CN111706129A - Control device of upper bedplate forward-moving rotary parking equipment - Google Patents
Control device of upper bedplate forward-moving rotary parking equipment Download PDFInfo
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- CN111706129A CN111706129A CN202010637524.7A CN202010637524A CN111706129A CN 111706129 A CN111706129 A CN 111706129A CN 202010637524 A CN202010637524 A CN 202010637524A CN 111706129 A CN111706129 A CN 111706129A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/02—Small garages, e.g. for one or two cars
- E04H6/06—Small garages, e.g. for one or two cars with means for shifting or lifting vehicles
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- Architecture (AREA)
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- Structural Engineering (AREA)
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- Automation & Control Theory (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
A control device of an upper bedplate forward-moving rotary parking device is characterized in that a novel operation keyboard comprising a display screen, switches and keys is designed, only one three-position selection switch and one 'confirm' key are needed for normal operation, only one three-position selection switch is needed for management and maintenance operation, and after corresponding control programs are matched, the control device at least has daily operation functions of 'continuous rising' and 'continuous falling', has operation management and inspection functions of 'single step rising' and 'falling', has inspection and obstacle removal functions of browsing current state information of the device and signals of various detection units and the like, and further has a function of modifying current state information of the device according to actual conditions. The control device has the advantages that the operation keyboard is simple and visual, the operation is convenient, the possibility of misoperation is greatly reduced, and great convenience is provided for daily management, inspection and troubleshooting.
Description
Technical Field
The invention relates to the technical field of mechanical parking equipment, in particular to a control device and a control program of upper bedplate forward-moving and rotating parking equipment.
Background
With the increase of the automobile holding amount in China, domestic mechanical parking equipment is widely applied to solve the problem of insufficient parking space. More than ten years ago, the type of 'upper bedplate forward moving and rotating parking equipment' is provided in China, the parking equipment is arranged in a single parking space and only has an upper layer vehicle carrying bedplate, and the operation is mainly characterized in that the upper bedplate can perform forward moving-rotating displacement in the horizontal direction and can also perform lifting displacement in the vertical direction. Because the operation of the parking equipment is relatively complex, the operation keyboard of the existing control device has more keys, and misoperation is easy to occur; in addition, the equipment has relatively more operation detection positions, relatively more complex corresponding control flows and relatively more conditions in the operation process, and often needs management personnel to intervene, check and remove obstacles.
In the prior art, an operation keyboard only has functions required by equipment operation, and does not comprise functions of equipment inspection, debugging, maintenance and troubleshooting. If the existing operation keyboard is simplified and the function selection of daily management, inspection, debugging, maintenance and troubleshooting and related operations are combined in the operation keyboard to realize, great convenience can be provided for the management and maintenance of the equipment, and the popularization and application of the type of parking equipment can be promoted powerfully. Therefore, it is an urgent need to solve the problems of the prior art to provide a simple and reliable control device with comprehensive functions of operation control and management and maintenance for the upper platen forward moving and rotating parking equipment, and to design a simple control program based on the control device.
Disclosure of Invention
In view of the above, the present invention provides a control device for an upper platen forward-moving rotary parking apparatus, which aims to overcome the defects of the prior art, and designs a new operation keyboard, wherein only one three-position selection switch and one 'confirm' button are required for normal operation, and only one three-position selection switch is required for management and maintenance operation; after the corresponding control program is matched, the operation is simple and visual, the possibility of misoperation is greatly reduced, and great convenience is provided for daily management, inspection and troubleshooting.
In order to achieve the purpose, the invention adopts the following basic technical scheme:
a control device of an upper bedplate forward-moving rotary parking device is characterized in that: the control device comprises an operation keyboard and a matched control program; the main control element of the control device is usually a single chip or a PLC, and is used for receiving signals sent by the external facilities, reading status information of the external facilities, and outputting the signals to control the operation of the external facilities.
The operation keyboard comprises a display screen, a switch and keys; the display screen is used for displaying information; the control program is provided with an important information storage unit for storing the current state of the equipment and an important information storage unit for storing the current running state of the equipment; the control program receives a user instruction through the switch and the key, and integrates an operation control function and a management function; the user instruction comprises an operation instruction input by a user, and the operation instruction corresponds to the operation control function; the user instruction comprises a management instruction input by a manager, and the management instruction corresponds to the management function; the operation control function refers to a control function of the equipment in a normal operation state, and comprises a series of continuous displacement actions with the final purpose of enabling the upper bedplate to descend from the current position to descend to the position, and a series of continuous displacement actions with the final purpose of enabling the upper bedplate to ascend from the current position to ascend to the position; the management function refers to the functions of inspecting, maintaining and removing faults of the equipment, and comprises a single-step execution operation of a series of displacement actions with the final purpose of enabling the upper bedplate to descend from the current position to descend to the position, and a single-step execution operation of a series of displacement actions with the final purpose of enabling the upper bedplate to ascend from the current position to ascend to the position; the method comprises the steps of obtaining current state information of browsing equipment and current running state information of the browsing equipment; including modifying operational status information of the device.
The parking equipment is provided with a front and back displacement driving unit, a rotary displacement driving unit, a lifting displacement driving unit, a displacement detection assembly and a lifting detection assembly which are in signal connection with the control device.
The displacement detection assembly and the lifting detection assembly of the upper bedplate forward-moving rotary parking equipment are respectively used for detecting the displacement state of the upper bedplate in the horizontal direction and the vertical direction (usually the finish state of one intermediate process or the finish state of the whole process for detecting the displacement) and detecting whether an obstacle exists in the displacement process.
The parking equipment is also provided with an emergency stop switch and a chain/cable breakage detection unit which are in signal connection with the control device.
An emergency stop switch and a chain/cable breakage detection unit belong to the components of the parking equipment which are arranged according to the specification. The emergency stop switch is an on-off switch which is locked by pressing and reset by rotating and is used for pressing by an operator in an emergency state to enable the parking equipment to stop running emergently, when the lock is pressed, the output signal is Y, and the output signal cuts off motor driving power supplies of all displacement driving units of the parking equipment in a hardware triggering mode to enable motors of all the displacement driving units to be in a running stop state; the signal of pressing and locking the emergency stop switch enables the operation instruction before the operator to be invalid; after the emergency stop switch is in a rotary reset state, an operator needs to perform key operation again.
The chain/cable breakage detection unit is used for detecting whether a chain or a steel cable dragging the upper bedplate is broken, if the breakage phenomenon occurs, the output signal is Y, and the output signal cuts off motor driving power supplies of all displacement driving units of the parking equipment in a hardware triggering mode, so that the motors of all the displacement driving units are in a stop operation state, and the previous operation instruction of an operator is invalid; after the chain/cable breakage detection unit recovers to output normal signals, the operator needs to perform key operation again.
The displacement detection assembly comprises a plurality of detection units, is used for detecting the displacement state of the upper bedplate in the horizontal direction, and specifically comprises: the device comprises a moving obstacle detection unit, a forward moving position detection unit, a backward moving position detection unit and a backward moving position detection unit.
The movable obstacle detection unit is used for detecting whether an obstacle which obstructs the horizontal displacement of the upper bedplate exists in front, is a common detection element, generally adopts an ultrasonic wave or radar wave detection device in the industry, presets a safety distance as a threshold value, and sends out a 'Y' signal when the distance between the movable obstacle detection unit and the obstacle is smaller than the threshold value, otherwise sends out an 'N' signal. When more than one upper bedplate moving obstacle detection unit is arranged, a plurality of sent signals are integrated into one signal in a logic OR mode and output to the control device; alternatively, the control device receives a plurality of signals and performs logical or operation.
The forward movement detection unit is used for detecting the state that the upper bedplate starts to move forward from the parking equipment area standing position to the lane direction and reaches a forward movement position; the forward-to-position detecting unit is used for detecting the state that the upper bedplate starts to perform forward rotation from the forward-to-position and reaches the forward-to-position.
The backward turning position detection unit is used for detecting the state that the upper bedplate starts to turn backward from the forward turning position and reaches the backward turning position; the backward movement-to-position detection unit is used for detecting the state that the upper bedplate starts to move backward from the backward movement-to-position and reaches the backward movement-to-position, and the backward movement-to-position is also the parking equipment area standing position of the upper bedplate.
The in-place detection unit is a common position detection element, a contact rocker switch or a non-contact position switch is generally adopted in the industry, an output signal is a switch signal, when the detection state is in-place, a 'Y' signal is sent, otherwise, an 'N' signal is sent.
Some device types share a single detection unit for the forward-shift-to-bit detection unit and the backward-shift-to-bit detection unit. The technical scheme of the invention can be simultaneously suitable for the types of the equipment.
The lift detection subassembly includes a plurality of detecting element for detect the lift displacement state of last platen, specifically include: a lower obstacle detection unit, a descending in-place detection unit and an ascending in-place detection unit.
The lower obstacle detection unit is used for detecting whether an obstacle which hinders the descending displacement of the upper bedplate exists below, is a common detection element, generally adopts an ultrasonic wave or radar wave detection device in the industry, presets a safety distance as a threshold value, and sends a 'Y' signal when the distance between the lower obstacle detection unit and the obstacle is smaller than the threshold value, otherwise sends an 'N' signal. When more than one lower obstacle detection unit is arranged, a plurality of sent signals are integrated into one signal in a logic OR mode and output to the control device; alternatively, the control device receives a plurality of signals and performs logical or operation.
The descending position detection unit is used for detecting the state that the upper bedplate starts to descend and move from the upper standing position and reaches the ground; the ascending-to-position detection unit is used for detecting the state that the upper bedplate starts to ascend and displace from the ground standing position and reaches the upper standing position.
The in-place detection unit is a common position detection element, a contact rocker switch or a non-contact position switch is generally adopted in the industry, an output signal is a switch signal, when the detection state is in-place, a 'Y' signal is sent, otherwise, an 'N' signal is sent.
Before receiving instructions input by a user and management personnel, the control program firstly reads signals sent by the emergency stop switch and the chain/cable breakage detection unit, reads detection signals of the displacement detection assembly and the lifting detection assembly, and reads the content of the important information storage unit; when the emergency stop switch is pressed down or the chain/cable breakage detection unit sends a fault signal, the control program enters an error handling mode to prompt a manager to remove faults; and when the detection signal of the detection assembly is abnormal or the detection signal and the content of the important information storage unit are logically wrong, the control program enters an error handling mode to prompt a manager to remove the fault.
And after receiving the input instruction of the user and the administrator, the control program controls the equipment to enter the operation control function or the management function according to the preset setting.
When the equipment enters a continuous operation state or a single-step operation state, the control program outputs a signal to the displacement driving unit to enable the displacement driving unit to be in an operation or stop state, so that the upper bedplate achieves a controlled displacement state.
And the control program displays the running information, the error information and the prompt disposal information of the equipment as required through the display screen.
Further, a control device of an upper bedplate forward-moving rotary parking device is characterized in that: the switches and keys of the operation keyboard comprise a three-position selection switch for managing selection, a three-position selection switch for operation selection and a 'confirmation' key; because the daily operation of the user only needs to relate to operation selection, the technical scheme of the invention only relates to a three-position selection switch and a 'confirmation' key for the daily operation.
The three selection positions of the management selection switch represent three modes of 'continuous', 'single step' and 'check' respectively; the three selection positions of the operating selector switch and the "ok" button are arranged to have different functional meanings depending on the particular selection position of the management selector switch.
When the management selection is "continuous", the three selection positions of the operation selection switch represent "up", "down", "stop", respectively; when the operation selection switch is positioned at an 'ascending' selection position or a 'descending' selection position, pressing the 'confirmation' key is the operation confirmation of the selection position; the "ascending" operation confirmation means a series of continuous operation operations required for the upper deck to ascend to an upper floor and to stand still in a normal operation state, and the "descending" operation confirmation means a series of continuous operation operations required for the upper deck to descend to a ground floor and to stand still in a normal operation state; the "stop" selection position brings the apparatus into a rest state.
When the equipment is in a continuous operation stage of ascending or descending, if a user manually intervenes to enable the operation selection switch to be in a stop selection position, the equipment is stopped after the single-step action of the current operation is completed.
The comparison shows that: pressing the emergency stop switch in the operation process of the equipment can immediately stop the equipment from operating; the selection position of the running selection switch in the running process of the equipment is set to be 'stop' so that the equipment stops running after the single step action of the current running is completed.
It is a complete operational sequence for the operator to bring the run selector switch to the "stop" selection position after the device has completed a continuous run of "up" or "down".
When the management selection is "single step", the three selection positions of the operation selection switch represent "up", "down", "stop", respectively; when the operation selection switch is positioned at an 'ascending' selection position or a 'descending' selection position, pressing the 'confirmation' key is the operation confirmation of the selection position; the operation confirmation of the "ascending" refers to a series of single-step operation actions required for the upper bedplate to ascend to an upper layer for standing in a management state, and the operation confirmation of the "descending" refers to a series of single-step operation actions required for the upper bedplate to descend to a ground layer for standing in a management state; the "stop" selection position brings the apparatus into a rest state.
When the equipment is in the single-step operation stage of ascending or descending, if a user manually intervenes to enable the operation selection switch to be in the stop selection position, the equipment is stopped after the current operation single-step action is completed.
The comparison shows that: pressing the scram switch while the device is in the single-step operation process will cause the device to immediately stop operation, while the device is in the single-step operation process such that the operation selection switch is in the "stop" selection position, such that the device is not stopped after the single-step action of the current operation is completed. Therefore, the operation of "making the running select switch in the 'stop' select position" is not of practical significance. Because the device is in the process of single-step operation, the operation is automatically stopped after the single-step action of the current operation is completed.
It is a complete operational sequence for the operator to bring the running selector switch to the "stop" selection position and to adjust the management selector switch to the "continuous" selection position after the single-step running of the device, either "up" or "down".
In summary, if the selection position of the management selector switch is "continuous", when the selection position of the operation selector switch is "ascending", that is, the selection of the upper bedplate is moved up to the upper-layer standing in the current position (including the ground-layer standing state or the middle-layer standing state), a series of actions related to the upper bedplate are continuously performed, and these actions are started to operate when the operator presses the "confirm" button until the upper bedplate is moved up to the upper-layer standing. The complete operation in which the selection position of the management selector switch is "continuous" and the selection position of the operation selector switch is "up" is that the operator adjusts the operation selector switch to the "stop" selection position after the operation of the equipment is completed. Of course, after the equipment is operated, the operator does not adjust the operation selection switch to the stop selection position, and misoperation cannot be caused, and the equipment cannot be actually operated when the confirmation key is pressed.
If the selection position of the management selection switch is 'continuous', when the selection position of the operation selection switch is 'descending', namely representing that the upper bedplate is selected to descend and displace to the ground layer standing at the current position (including the upper layer standing state or the middle state), a series of actions related to the upper bedplate are continuously carried out, and the actions are started to operate when an operator presses a 'confirmation' key until the upper bedplate descends and displaces to the ground layer standing state. The complete operation in which the selection position of the management selector switch is "continuous" and the selection position of the operation selector switch is "down" is that after the operation of the equipment is completed, the operator adjusts the operation selector switch to the selection position of "stop". Of course, after the equipment is operated, the operator does not adjust the operation selection switch to the stop selection position, and misoperation cannot be caused, and the equipment cannot be actually operated when the confirmation key is pressed.
If the selection position of the management selector switch is 'single step', when the selection position of the operation selector switch is 'ascending', namely, the selection upper bedplate is ascended and displaced to the upper layer standing at the current position (including the ground layer standing state or the middle state), but a series of actions related to the upper bedplate in the period are single step, the actions are started to operate when an operator presses a 'confirmation' key, and the operation is stopped when each single step displacement action is completed, and the next operation of the operator is waited. The complete operation after the completion of the single-step operation is that the operator adjusts the management selector switch to the "continuous" selection position and the operation selector switch to the "stop" selection position, so that the equipment enters the normal operation state.
If the selection position of the management selector switch is 'single step', when the selection position of the operation selector switch is 'descending', namely, the selection of descending displacement of the upper bedplate at the current position (including the state of being positioned at the upper layer and the state of being positioned at the middle layer) to the ground layer and the rest state, a series of actions related to the upper bedplate during the descending displacement are performed in a single step mode, the actions are started to operate when an operator presses a 'confirmation' key, and the operation is stopped when each single step displacement action is completed, and the next operation of the operator is waited. The complete operation after the single-step operation is completed is that the operator adjusts the management selector switch to the "continuous" selection position and the operation selector switch to the "stop" selection position, so that the equipment enters the normal operation state.
When the selection position of the management selection switch is 'check', the three selection positions of the operation selection switch respectively represent 'up', 'down' and 'modification', the 'up' selection position refers to that the detection signals of the equipment detection unit are sequentially browsed in an upward moving mode in a management state, and the content of the current detection signal of the last detection unit of the equipment is displayed on the display screen by pressing a 'confirmation' key once in normal operation; the downward selection position refers to that the detection signals of the equipment detection unit are sequentially browsed in a downward moving mode in a management state, and the content of the current detection signal of the next detection unit of the equipment is displayed on the display screen by pressing an 'confirm' key once in normal operation; the 'modification' selection position refers to the condition that the contents of the important information storage unit of the equipment can be sequentially browsed and modified in the management state; pressing an 'affirming' key once every normal operation, namely displaying the content of the next important information storage unit on the display screen; pressing an 'affirmation' key once after the normal operation time indicates that the content of the important information storage unit currently displayed needs to be modified, and then pressing the 'affirmation' key once in the normal operation, namely circularly displaying the next content which can be changed by the important information storage unit on the display screen; when the displayed content is the content for confirming modification, the content is confirmed to be modified by pressing a 'confirmation' key once after the normal operation time is exceeded; after the modification is completed, a sequential browsing state is restored.
For example, the following steps are carried out: two important information storage units of the equipment are assumed to be respectively a unit I and a unit II; the contents which can be changed by the first unit are respectively 'in-place rising', 'in-place falling', 'middle rising and falling', 'unknown' and the current contents are 'in-place rising'; "backward shift to place", "move to middle section", "forward shift to place", "rotate middle section", "forward shift to place", "backward shift to place", and "state unknown", the current content is "move middle section"; when the selection position of the management selection switch is 'single step', and the selection position of the operation selection switch is 'modification', the content displayed on the display screen firstly is 'unit one, ascends to the right'; pressing the 'confirm' key once in normal operation, changing the content displayed on the display screen into 'unit two, moving the middle section'; pressing a 'confirm' key once again in normal operation, and changing the content displayed by the display screen into 'unit one, ascending in place'; if the content of the unit I needs to be changed to be in the descending position, namely, the 'confirmation' key is pressed once after the normal operation time, the content of the currently displayed unit I needs to be modified, the 'confirmation' key is pressed once after the normal operation, the content displayed on the display screen is changed to be in the 'unit I, and when the content is in the descending position, the' confirmation 'key is pressed once after the normal operation time, the current content of the unit I is changed from the original' ascending position to the 'descending position', and the current content is restored to the sequential browsing state.
The complete operation after the detection of signal browsing completion or important information browsing and modification completion is that the operator adjusts the management selection switch to a 'continuous' selection position and adjusts the operation selection switch to a 'stop' selection position, so that the equipment enters a normal operation state.
For convenience of intuition and convenience of operation, the three-position selection switch for normal operation preferably adopts a three-position knob switch, is arranged at the front position of the operation keyboard, and is pasted or sprayed with characters of 'rising', 'falling', 'stopping' at the corresponding position of the selection direction of the knob switch; the three-position selector switch for managing maintenance is preferably arranged on the side surface or the rear position of the operation keyboard in a concealed mode, and the characters of 'continuous', 'single step', 'inspection' are pasted or sprayed on the corresponding selection pointing position; to prevent malfunction, the three-position selector switch for managing maintenance is preferably operated with a special tool.
As is apparent from the above description, the function of "checking" the selection position of the management selector switch can be directly used for installation and debugging of the device.
The control program of the control device includes an important information storage unit provided in the RAM area, and includes a computer program provided in the ROM area.
The important information storage unit includes:
the storage unit records the current state of the upper bedplate in the horizontal direction, wherein the state comprises 'ascending in place', 'descending in place', 'middle ascending and descending' and 'unknown state'; the above state only relates to 4 items, and can be expressed by one byte when actually programmed.
The storage unit records the current state of the upper bedplate in the vertical direction, wherein the state comprises 'backward movement in place', 'middle movement section', 'forward movement in place', 'middle rotation section', 'forward movement in place', 'backward movement in place' and 'unknown'; the above state only relates to 7 items, and can be expressed by two bytes when actually programmed.
The contents of the important information storage unit are automatically written by the computer program; the manager can call up the view and make modifications.
The computer program includes a state detection subroutine, an instruction receiving subroutine, a continuous rise subroutine, a continuous fall subroutine, a single step rise subroutine, a single step fall subroutine, a check up subroutine, a check down subroutine, a check modification subroutine, and an error prompt subroutine.
The state detection subprogram is used for reading the signals of the emergency stop switch and all the detection units, reading the contents of all the important information storage units, carrying out logic judgment, and judging that the state is abnormal when the emergency stop switch is pressed down or any detection unit signal is abnormal or any detection unit signal is contradictory to the contents of any important storage unit.
The function of the command receiving subprogram is to read the signals of the management selection switch, the operation selection switch and the keys of the operation keyboard, determine the operation intention of the operator according to a preset logic relationship, set the operation intention into seven types including 'continuous, ascending', 'continuous, descending', 'single step, ascending', 'single step, descending', 'inspection, upward', 'inspection, downward', 'inspection and modification', and respectively and correspondingly call the continuous ascending subprogram, the continuous descending subprogram, the single step ascending subprogram, the single step descending subprogram, the inspection upward subprogram, the inspection downward subprogram and the inspection modification subprogram. The flow of these subroutines can be found with reference to the aforementioned text.
The error prompting subprogram is used for displaying error information through the display screen and prompting an operator to process.
The flow of the computer program is as follows:
the process begins.
Step 1: a state detection subroutine is invoked.
If the state is abnormal, calling an error prompt subprogram and turning to the step 1.
Step 2: and calling the receiving instruction subprogram.
If the instruction is 'invalid', calling an error prompt subprogram, and turning to the step 1.
If the instruction is "continuous, rise", the continuous rise subroutine is called, and the procedure is changed to 1.
If the instruction is "continuous, down", the continuous down subroutine is called, and the procedure is changed to 1.
If the instruction is "single step, go", the single step-up subroutine is called, go to procedure 1.
If the instruction is "single step, Down", the single step Down subroutine is called, go to procedure 1.
If the instruction is "check, go up", the check go up subroutine is called, proceeding to procedure 1.
If the instruction is "check, down", the check down subroutine is called, turning to procedure 1.
If the instruction is 'check, modify', the check modify subroutine is called, and program 1 is converted.
Turning to the step 1.
The flow ends.
Further, adopt the controlling means of the rotatory parking equipment that moves forward of above-mentioned basic technical scheme, its characterized in that: the control device is additionally provided with an identity recognition module on the operation keyboard, and only a legal user who passes identity recognition can normally operate the switch and the key of the operation keyboard; the technology adopted by the identity recognition module comprises any one of password recognition, mobile phone two-dimensional code scanning recognition, fingerprint recognition and face recognition and any combination thereof.
Further, adopt the controlling means of the rotatory parking equipment that moves forward of above-mentioned basic technical scheme, its characterized in that: the method is characterized in that: the functions of a display screen, a switch and a key of the operation keyboard are replaced by a touch screen; the display screen is replaced by the display function of the touch screen, and the switch and the key are replaced by the touch input area of the touch screen. The touch screen has the advantages of strong modern feeling and easy function expansion; but the cost of installation and maintenance is relatively high.
Further, the control device for the upper platen forward-moving rotating parking equipment adopting the basic technical scheme is additionally provided with the acousto-optic warning module in signal connection with the control device, when a displacement driving unit of the parking equipment is in an operating state, if the emergency stop switch is pressed down or the obstacle detection unit detects an obstacle, the control device outputs different signals to the acousto-optic warning module, triggers the acousto-optic warning module to carry out acousto-optic alarms of different types, and gives out related prompts to an operator.
Compared with the prior art, the technical scheme of the invention has the advantages that the method for integrating the management function into the operation keyboard is an innovation, and the method has the following remarkable advantages: the structure is simple and reliable, the function is comprehensive and practical, the operation is convenient, the comprehensive cost is low, and the equipment inspection, maintenance and fault removal become very simple, visual and simple. Therefore, the technical scheme of the invention can play a powerful role in promoting the popularization and the application of the upper bedplate forward-moving and rotating parking equipment.
Drawings
In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings needed to be used in the embodiment will be briefly described below; it is obvious that the drawings in the following description are only embodiments of the invention, and that for a person skilled in the art, other drawings can be obtained from the provided drawings without inventive effort.
Fig. 1 is a schematic diagram of an operating keyboard according to an embodiment of the present invention. In the figure: 1, an emergency stop switch; 2, displaying a screen; 3 operating the keyboard; 4 rotating the three-position switch; 5 a manual three-position switch; 6 "confirm" button.
Fig. 2 is a schematic diagram of signal connection of a main control unit of a control device according to an embodiment of the present invention. In the figure: 1, an emergency stop switch; 2-1 ascending in-place detection unit; 2-2 descending in-place detection unit; 2-3 lower obstacle detecting unit; 3-1, a main control unit; 3-2 operating the keyboard; 4-1, moving to a position detection unit; 4-2, moving forward to a position detection unit; 4-3, a forward-to-position detection unit; 4-4, turning to a bit detection unit; 4-7 movement obstacle detection unit; 5-1 lifting driving unit; 5-2 moving the drive unit; 5-3 a rotation driving unit; 7-3 chain/cable breakage detection unit; .
Fig. 3 is a schematic diagram of the displacement trajectory of the upper platen according to one embodiment of the present invention. In the figure: 4a, moving to the right; 4b, moving the middle section; 4c forward to the place; 4d, rotating the middle section; 4e, forwarding to the right place; turning to the place after 4 h; 7 device area; 8 lane areas.
Fig. 4 is a flowchart of a computer program of the control device shown in fig. 1 to 3 according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of an operation keyboard according to an embodiment of the present invention. It can be seen in the figure that: the operation keyboard 3 comprises a display screen 2, a rotary three-position switch 4, a 'confirm' key 6 and a manual three-position switch 5; an emergency stop switch 1 is provided above the operation keyboard 3.
The selection position of the three-position rotary switch 4 of the current operation keyboard 3 is a middle "stop" selection, and the three-position rotary switch is rotated clockwise at the "stop" selection position, namely, a "downward" selection position, and is rotated counterclockwise at the "stop" selection position, namely, an "upward" selection position.
The selection position of the manual three-position switch 5 of the current operation keyboard 3 is a middle 'continuous' selection, and the selection position is shifted upwards, namely, a 'single step' selection position, and the selection position is shifted downwards, namely, a 'checking' selection position.
It is obvious that the setting of the operation keyboard of the present embodiment is the same as the above, and the related operations and functions are not described herein again.
Fig. 2 is a schematic diagram of signal connection of a main control unit of a control device according to an embodiment of the present invention. It can be seen in the figure that: the main control unit 3-1 of the control device is in signal connection with the lifting drive unit 5-1, the moving drive unit 5-2 and the rotating drive unit 5-3, and the main control unit 3-1 outputs signals to drive the drive units to realize forward running or reverse running or stop running.
The main control unit 3-1 is in signal connection with the ascending in-place detection unit 2-1 and the descending in-place detection unit 2-2, and the main control unit 3-1 can read output signals of the in-place detection units so as to judge whether the upper bedplate is in ascending in place or descending in place.
The main control unit 3-1 is in signal connection with the backward-shift-to-position detection unit 4-1, the forward-shift-to-position detection unit 4-2, the forward-shift-to-position detection unit 4-3 and the backward-shift-to-position detection unit 4-4, and the main control unit 3-1 can read output signals of the forward-shift-to-position detection units so as to judge whether the upper bedplate is in the backward shift-to-position or the forward shift-to-position or the backward shift-to-.
The main control unit 3-1 is in signal connection with the emergency stop switch 1, and the main control unit 3-1 can read an output signal of the emergency stop switch 1 so as to judge whether the emergency stop switch 1 is pressed down; in addition, the master control unit 3-1 may process the output signal of the slam-stop switch 1 in an interrupt responsive manner.
The main control unit 3-1 is in signal connection with the chain/cable breakage detection unit 7-3, and the main control unit 3-1 can read an output signal of the chain/cable breakage detection unit 7-3 so as to judge whether the chain/cable breakage detection unit 7-3 generates a fault signal; in addition, the master control unit 3-1 may process the output signal of the chain/rope breakage detection unit 7-3 that is malfunctioning in an interrupt responsive manner.
The main control unit 3-1 is in signal connection with the moving obstacle detection unit 4-7, and the main control unit 3-1 can read an output signal of the moving obstacle detection unit 4-7 so as to judge whether the upper bedplate meets an obstacle enough to influence normal operation in the horizontal direction displacement process.
The main control unit 3-1 is in signal connection with the lower obstacle detection unit 2-3, and the main control unit 3-1 can read an output signal of the lower obstacle detection unit 2-3, so that whether the upper bedplate meets an obstacle enough to influence normal operation in the descending process or not is judged.
The main control unit 3-1 is in signal connection with the operation keyboard 3-2, and the main control unit 3-1 can read a selection position signal of a switch of the operation keyboard 3-2 and can read normal pressing operation and special overtime pressing operation of a key; display information can be output to the display screen.
Obviously, the signal connections between the control device and various facilities of this embodiment are the same as those described above, and the related functions will not be described herein.
Fig. 3 is a schematic diagram of the displacement trajectory of the upper platen according to one embodiment of the present invention. It can be seen in the figure that: the left schematic view shows that the upper platen moves forward from the position of the equipment area 7 standing at the rear moving position 4a to the position of the front moving position 4c (the middle moving part 4 b), enters the lane area 8, and then moves forward to the position of the front moving position 4e (the middle rotating part 4 d), and two single-step operation actions are involved, namely forward movement and front movement.
The right schematic diagram shows that the upper bedplate is turned to the position 4h (the middle process is the middle rotating section 4 d) from the position 4e of the front turning position where the lane area 8 is still located, then is moved backwards into the equipment area 7 and is moved to the position 4a of the back turning position (the middle process is the middle moving section 4 b), and two single-step operation actions are involved, namely, the back turning and the back moving respectively.
As can be seen, the forward-to-position 4c and the backward-to-position 4h are actually at the same position, so that the detection of the forward-to-position 4c and the backward-to-position 4h can be simultaneously realized by using one in-position detection unit.
Fig. 4 is a flowchart of a computer program of the control device shown in fig. 1 to 3 according to the embodiment of the present invention.
The text expression of the relevant flow chart is as described above:
the process begins.
Step 1: a state detection subroutine is invoked.
If the state is abnormal, calling an error prompt subprogram and turning to the step 1.
Step 2: and calling the receiving instruction subprogram.
If the instruction is 'invalid', calling an error prompt subprogram, and turning to the step 1.
If the instruction is "continuous, rise", the continuous rise subroutine is called, and the procedure is changed to 1.
If the instruction is "continuous, down", the continuous down subroutine is called, and the procedure is changed to 1.
If the instruction is "single step, go", the single step-up subroutine is called, go to procedure 1.
If the instruction is "single step, Down", the single step Down subroutine is called, go to procedure 1.
If the instruction is "check, go up", the check go up subroutine is called, proceeding to procedure 1.
If the instruction is "check, down", the check down subroutine is called, turning to procedure 1.
If the instruction is 'check, modify', the check modify subroutine is called, and program 1 is converted.
Turning to the step 1.
The flow ends.
The functions of the various subroutines called by the computer program have been described above clearly and are not described in detail here.
The embodiments disclosed in this specification and the above description are intended to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. A control device of an upper bedplate forward-moving rotary parking device is characterized in that: the control device comprises an operation keyboard and a matched control program; the operation keyboard comprises a display screen, a switch and keys; the display screen is used for displaying information; the control program is provided with an important information storage unit for storing the current state of the equipment and an important information storage unit for storing the current running state of the equipment; the control program receives a user instruction through the switch and the key, and integrates an operation control function and a management function; the user instruction comprises an operation instruction input by a user, and the operation instruction corresponds to the operation control function; the user instruction comprises a management instruction input by a manager, and the management instruction corresponds to the management function; the operation control function refers to a control function of the equipment in a normal operation state, and comprises a series of continuous displacement actions with the final purpose of enabling the upper bedplate to descend from the current position to descend to the position, and a series of continuous displacement actions with the final purpose of enabling the upper bedplate to ascend from the current position to ascend to the position; the management function refers to the functions of inspecting, maintaining and removing faults of the equipment, and comprises a single-step execution operation of a series of displacement actions with the final purpose of enabling the upper bedplate to descend from the current position to descend to the position, and a single-step execution operation of a series of displacement actions with the final purpose of enabling the upper bedplate to ascend from the current position to ascend to the position; the method comprises the steps of obtaining current state information of browsing equipment and current running state information of the browsing equipment; the method comprises the steps of modifying running state information of equipment;
the parking equipment is provided with a front and back displacement driving unit, a rotary displacement driving unit, a lifting displacement driving unit, a displacement detection assembly and a lifting detection assembly which are in signal connection with the control device;
the parking equipment is also provided with an emergency stop switch and a chain/cable breakage detection unit which are in signal connection with the control device;
the displacement detection assembly comprises a plurality of detection units, is used for detecting the horizontal displacement state of the upper bedplate, and specifically comprises: a moving obstacle detection unit, a forward-shift-to-position detection unit, a backward-shift-to-position detection unit, and a backward-shift-to-position detection unit;
the lift detection subassembly includes a plurality of detecting element for detect the lift displacement state of last platen, specifically include: a lower obstacle detection unit, a descending in-place detection unit and a ascending in-place detection unit;
before receiving instructions input by a user and management personnel, the control program firstly reads signals sent by the emergency stop switch and the chain/cable breakage detection unit, reads detection signals of the displacement detection assembly and the lifting detection assembly, and reads the content of the important information storage unit; when the emergency stop switch is pressed down or the chain/cable breakage detection unit sends a fault signal, the control program enters an error handling mode to prompt a manager to remove faults; when the detection signal of the detection assembly is abnormal or the detection signal and the content of the important information storage unit are logically wrong, the control program enters an error handling mode to prompt a manager to remove the fault;
after receiving an instruction input by a user and a manager, the control program controls equipment to enter the operation control function or the management function according to preset setting;
when the equipment enters a continuous operation state or a single-step operation state, the control program outputs a signal to the displacement driving unit to enable the displacement driving unit to be in an operation or stop state, so that the upper bedplate achieves a controlled displacement state;
when the equipment enters a continuous operation state or a single-step operation state, the control program adopts interrupt triggering or detects signals sent by the emergency stop switch and the chain/cable breakage detection unit at any time, and when the emergency stop switch is pressed down or the chain/cable breakage detection unit sends a fault signal, the control program is to emergently stop the equipment from operating;
when the equipment enters a continuous operation state or a single step operation state, the control program reads detection signals of the displacement detection assembly and the lifting detection assembly at any time for determining the current and subsequent operation control of the equipment;
and the control program displays the running information, the error information and the prompt disposal information of the equipment as required through the display screen.
2. The control device of an upper deck forward rotary parking apparatus as claimed in claim 1, wherein: the switches and keys of the operation keyboard comprise a three-position selection switch for managing selection, a three-position selection switch for operation selection and a 'confirmation' key;
the three selection positions of the management selection switch represent three modes of 'continuous', 'single step' and 'check' respectively; the three selection positions of the operation selection switch and the 'confirm' key are set to have different functional meanings according to the specific selection position of the management selection switch;
when the management selection is "continuous", the three selection positions of the operation selection switch represent "up", "down", "stop", respectively; when the operation selection switch is positioned at an 'ascending' selection position or a 'descending' selection position, pressing the 'confirmation' key is the operation confirmation of the selection position; the "ascending" operation confirmation means a series of continuous operation operations required for the upper deck to ascend to an upper floor and to stand still in a normal operation state, and the "descending" operation confirmation means a series of continuous operation operations required for the upper deck to descend to a ground floor and to stand still in a normal operation state; the 'stop' selection position enables the equipment to be in a stop operation state;
when the equipment is in a continuous operation stage of ascending or descending, if a user manually intervenes to enable the operation selection switch to be in a stop selection position, the equipment is stopped after the single-step action of the current operation is completed;
when the management selection is "single step", the three selection positions of the operation selection switch represent "up", "down", "stop", respectively; when the operation selection switch is positioned at an 'ascending' selection position or a 'descending' selection position, pressing the 'confirmation' key is the operation confirmation of the selection position; the operation confirmation of the "ascending" refers to a series of single-step operation actions required for the upper bedplate to ascend to an upper layer for standing in a management state, and the operation confirmation of the "descending" refers to a series of single-step operation actions required for the upper bedplate to descend to a ground layer for standing in a management state; the 'stop' selection position enables the equipment to be in a stop operation state;
when the equipment is in a single-step operation stage of ascending or descending, if a user manually intervenes to enable the operation selection switch to be in a stop selection position, the equipment is stopped after the current operation single-step action is completed;
when the selection position of the management selection switch is 'check', the three selection positions of the operation selection switch respectively represent 'up', 'down' and 'modification', the 'up' selection position refers to that the detection signals of the equipment detection unit are sequentially browsed in an upward moving mode in a management state, and the content of the current detection signal of the last detection unit of the equipment is displayed on the display screen by pressing a 'confirmation' key once in normal operation; the downward selection position refers to that the detection signals of the equipment detection unit are sequentially browsed in a downward moving mode in a management state, and the content of the current detection signal of the next detection unit of the equipment is displayed on the display screen by pressing an 'confirm' key once in normal operation; the 'modification' selection position refers to the condition that the contents of the important information storage unit of the equipment can be sequentially browsed and modified in the management state; pressing an 'affirming' key once every normal operation, namely displaying the content of the next important information storage unit on the display screen; pressing an 'affirmation' key once after the normal operation time indicates that the content of the important information storage unit currently displayed needs to be modified, and then pressing the 'affirmation' key once in the normal operation, namely circularly displaying the next content which can be changed by the important information storage unit on the display screen; when the displayed content is the content for confirming modification, the content is confirmed to be modified by pressing a 'confirmation' key once after the normal operation time is exceeded; after the modification is completed, restoring to a sequential browsing state;
the control program of the control device comprises an important information storage unit arranged in a RAM area and a computer program arranged in a ROM area;
the important information storage unit includes:
the storage unit is used for recording the current lifting state of the upper bedplate, wherein the state comprises 'lifting in place', 'descending in place', 'middle lifting section' and 'unknown' state;
a storage unit for recording the current horizontal state of the upper bedplate, wherein the state comprises 'backward movement in place', 'moving middle part', 'forward movement in place', 'rotating middle part', 'forward movement in place', 'backward movement in place' and 'unknown state';
the contents of the important information storage unit are automatically written by the computer program; the manager can call out the browse and modify;
the computer program comprises a state detection subprogram, a command receiving subprogram, a continuous ascending subprogram, a continuous descending subprogram, a single ascending subprogram, a single descending subprogram, an inspection upward subprogram, an inspection downward subprogram, an inspection modification subprogram and an error prompt subprogram;
the state detection subprogram is used for reading the signals of the emergency stop switch and all the detection units, reading the contents of all the important information storage units, carrying out logic judgment, and judging that the state is abnormal when the emergency stop switch is pressed down or any detection unit signal is abnormal or any detection unit signal is contradictory to the contents of any important storage unit;
the function of the received instruction subprogram is to read the signals of the management selection switch, the operation selection switch and the keys of the operation keyboard, determine the operation intention of an operator according to a preset logic relationship, set the operation intention into seven types including 'continuous, ascending', 'continuous, descending', 'single step, ascending', 'single step, descending', 'inspection, upward', 'inspection, downward', 'inspection and modification', and respectively and correspondingly call the continuous ascending subprogram, the continuous descending subprogram, the single step ascending subprogram, the single step descending subprogram, the inspection upward subprogram, the inspection downward subprogram and the inspection modification subprogram;
the error prompting subprogram is used for displaying error information through the display screen and prompting an operator to process;
the flow of the computer program is as follows:
starting the process;
step 1: calling a state detection subprogram;
if the state is abnormal, calling an error prompt subprogram, and turning to the step 1;
step 2: calling a receiving instruction subprogram;
if the instruction is invalid, calling an error prompt subprogram, and turning to the step 1;
if the instruction is 'continuous and ascending', calling a continuous ascending subprogram, and turning to a program 1;
if the instruction is 'continuous, descending', calling a continuous descending subprogram, and turning to a program 1;
if the instruction is 'single step, rising', calling a single step rising subprogram, and turning to a program 1;
if the instruction is 'single step, descending', calling a single step descending subprogram, and turning to a program 1;
if the instruction is 'checking, upward', calling a checking upward subprogram, and turning to a program 1;
if the instruction is 'checking, going down', calling a checking-down subprogram, and turning to a program 1;
if the instruction is 'checking, modifying', calling a checking and modifying subprogram, and turning to a program 1;
turning to the step 1;
the flow ends.
3. The control device of an upper deck forward rotary parking apparatus as claimed in claim 1, wherein: the control device is additionally provided with an identity recognition module on the operation keyboard, and only a legal user who passes identity recognition can normally operate the switch and the key of the operation keyboard; the technology adopted by the identity recognition module comprises any one of password recognition, mobile phone two-dimensional code scanning recognition, fingerprint recognition and face recognition and any combination thereof.
4. The control device of an upper deck forward rotary parking apparatus as claimed in claim 1, wherein: the method is characterized in that: the functions of a display screen, a switch and a key of the operation keyboard are replaced by a touch screen; the display screen is replaced by the display function of the touch screen, and the switch and the key are replaced by the touch input area of the touch screen.
5. The control device of an upper deck forward rotary parking apparatus as claimed in claim 1, wherein: the control device is additionally provided with an acousto-optic warning module in signal connection with the control device, when a displacement driving unit of the parking equipment is in an operating state, if the emergency stop switch is pressed down or the obstacle detection unit detects an obstacle, the control device outputs different signals to the acousto-optic warning module, triggers the acousto-optic warning module to carry out acousto-optic warning of different types, and gives out related prompts to an operator.
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| CN202010637524.7A CN111706129B (en) | 2020-07-05 | 2020-07-05 | Control device of upper bedplate forward-moving rotary parking equipment |
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| CN202010637524.7A CN111706129B (en) | 2020-07-05 | 2020-07-05 | Control device of upper bedplate forward-moving rotary parking equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113958180A (en) * | 2021-12-04 | 2022-01-21 | 佛山市诺行科技有限公司 | Electric control system and control flow of lifting and transverse moving parking equipment |
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