CN115303964A - Gravity center adjusting method, device, equipment, storage medium and working vehicle - Google Patents

Abstract

The invention relates to the technical field of intelligent control, in particular to a gravity center adjusting method, a gravity center adjusting device, gravity center adjusting equipment, a storage medium and a working vehicle. The method comprises the following steps: acquiring real-time parameter values of a structural component of the working vehicle in a working state, and acquiring intrinsic parameter values of the structural component of the working vehicle in a static state; calculating the three-dimensional gravity center coordinate of the working vehicle in a preset coordinate system based on the real-time parameter value and the inherent parameter value; and generating a gravity center adjusting instruction according to the three-dimensional gravity center coordinate. The invention is used for solving the defects of rough adjustment mode and poor effect of the gravity center of the operation vehicle in the prior art.

Description

Center of gravity adjustment method, device, equipment, storage medium and working vehicle

technical field

The invention relates to the technical field of intelligent control, in particular to a center of gravity adjustment method, device, equipment, storage medium and work vehicle.

Background technique

At present, operating vehicles such as cranes are widely used in various industries. How to ensure the safe operation of operating vehicles is an important issue. For work vehicles, when hoisting objects, the work vehicle needs to keep the center of gravity within a safe range after hoisting to prevent safety accidents such as rollover of the work vehicle. In the prior art, when monitoring or adjusting the center of gravity of the work vehicle, methods such as measuring the track pressure of the work vehicle are mainly used to calculate the front and rear center of gravity of the work vehicle, and then adjust the radius of the rear counterweight of the work vehicle to control the center of gravity of the work vehicle as a whole. The adjustment process of this adjustment method is rough, ignoring the change of the center of gravity of the work vehicle in multiple dimensions during the working process, resulting in a poor adjustment effect of the center of gravity of the work vehicle.

Contents of the invention

The invention provides a center of gravity adjustment method, device, equipment, storage medium and work vehicle, which are used to solve the defects of rough center of gravity adjustment method and poor effect of work vehicles in the prior art.

The present invention provides a method for adjusting the center of gravity, comprising: acquiring real-time parameter values of structural components of the working vehicle in a working state, and acquiring intrinsic parameter values of the structural components of the working vehicle in a stationary state; based on the real-time parameter values and the The intrinsic parameter value is used to calculate the three-dimensional center of gravity coordinates of the work vehicle in the preset coordinate system; and to generate an adjustment instruction for the center of gravity according to the three-dimensional center of gravity coordinates.

According to a method for adjusting the center of gravity of the present invention, the calculation of the three-dimensional center of gravity coordinates of the work vehicle in the preset coordinate system based on the real-time parameter value and the intrinsic parameter value includes: based on the real-time parameter value and the inherent parameter value to obtain the weight of the hoisted object on the work vehicle; based on the weight of the hanging object, the real-time parameter value and the inherent parameter value, obtain the horizontal center of gravity coordinates of the work vehicle, wherein, The horizontal center-of-gravity coordinates include lateral center-of-gravity coordinates and longitudinal center-of-gravity coordinates; the vertical center-of-gravity coordinates of the work vehicle are obtained based on the weight of the hanging object, the real-time parameter value, and the intrinsic parameter value.

According to a method for adjusting the center of gravity of the present invention, the acquisition of the real-time parameter values of the structural components of the work vehicle in the working state includes: acquisition of the tension value of the jib luffing wire rope transmitted by the force sensor, wherein the force sensor is installed on The boom pull plate of the work vehicle; obtain the boom angle value transmitted by the angle sensor, wherein the angle sensor is installed on the boom of the work vehicle; obtain the rotation angle value transmitted by the rotary encoder, wherein the The rotary encoder is located in the middle of the turntable of the work vehicle; the height count value transmitted by the height counter is obtained, wherein the height counter is located on the winch of the work vehicle; the level degree transmitted by the level is obtained, and the level is located at the The turntable of the above-mentioned work vehicle.

According to a center of gravity adjustment method provided by the present invention, the obtaining the weight of the hoisted object on the work vehicle based on the real-time parameter value and the inherent parameter value includes: based on the jib luffing wire rope tension value , the boom angle value, the boom structure parameter value and the platform structure parameter value, and calculate the weight of the hoisted object hoisted on the work vehicle, wherein the inherent parameter value includes the boom structure parameter value and the The platform structure parameter value; the obtaining the horizontal center of gravity coordinates of the work vehicle based on the hanging object weight, the real-time parameter value and the inherent parameter value includes: based on the hanging object weight, the complete machine Parameter value, the slewing angle value, the boom angle value and the levelness, calculate the horizontal center of gravity coordinates of the work vehicle, wherein the inherent parameter value includes the whole machine parameter value; the based on the The weight of the hanging object, the real-time parameter value and the intrinsic parameter value, and obtaining the vertical center of gravity coordinates of the work vehicle include: based on the weight of the hanging object, the height count value, the overall machine parameter value, the The boom angle value and the levelness are used to calculate the vertical center of gravity coordinates of the work vehicle.

According to the method for adjusting the center of gravity of the present invention, the weight of the work vehicle is calculated based on the weight of the hanging object, the parameter value of the whole machine, the value of the rotation angle, the angle value of the boom and the levelness The coordinates of the horizontal center of gravity include: based on the parameter value of the whole machine, the angle value of the boom and the levelness, obtaining the component lateral moment of at least one structural component of the work vehicle on the horizontal axis of the preset coordinate system component; calculate the total lateral moment component based on the component lateral moment component, the weight of the hanging object, the levelness, the boom angle value and the slewing angle value; combine the total lateral moment component with The ratio of the total weight of the work vehicle is used as the coordinates of the lateral center of gravity; based on the parameter value of the whole machine, the angle value of the boom and the levelness, at least one structural component of the work vehicle is obtained at a preset The component longitudinal moment component on the longitudinal axis of the coordinate system; based on the component longitudinal moment component, the weight of the hanging object, the levelness, the boom angle value and the rotation angle value, calculate the total longitudinal moment component; The ratio of the total longitudinal moment component to the total weight of the work vehicle is used as the longitudinal center of gravity coordinates; The angle value and the levelness, the calculation of the vertical center of gravity coordinates of the work vehicle, includes: obtaining the parameter values of the whole machine, at least one structural component of the work vehicle on the vertical axis of the preset coordinate system component vertical moment component; based on the component vertical moment component, the hanging object weight, the height count value, the jib angle value and the levelness, calculate the total vertical moment component; calculate the total vertical moment component The ratio of the component to the total weight of the work vehicle is used as the coordinate of the vertical center of gravity.

According to the present invention, a center of gravity adjustment method is provided, wherein the generating the center of gravity adjustment instruction according to the three-dimensional center of gravity coordinates includes: comparing the coordinate values of the three dimensions in the three-dimensional center of gravity coordinates with corresponding coordinate warning values ; determine that the coordinate value of at least one dimension exceeds the corresponding coordinate warning value, and generate the center of gravity adjustment instruction, wherein the center of gravity adjustment instruction is used to adjust the working vehicle in a dimension exceeding the coordinate warning value control parameter values.

The present invention also provides a center-of-gravity adjustment device, including: an acquisition module for acquiring real-time parameter values of structural components of the work vehicle in a working state, and acquiring inherent parameter values of structural components of the work vehicle in a static state; a coordinate calculation module , used to calculate the three-dimensional center of gravity coordinates of the work vehicle in the preset coordinate system based on the real-time parameter value and the inherent parameter value; an instruction generation module is used to generate an adjustment instruction for the center of gravity according to the three-dimensional center of gravity coordinates.

The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the program, the center of gravity adjustment method described above is implemented. .

The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, any method for adjusting the center of gravity described above can be implemented.

The present invention also provides a work vehicle, wherein the center of gravity of the work vehicle is adjusted by any one of the above-mentioned center of gravity adjustment methods.

The center of gravity adjustment method, device, equipment, storage medium, and work vehicle provided by the present invention acquire the real-time parameter values of the work vehicle in the working state, and obtain the inherent parameter values of the work vehicle in the static state, and calculate the working vehicle in the preset The three-dimensional center of gravity coordinates in the coordinate system, and then according to the three-dimensional center of gravity coordinates, generate a center of gravity adjustment instruction to adjust the center of gravity of the work vehicle. The above-mentioned process adjusts the center of gravity of the work vehicle with the coordinates of the three-dimensional center of gravity of the work vehicle, instead of rough adjustment methods such as adjusting the front and rear center of gravity based on pressure only, and improves the adjustment effect of the work vehicle, thereby ensuring the safety of the work vehicle.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the For some embodiments of the present invention, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Fig. 1 is one of the flow diagrams of the center of gravity adjustment method provided by the present invention;

Fig. 2 is a schematic diagram of a preset coordinate system provided by the present invention;

Fig. 3 is the second schematic flow chart of the center of gravity adjustment method provided by the present invention;

Fig. 4 is a schematic structural view of the center of gravity adjustment device provided by the present invention;

Fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

The method for adjusting the center of gravity of the present invention will be described below with reference to FIGS. 1 to 3 .

In one embodiment, as shown in Figure 1, the flow of the center of gravity adjustment method is as follows:

Step 101 , acquiring real-time parameter values of structural components of the work vehicle in a working state, and acquiring inherent parameter values of structural components of the work vehicle in a static state.

In this embodiment, when the work vehicle is not working and is in a stationary state, the relative positions of the various structural components of the work vehicle are fixed, that is to say, the values indicating the parameters related to the center of gravity of each structural component are fixed, for example, each of the work vehicle The weight or relative positional relationship of parts. When the work vehicle lifts a heavy item during the work process, the item will cause the center of gravity of the work vehicle to change, and the value of the center of gravity parameters of each structural component of the work vehicle will also change.

In this embodiment, devices such as force sensors, angle sensors, level gauges, rotary encoders and/or height counters for monitoring the work vehicle are generally installed on the work vehicle, and these devices are used to monitor the corresponding real-time parameter values of the work vehicle during work. , for example, the rotation angle value.

In a specific example, the operating vehicle takes a crane as an example, and the parameters of the structural components related to the calculation of the center of gravity of the crane are shown in Table 1 below:

Table 1 Schematic diagram of parameters related to the structure center of gravity of crane components

In Table 1, slewing, boarding, jib, main mast, main boom anti-tilt, rear counterweight, main luffing backpack, main pull plate, hoisting wire rope, luffing wire rope, slewing up total, getting off, central distribution The weight is the various structural components related to the change of the center of gravity of the crane. The value of each parameter in the total of the whole machine is the sum of the parameter values of each structural component in the table. In Table 1, the unit of weight is ton (t), the center of gravity X represents the position of the center of gravity of each structural component on the horizontal axis of the preset coordinate system, the center of gravity Z represents the position of the center of gravity of each structural component on the vertical axis of the preset coordinate system, and the center of gravity Y represents the position of the center of gravity of each structural component on the vertical axis of the preset coordinate system, MX represents the moment of each structural component on the horizontal axis of the preset coordinate system, MZ represents the moment of each structural component on the vertical axis of the preset coordinate system, MY Indicates the moment of each structural component on the vertical axis of the preset coordinate system. The parameter values not given in the blanks in Table 1 can be pre-obtained by three-dimensional model design software and other means, and the scope of protection of the present invention is not limited by the specific numerical values and obtaining methods of the parameter values.

In Table 1, the parameter values of each structural component in the static state can be obtained in advance. For example, the weight of the jib is known, and the relative position of the jib to the crane is fixed, that is, the structural parameters such as the structure and size of the jib are known, then the center of gravity X, Y and Z of the jib can be obtained, and the moment can be calculated by the weight of the boom, the center of gravity X, and the center of gravity Y.

It should be noted that the crane is only an example of the work vehicle, and the work vehicle may also be any work vehicle that needs to control the center of gravity, such as an excavator and a cement mixer truck.

In one embodiment, after the work vehicle enters the working state, the change of the mechanical structure and/or the hoisting of objects will cause the overall center of gravity of the work vehicle to change, and correspondingly, the parameter values monitored for each structural component will also change. Obtain real-time parameter values through the configured force sensor, angle sensor, level, rotary encoder and/or height counter. Specifically, obtain the real-time parameter value of the structural components of the work vehicle in the working state. The tension value of the luffing steel wire rope of the boom, wherein the force sensor is installed on the boom pull plate of the working vehicle; the angle value of the boom transmitted by the angle sensor is obtained, wherein the angle sensor is installed on the boom of the working vehicle; the value transmitted by the rotary encoder is obtained Rotation angle value, wherein the rotary encoder is located in the middle of the turntable of the work vehicle, and the middle return of the turntable refers to the central turn of the turntable; obtain the height count value transmitted by the height counter, where the height counter is located in the winch of the work vehicle; obtain the level transmitted levelness, where the level gauge is located on the turntable of the work vehicle.

In this embodiment, the force sensor, angle sensor, level, rotary encoder and/or height counter can be existing configurations for monitoring the working state of the work vehicle, or assisting the work vehicle to complete the work. Obtaining data through the existing configuration can avoid adding additional detection devices to the work vehicle, make full use of the existing configuration, and reduce costs.

Step 102, based on real-time parameter values and inherent parameter values, calculate the three-dimensional center of gravity coordinates of the work vehicle in the preset coordinate system.

In this embodiment, as shown in Figure 2, the preset coordinate system is a three-dimensional coordinate system, with the plane at the bottom of the work vehicle as the horizontal plane, the center of rotation as the 0 point, and the forward direction of the work vehicle as the positive direction of the horizontal axis (X axis). , the positive direction of the vertical axis (Z axis) is taken as the left turning direction of the work vehicle, and the positive direction of the vertical axis (Y axis) is established with the direction perpendicular to the horizontal plane, wherein the direction of the vertical axis is the height direction of the work vehicle. Calculate the three-dimensional center of gravity coordinates of the operating vehicle in the preset coordinate system, monitor whether the operating vehicle exceeds the safe range in the front, rear, left and right, and up and down dimensions of the operating vehicle, and make adjustments. As a result, the center of gravity adjustment effect can be improved, and the safety performance of the work vehicle can be improved.

In one embodiment, when calculating the three-dimensional center of gravity coordinates of the work vehicle in the preset coordinate system based on the real-time parameter values and intrinsic parameter values, the specific process is as follows: Based on the real-time parameter values and intrinsic parameter values, obtain the hoisting position of the work vehicle The weight of the object; based on the weight of the hanging object, real-time parameter values and inherent parameter values, the horizontal center of gravity coordinates of the operating vehicle are obtained. The horizontal center of gravity coordinates include the horizontal center of gravity coordinates and the longitudinal center of gravity coordinates; , to obtain the vertical center of gravity coordinates of the work vehicle.

In this embodiment, when the work vehicle lifts the load, the center of gravity of the work vehicle will change greatly, that is, the weight of the load has a great influence on the center of gravity of the work vehicle. The weight of the hanging object can be calculated according to the real-time parameter value and the intrinsic parameter value. Then, based on the weight of the hanging object, the coordinates of the center of gravity of the vehicle in three dimensions, that is, the coordinates of the center of gravity in the transverse direction, the coordinates of the center of gravity in the longitudinal direction, and the coordinates of the vertical center of gravity, are respectively operated.

In one embodiment, based on real-time parameter values and intrinsic parameter values, the weight of the hoisted object on the work vehicle is obtained. The specific implementation process is as follows: based on the jib luffing wire rope tension value, jib angle value, jib structure parameter value and platform Structural parameter value, calculate the weight of the hoisted object on the work vehicle, where the inherent parameter value includes the boom structure parameter value and the platform structure parameter value; based on the weight of the hanging object, real-time parameter value and inherent parameter value, obtain the horizontal center of gravity of the work vehicle Coordinates, including: calculate the horizontal center of gravity coordinates of the operating vehicle based on the weight of the hanging object, the parameter value of the whole machine, the value of the rotation angle, the angle of the boom and the levelness, where the inherent parameter value includes the parameter value of the whole machine; based on the weight of the hanging object, Real-time parameter values and intrinsic parameter values to obtain the vertical center of gravity coordinates of the operating vehicle, including: calculating the vertical center of gravity coordinates of the operating vehicle based on the weight of the hanging object, height count value, overall machine parameter value, boom angle value and levelness.

In this embodiment, the work vehicle completes the hoisting of the hanging object through the jib. The jib is installed on the platform, and the hanging object will cause certain structural changes. The tension value of the luffing wire rope of the jib and the The weight of the hanging object can be obtained by combining the boom angle value with the boom structure parameter value and the platform structure parameter value, and using the theoretical knowledge such as mechanics knowledge and Pythagorean theorem. For the coordinates of the center of gravity of the three dimensions, the coordinates of the center of gravity of each dimension are respectively calculated by affecting the real-time monitoring parameter values of the corresponding dimensions (such as the height count value, the angle value of the jib and the horizontality used when calculating the vertical center of gravity coordinates).

In this embodiment, the parameter value of the whole machine refers to the inherent parameter value of each structural component of the work vehicle, for example, the weight of each component and the position of the center of gravity in three dimensions. The parameters of the whole machine can be automatically obtained through the 3D model design software, thereby reducing the calculation difficulty in the process of adjusting the center of gravity and improving the effect of adjusting the center of gravity of the work vehicle.

In one embodiment, the coordinates of the horizontal center of gravity of the work vehicle are calculated based on the weight of the hanging object, the parameter value of the whole machine, the rotation angle value, the angle value of the boom and the levelness. The specific implementation process is as follows: based on the parameter value of the whole machine, the angle value of the boom and levelness to obtain the component lateral moment component of at least one structural component of the work vehicle on the horizontal axis of the preset coordinate system; based on the component lateral moment component, the weight of the hanging object, the levelness, the boom angle value and the rotation angle value, calculate The total lateral moment component; the ratio of the total lateral moment component to the total weight of the operating vehicle is used as the lateral center of gravity coordinate; based on the overall machine parameter value, the boom angle value and the levelness, at least one structural component of the operating vehicle is obtained in the preset Set the longitudinal moment component of the component on the longitudinal axis of the coordinate system; calculate the total longitudinal moment component based on the longitudinal moment component of the component, the weight of the hanging object, the levelness, the angle value of the boom and the value of the rotation angle; compare the total longitudinal moment component with the operating vehicle The ratio of the total weight, as the longitudinal center of gravity coordinates.

Calculate the vertical center of gravity coordinates of the operating vehicle based on the weight of the hanging object, height count value, overall machine parameter value, boom angle value, and levelness. The specific implementation process is as follows: Based on the overall machine parameter value, boom angle value, and levelness, the operation The component vertical moment component of at least one structural component of the vehicle on the vertical axis of the preset coordinate system; based on the component vertical moment component, the weight of the hanging object, the height count value, the jib angle value and the levelness, calculate the total vertical moment component; The ratio of the total vertical moment component to the total weight of the operating vehicle is used as the vertical center of gravity coordinates.

In this embodiment, according to the knowledge of mechanics, the coordinates of the three-dimensional center of gravity of the work vehicle can be obtained from the moment components of each structural component of the work vehicle in each dimension and the total weight of the work vehicle. Among them, the lateral moment component refers to the component of the moment on the horizontal axis of the preset coordinate system; the longitudinal moment component refers to the component of the moment on the vertical axis of the preset coordinate system; the vertical moment component refers to the component of the moment on the preset coordinate system Components on the vertical axis. The component lateral moment component refers to the component of the moment of any structural component on the horizontal axis of the preset coordinate system; the component longitudinal moment component refers to the component of the moment of any structural component on the vertical axis of the preset coordinate system; the component vertical The moment component refers to the component of the moment of any structural component on the vertical axis of the preset coordinate system. The total lateral moment component refers to the sum of the components of the moment of the hanging object and each structural component on the horizontal axis of the preset coordinate system; the total longitudinal moment component refers to the moment of the hanging object and each structural component on the preset coordinates The sum of the components on the vertical axis of the system; the total vertical moment component refers to the sum of the components of the moment of the hanging object and each structural component on the vertical axis of the preset coordinate system. During the working process of the working vehicle, the three-dimensional center of gravity coordinates during the working process of the working vehicle can be obtained by combining the real-time collected rotation angle value, boom angle value, levelness and other data.

Further, the main mast of the working vehicle forms a specific angle with the level, so after obtaining the levelness measured by the level, the angle of the main mast of the working vehicle can be obtained. Through the angle of the main mast, the coordinates of the vertical center of gravity can be calculated more conveniently.

In a specific embodiment, the process of calculating the three-dimensional center of gravity coordinates of the work vehicle based on the three dimensions of the preset coordinate system is as follows:

For the X-axis, the calculation formula of the total lateral moment component ΣMX of the work vehicle is as follows:

Among them, MXsc, MXbj, MXzwg, MXzlb, MXgss, MXbb, MXfhq, MXhpz, MXload, MXzypz and MXxc respectively denote upper vehicle, jib, main mast, main pull plate, wire rope (hoisting wire rope and luffing wire rope), main The lateral moment components of the luffing backpack, main arm anti-tilt, rear counterweight, hoisting objects, central counterweight and disembarkation on the X axis. θ represents the rotation angle value.

For the component lateral moment component of each structural component, it can be obtained by the following formula:

MXjjbj=Gjjbj*GXjjbj (2);

Among them, MXjjbj represents the component lateral moment component of each structural component, Gjjbj represents the weight of each structural component, and GXjjbj represents the center of gravity position of each structural component based on the X axis. Further, GXjjbj can be obtained from the structural parameter values (for example, the size and size of the components), the boom angle value and the levelness of each component in the overall machine parameter value.

For the Z axis, the calculation formula of the total longitudinal moment component ΣMZ of the work vehicle is as follows:

Among them, MZsc, MZbj, MZzwg, MZzlb, MZgss, MZbb, MZfhq, MZhpz, MZoad, MZzypz and MZxc respectively denote upper vehicle, jib, main mast, main pull plate, wire rope (hoisting wire rope and luffing wire rope), main Longitudinal moment components of the luffing backpack, main arm anti-tilt, rear counterweight, hoisting objects, central counterweight and disembarkation on the Z axis. θ represents the rotation angle value.

For the component longitudinal moment component of each structural component, it can be obtained by the following formula:

MZjjbj=Gjjbj*GZjjbj (4);

Among them, MZjjbj represents the component longitudinal moment component of each structural component, Gjjbj represents the weight of each structural component, and GZjjbj represents the center of gravity position of each structural component based on the Z axis. Similarly, GZjjbj can be obtained from the structural parameter values (for example, the size and size of the components), the angle value of the boom and the levelness of each component in the parameter value of the whole machine.

For the Y axis, the calculation formula of the total vertical moment component ΣMY of the work vehicle is as follows:

Among them, MYbj, MYzwg, MYzlb, MYgss, MYbb, MYfhq, MYhpz, MYzypz, MYxc, MYsc, MYload represent jib, main mast, main pull plate, wire rope (hoisting wire rope and luffing wire rope), main luffing backpack, The vertical moment components of main arm anti-tilt, rear counterweight, central counterweight, getting off, getting on and hanging objects on the Y axis. α indicates the angle value of the jib, β indicates the angle value of the main mast, and θ indicates the value of the rotation angle.

For the component vertical moment component of each structural component, it can be obtained by the following formula:

MYjjbj=Gjjbj*GYjjbj (6);

Among them, MYjjbj represents the component vertical moment component of each structural component, Gjjbj represents the weight of each structural component, and GYjjbj represents the center of gravity position of each structural component based on the Y axis. GYjjbj can be obtained from the structural parameter values (for example, the size and size of the components), the angle value of the boom and the levelness of each component in the parameter value of the whole machine.

Further, add up the weight of each structural component to get the total of the whole machine G _total of the whole machine when no hanging objects are hoisted. At the same time, the weight Gload of the hanging object can be obtained based on the above embodiment. Then the weight ∑G of the whole machine after hoisting objects on the working vehicle can be obtained by the following formula:

∑G＝ _{Total G total machine} +Gload (7).

Based on the above, the three-dimensional center of gravity coordinates of the operating vehicle in the working state can be calculated, as follows:

Among them, GX represents the coordinates of the horizontal center of gravity, GZ represents the coordinates of the longitudinal center of gravity, and GY represents the coordinates of the vertical center of gravity.

Step 103 , generating a center-of-gravity adjustment instruction according to the three-dimensional center-of-gravity coordinates, wherein the center-of-gravity adjustment instruction is used to adjust the center of gravity of the work vehicle.

In this embodiment, after obtaining the three-dimensional center of gravity coordinates of the work vehicle in the working state, the position of the center of gravity of the work vehicle can be monitored, and then a center of gravity adjustment command can be generated according to the three-dimensional center of gravity coordinates to ensure that the center of gravity of the work vehicle is within a safe range. Exceeded the center of gravity deviation warning value.

In one embodiment, after obtaining the coordinates of the three-dimensional center of gravity of the work vehicle in a working state, the center of gravity of the work vehicle can be monitored in three dimensions. Specifically, according to the three-dimensional center of gravity coordinates, the center of gravity adjustment instruction is generated, and the implementation process is as follows: the coordinate values of the three dimensions in the three-dimensional center of gravity coordinates are compared with the corresponding coordinate warning values; determine that the coordinate value of at least one dimension exceeds the corresponding coordinate The warning value generates a center-of-gravity adjustment instruction, wherein the center-of-gravity adjustment instruction is used to adjust the control parameter value of the work vehicle in a dimension exceeding the coordinate warning value.

More specifically, no matter whether the work vehicle exceeds the corresponding coordinate warning value in any dimension, the work vehicle will have the risk of overturning. For example, for a working vehicle with a crawler-type walking mechanism, the tipping line in the X direction is the position of the center line of the front and rear side rollers of the track shoe in the X direction, and the tipping line in the Z direction is the position of the outer edge of the track roller in the Z direction. Z direction position, if the center of gravity exceeds these two positions, there is a risk of tipping over. The tipping line in the Y direction is a line that is tilted at an angle of 86 degrees with the XZ plane (horizontal plane). If the center of gravity GY exceeds, there will be a risk of instability.

In this embodiment, the rules for adjusting the center of gravity through the center of gravity adjustment command are as follows: when the position of the center of gravity reaches any value of 70%-80% of the tipping line (that is, the coordinate warning value), an early warning of the center of gravity deviation is issued, and the display gives an early warning prompt. When the center of gravity is greater than 80% of the tipping line, an alarm will be issued to limit the movement of the boom, hoisting weight, and slewing in the dangerous direction. The coordinates of the center of gravity of the three dimensions set the corresponding coordinate warning value, and an alarm will be issued as long as the center of gravity of one dimension deviates.

Further, taking the adjustment of the component of the center of gravity of the work vehicle in the Z-axis direction as an example, the parameter value of the whole machine includes the normal state (stationary state) in which the center of gravity of the work vehicle does not shift, while the jib angle, levelness and height count values can cause the deviation Quantity; based on the three-dimensional center of gravity coordinates of the work vehicle after offset, on the basis of the normal state without offset, the value that needs to be increased or decreased by the boom angle value and the height count value can be reversely calculated, so as to adjust the relevant structural components, For example, limit the height of the hanging object or the angle of rotation, etc., so as to ensure that the center of gravity of the operating vehicle is within the safe range.

In an overall embodiment, as shown in Figure 3, when the center of gravity adjustment method is implemented, take the working vehicle as a crane as an example, and obtain sensor signals based on various sensors that have been configured on the crane, such as force sensors, angle sensors, levels, and rotary Encoder and height counter. The controller transmits the obtained sensor signal and the calculated weight of the hanging object to the display through the Controller Area Network (CAN) bus. The monitor can input the inherent parameter values of the crane, and then calculate the coordinates of the three-dimensional center of gravity. The monitor will return the coordinates of the three-dimensional center of gravity to the controller, and the controller will control the motion of the crane, such as superlift counterweight radius control, slewing control, winch control and/or amplitude control, etc., to adjust the center of gravity of the crane within the safe range. Inside.

The center of gravity adjustment method provided by the present invention obtains the real-time parameter values of the work vehicle in the working state, and obtains the inherent parameter values of the work vehicle in the static state, calculates the three-dimensional center of gravity coordinates of the work vehicle in the preset coordinate system, and then according to The three-dimensional center of gravity coordinates generate a center of gravity adjustment command to adjust the center of gravity of the work vehicle. The above process uses the three-dimensional center of gravity coordinates of the work vehicle to adjust the center of gravity of the work vehicle, replacing the existing rough adjustment methods such as front and rear center of gravity adjustments based on pressure, improving the adjustment effect of the work vehicle, and ensuring the safety of the work vehicle.

The center-of-gravity adjusting device provided by the present invention is described below, and the center-of-gravity adjusting device described below and the center-of-gravity adjusting method described above may refer to each other correspondingly. As shown in Figure 4, the center of gravity adjustment device includes:

An acquisition module 401, configured to acquire real-time parameter values of structural components of the work vehicle in a working state, and acquire inherent parameter values of structural components of the work vehicle in a stationary state;

A coordinate calculation module 402, configured to calculate the three-dimensional barycentric coordinates of the work vehicle in the preset coordinate system based on real-time parameter values and inherent parameter values;

The instruction generation module 403 is configured to generate a center of gravity adjustment instruction according to the coordinates of the three-dimensional center of gravity, wherein the center of gravity adjustment instruction is used to adjust the center of gravity of the work vehicle.

In one embodiment, the coordinate calculation module 402 is used to obtain the weight of the hoisted object on the work vehicle based on the real-time parameter value and the inherent parameter value; and obtain the horizontal center of gravity of the work vehicle based on the weight of the hanging object, the real-time parameter value and the inherent parameter value Coordinates, wherein the horizontal center of gravity coordinates include horizontal center of gravity coordinates and longitudinal center of gravity coordinates; based on the weight of the hanging object, real-time parameter values and inherent parameter values, the vertical center of gravity coordinates of the work vehicle are obtained.

In one embodiment, the acquisition module 401 is configured to acquire the jib luffing wire rope tension value transmitted by the force sensor, wherein the force sensor is installed on the jib pull plate of the work vehicle; acquire the jib angle value transmitted by the angle sensor, wherein, The angle sensor is installed on the boom of the work vehicle; obtain the rotation angle value transmitted by the rotary encoder, wherein the rotary encoder is located in the middle of the turntable of the work vehicle; obtain the height count value transmitted by the height counter, wherein the height counter is located on the roll of the work vehicle raise; obtain the level degree transmitted by the level gauge, wherein the level gauge is located on the turntable of the work vehicle.

In one embodiment, the coordinate calculation module 402 is used to calculate the weight of the hoisted object on the work vehicle based on the tension value of the luffing wire rope of the jib, the angle value of the jib, the parameter value of the jib structure and the parameter value of the platform structure, wherein, the inherent The parameter value includes the boom structure parameter value and the platform structure parameter value; based on the weight of the hanging object, the parameter value of the whole machine, the rotation angle value, the boom angle value and the levelness, the horizontal center of gravity coordinates of the operating vehicle are calculated, and the inherent parameter values include The parameter value of the whole machine; based on the weight of the hanging object, the height count value, the parameter value of the whole machine, the angle value of the boom and the levelness, the vertical center of gravity coordinates of the working vehicle are calculated.

In one embodiment, the coordinate calculation module 402 is used to obtain the component lateral moment components of at least one structural component of the work vehicle on the horizontal axis of the preset coordinate system based on the overall machine parameter value, the boom angle value and the levelness; The component lateral moment component, the weight of the hanging object, the levelness, the boom angle value and the rotation angle value are used to calculate the total lateral moment component; the ratio of the total lateral moment component to the total weight of the operating vehicle is used as the lateral center of gravity coordinates; based on the complete machine Parameter value, jib angle value and levelness, obtain the component longitudinal moment component of at least one structural component of the work vehicle on the longitudinal axis of the preset coordinate system; based on component longitudinal moment component, weight of hanging object, levelness, jib angle value and slewing angle value, calculate the total longitudinal moment component; use the ratio of the total longitudinal moment component to the total weight of the work vehicle as the longitudinal center of gravity coordinates; The component vertical moment components of at least one structural component on the vertical axis of the preset coordinate system; calculate the total vertical moment component based on the component vertical moment component, the weight of the hanging object, the height count value, the jib angle value and the levelness; the total The ratio of the vertical moment component to the total weight of the working vehicle is used as the vertical center of gravity coordinates.

In one embodiment, the instruction generation module 403 is used to compare the coordinate values of the three dimensions in the three-dimensional center of gravity coordinates with the corresponding coordinate warning value; determine that the coordinate value of at least one dimension exceeds the corresponding coordinate warning value, and generate the center of gravity An adjustment instruction, wherein the center of gravity adjustment instruction is used to adjust the control parameter value of the work vehicle in a dimension exceeding the coordinate warning value.

FIG. 5 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG. 5, the electronic device may include: a processor (processor) 501, a communication interface (Communications Interface) 502, a memory (memory) 503, and a communication bus 504, Wherein, the processor 501 , the communication interface 502 , and the memory 503 communicate with each other through the communication bus 504 . The processor 501 can call the logic instructions in the memory 503 to execute the center of gravity adjustment method, the method includes: obtaining the real-time parameter values of the structural components of the work vehicle in the working state, and obtaining the inherent parameter values of the structural components of the work vehicle in the static state; Based on the real-time parameter value and the inherent parameter value, the three-dimensional center of gravity coordinates of the work vehicle in the preset coordinate system are calculated; according to the three-dimensional center of gravity coordinates, a center of gravity adjustment instruction is generated, wherein the center of gravity adjustment instruction is used to adjust the center of gravity of the work vehicle.

In addition, the above logic instructions in the memory 503 may be implemented in the form of software function units and when sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

On the other hand, the present invention also provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer When executing, the computer can execute the

A method for adjusting the center of gravity, the method comprising: obtaining real-time parameter values of the structural components of the working vehicle in a working state, and obtaining inherent parameter values of the structural components of the working vehicle at a standstill; based on the real-time parameter values and the inherent parameter values, calculating The coordinates of the three-dimensional center of gravity in the coordinate system are set; according to the coordinates of the three-dimensional center of gravity, an adjustment instruction for the center of gravity is generated, wherein the adjustment instruction for the center of gravity is used to adjust the center of gravity of the work vehicle.

In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method for adjusting the center of gravity provided by the above-mentioned embodiments is implemented. The method includes: obtaining The real-time parameter values of the structural components of the work vehicle in the working state, and the acquisition of the inherent parameter values of the structural components of the work vehicle in a static state; based on the real-time parameter values and the inherent parameter values, calculate the three-dimensional center of gravity coordinates of the work vehicle in the preset coordinate system; A center-of-gravity adjustment instruction is generated according to the three-dimensional center-of-gravity coordinates, wherein the center-of-gravity adjustment instruction is used to adjust the center of gravity of the work vehicle.

In yet another aspect, the present invention also provides a work vehicle, where the center of gravity of the work vehicle is adjusted through the method for adjusting the center of gravity provided in any one of the above embodiments.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.

Through the above description of the implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. A method for adjusting the center of gravity, comprising: Obtaining real-time parameter values of the structural components of the work vehicle in a working state, and obtaining inherent parameter values of the structural components of the work vehicle in a stationary state; calculating the three-dimensional center of gravity coordinates of the work vehicle in a preset coordinate system based on the real-time parameter values and the inherent parameter values; A center-of-gravity adjustment instruction is generated according to the three-dimensional center-of-gravity coordinates. 2. The method for adjusting the center of gravity according to claim 1, wherein the calculation of the three-dimensional center of gravity coordinates of the work vehicle in the preset coordinate system based on the real-time parameter value and the inherent parameter value comprises: Based on the real-time parameter value and the inherent parameter value, the weight of the hoisted objects on the work vehicle is obtained; Based on the weight of the hanging object, the real-time parameter value and the inherent parameter value, the horizontal center of gravity coordinates of the work vehicle are obtained, wherein the horizontal center of gravity coordinates include lateral center of gravity coordinates and longitudinal center of gravity coordinates; The vertical center of gravity coordinates of the work vehicle are obtained based on the weight of the hanging object, the real-time parameter value and the intrinsic parameter value. 3. The center-of-gravity adjustment method according to claim 2, characterized in that said obtaining the real-time parameter values of the structural components of the work vehicle in the working state comprises: Obtain the tension value of the jib luffing wire rope transmitted by the force sensor, wherein the force sensor is installed on the jib pull plate of the work vehicle; acquiring the boom angle value transmitted by the angle sensor, wherein the angle sensor is installed on the boom of the work vehicle; Obtain the rotary angle value transmitted by the rotary encoder, wherein the rotary encoder is located in the middle of the turntable of the work vehicle; Obtain the height count value transmitted by the height counter, wherein the height counter is located on the winch of the work vehicle; The levelness transmitted by the level is acquired, wherein the level is located on the turntable of the work vehicle. 4. The center-of-gravity adjustment method according to claim 3, wherein the obtaining the weight of the hoisted object on the work vehicle based on the real-time parameter value and the inherent parameter value comprises: Based on the jib luffing wire rope tension value, the jib angle value, the jib structure parameter value and the platform structure parameter value, calculate the weight of the hanging object hoisted on the work vehicle, wherein the inherent parameter value Including the boom structure parameter value and the platform structure parameter value; The obtaining the horizontal center of gravity coordinates of the work vehicle based on the weight of the hanging object, the real-time parameter value and the inherent parameter value includes: Calculate the coordinates of the horizontal center of gravity of the work vehicle based on the weight of the hanging object, the parameter value of the whole machine, the value of the slewing angle, the value of the angle of the boom, and the levelness, wherein the inherent parameters The value includes the parameter value of the whole machine; The obtaining the vertical center of gravity coordinates of the work vehicle based on the weight of the hanging object, the real-time parameter value and the inherent parameter value includes: The vertical center of gravity coordinates of the work vehicle are calculated based on the weight of the hanging object, the height count value, the overall machine parameter value, the boom angle value, and the levelness. 5. The method for adjusting the center of gravity according to claim 4, characterized in that, the weight of the hanging object, the parameter value of the whole machine, the value of the rotation angle, the angle value of the boom and the levelness , calculating the coordinates of the horizontal center of gravity of the work vehicle, including: Obtaining component lateral moment components of at least one structural component of the work vehicle on the horizontal axis of a preset coordinate system based on the overall machine parameter value, the boom angle value, and the levelness; calculating a total lateral moment component based on the component lateral moment component, the weight of the hanging object, the levelness, the boom angle value and the slewing angle value; Taking the ratio of the total lateral moment component to the total weight of the work vehicle as the coordinates of the lateral center of gravity; Based on the overall machine parameter value, the boom angle value, and the levelness, obtain component longitudinal moment components of at least one structural component of the work vehicle on the longitudinal axis of a preset coordinate system; calculating a total longitudinal moment component based on the longitudinal moment component of the component, the weight of the hanging object, the levelness, the angle value of the jib and the value of the slewing angle; Taking the ratio of the total longitudinal moment component to the total weight of the work vehicle as the coordinates of the longitudinal center of gravity; The calculation of the vertical center of gravity coordinates of the work vehicle based on the weight of the hanging object, the height count value, the overall machine parameter value, the boom angle value and the levelness includes: Based on the overall machine parameter value, the boom angle value, and the levelness, obtain component vertical moment components of at least one structural component of the work vehicle on the vertical axis of a preset coordinate system; calculating a total vertical moment component based on the component vertical moment component, the weight of the hanging object, the height count value, the jib angle value and the levelness; The ratio of the total vertical moment component to the total weight of the work vehicle is used as the vertical center of gravity coordinates. 6. The center-of-gravity adjustment method according to claim 1, wherein said generating a center-of-gravity adjustment instruction according to said three-dimensional center-of-gravity coordinates comprises: Comparing the coordinate values of the three dimensions in the three-dimensional center of gravity coordinates with the corresponding coordinate warning values respectively; It is determined that the coordinate value of at least one dimension exceeds the corresponding coordinate warning value, and the center of gravity adjustment instruction is generated, wherein the center of gravity adjustment instruction is used to adjust the control of the work vehicle in a dimension exceeding the coordinate warning value parameter value. 7. A center of gravity adjustment device, characterized in that it comprises: An acquisition module, configured to acquire real-time parameter values of the structural components of the work vehicle in a working state, and obtain inherent parameter values of the structural components of the work vehicle in a stationary state; A coordinate calculation module, configured to calculate the three-dimensional center of gravity coordinates of the work vehicle in a preset coordinate system based on the real-time parameter value and the intrinsic parameter value; An instruction generating module, configured to generate an instruction for adjusting the center of gravity according to the coordinates of the three-dimensional center of gravity. 8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor according to claim 1 is implemented when executing the program. To the center of gravity adjustment method described in any one of 6. 9. A non-transitory computer-readable storage medium, on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the method for adjusting the center of gravity according to any one of claims 1 to 6 is implemented. 10. A work vehicle, characterized in that the center of gravity of the work vehicle is adjusted by the method for adjusting the center of gravity according to any one of claims 1 to 6.

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