged according to the ground inclination angle, namely whether the leveling possibility is met or not is judged, whether the requirements of pump truck construction on the vehicle body levelness and the hopper position can be met or not can be judged in advance in the supporting posture limit before the parking is switched to the operation state, the transition efficiency and the parking efficiency of the pump truck are improved, the pump truck can be supported to the specified state under the parking position condition, and the operation safety is further guaranteed.

In one embodiment, the processor 114 is further configured to: and determining a ground inclination angle of the ground where the pump truck is located according to the vehicle body inclination angle and a pre-stored first preset inclination angle, wherein the first preset inclination angle is a vehicle body inclination angle value of the pump truck on the horizontal ground and in a running state.

In one embodiment, the processor 114 is further configured to: and subtracting the first preset inclination angle from the inclination angle of the vehicle body to obtain the ground inclination angle of the ground where the pump truck is located.

In one embodiment, the processor 114 is further configured to: judging whether the ground inclination angle is greater than zero degree; and under the condition that the ground inclination angle is larger than zero degree, judging whether the ground meets the operation supporting condition of the pump truck or not according to the relation between the ground inclination angle and a pre-stored first preset inclination angle and a second preset inclination angle, wherein the second preset inclination angle is a vehicle body inclination angle value of the pump truck on the horizontal ground under the full supporting condition and under the condition that front and rear tires of the pump truck touch the ground critically.

In one embodiment, the processor 114 is further configured to: determining a first angle difference between a second preset inclination angle and a first preset inclination angle; adding the first angle difference to the ground inclination angle to obtain a first angle result; comparing the first angle result with a pre-stored first angle threshold; and under the condition that the first angle result is smaller than or equal to the first angle threshold value, judging that the ground meets the operation supporting condition of the pump truck.

In one embodiment, the processor 114 is further configured to: and under the condition that the ground inclination angle is judged to be less than or equal to zero degree, judging whether the ground meets the operation supporting condition of the pump truck or not according to the relation between the ground inclination angle and a pre-stored first preset inclination angle and a third preset inclination angle, wherein the third preset inclination angle is the maximum value of the vehicle body inclination angle under the condition that the pump truck is on the horizontal ground and is in the full supporting condition, and under the condition that a rear tire of the pump truck lands critically and a front tire of the pump truck is suspended.

In one embodiment, the processor 114 is further configured to: determining a second angle difference value between the third preset inclination angle and the first preset inclination angle; adding the ground inclination angle to the second angle difference to obtain a second angle result; comparing the second angle result with a pre-stored second angle threshold; and under the condition that the second angle result is greater than or equal to the second angle threshold value, judging that the ground meets the operation supporting condition of the pump truck.

In one embodiment, the processor 114 is further configured to: and controlling the pump truck to park for operation under the condition that the ground meets the operation supporting condition.

In one embodiment, the processor 114 is further configured to: and feeding back the judgment result to the user in at least one mode of sound, graphics and characters.

Specifically, the judgment information can be fed back to the driver in a voice broadcast or image-text reminding mode, that is, an interaction unit can be arranged to be connected with the processor, and the interaction unit can adopt media forms such as voice, images, characters, horn sounds and the like.

In one embodiment, the first angle threshold is 3 °.

In one embodiment, the second angle threshold is-3 °.

In one embodiment, the second angle threshold is 0 °.

An embodiment of the present invention provides a processor configured to execute the control method for a pump truck according to the above.

The embodiment of the invention provides a pump truck, which comprises: a vehicle body; a support device; and the control device for the pump truck.

The supporting device is used for leveling the body of the pump truck and can comprise supporting legs, supporting leg oil cylinders and the like.

In an embodiment, fig. 12 schematically illustrates a block diagram of a control system for a pump truck according to an embodiment of the present invention, as shown in fig. 12, the pump truck may be equipped with the control system, the control system for the pump truck may include a controller, a leg driving valve, an inclination angle detection device, and an interaction unit, the controller may obtain a vehicle body inclination angle of the pump truck detected by the inclination angle detection device, the controller may drive the leg driving valve to operate to control a supporting device (i.e., a leg) to be leveled, and the controller may control the interaction unit to remind a user or a driver in the form of a medium such as voice, an image, text, a horn sound, and the like.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.

In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.