CN102436233A - Human-computer interaction device and human-computer interaction method of high-altitude operation vehicle - Google Patents
Human-computer interaction device and human-computer interaction method of high-altitude operation vehicle Download PDFInfo
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- CN102436233A CN102436233A CN2011103196848A CN201110319684A CN102436233A CN 102436233 A CN102436233 A CN 102436233A CN 2011103196848 A CN2011103196848 A CN 2011103196848A CN 201110319684 A CN201110319684 A CN 201110319684A CN 102436233 A CN102436233 A CN 102436233A
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Abstract
The invention discloses a human-computer interaction device and a human-computer interaction method of a high-altitude operation vehicle. An advanced reduced instruction set computer (RISC) machine (ARM) control module is arranged in the human-computer interaction device of the high-altitude operation vehicle. The human-computer interaction device of the high-altitude operation vehicle is characterized in that: a controller area network (CAN) bus communication module, a liquid crystal display module and a key input module are arranged in the ARM control module; a power conversion module and a handle input module are connected to the ARM control module; and the ARM control module consists of an ARM processor, a synchronous dynamic random access memory (SDRAM), a Flash memory, a reset circuit, a clock circuit and a programming interface and is a core module. By adoption of the human-computer interaction device, real-time data information from a main controller can be received, and displayed in a liquid crystal display; a good interaction interface is provided for an operator; and with the device, the operator can realize functions of page replacement, parameter setting, data viewing, motion control and the like, and send a corresponding command to the main controller. The invention has the advantages that: the degree of humanization can be improved; and the intelligence of the high-altitude operation vehicle is improved.
Description
Technical field
The present invention relates to infotech and automatic field technical field of information processing; Relate to a kind of high-altitude operation vehicle and manipulate man-machine friendship device and high-altitude operation vehicle man-machine interaction method in the process; These apparatus and method are to show real-time control information in the high-altitude operation vehicle control procedure of utilizing the embedded technology design to realize; The control operation device of friendly interactive interface is provided, is applicable to intellectuality, hommization control with high-altitude operation vehicle that comparatively complicated jib structure or operation function have relatively high expectations.
Background technology
High-altitude operation vehicle is a kind of operating personnel, instrument, material etc. to be given rise to the special-purpose work high above the ground machinery that aerial assigned address carries out operations such as various installation, maintenances through job platform; Both belonged to special purpose vehicle; Belonging to engineering machinery again, is a kind of important preparation of construction.Since first high-altitude operation vehicle came out the twenties in last century in the world; The sector is with its exclusive security and the advantage on the work efficiency; Obtained wide development space, the market demand grows with each passing day, and has been widely used in the industry-by-industry of national product life.Carry out the ascend operation mode that work high above the ground is a kind of advanced person with high-altitude operation vehicle, also from having embodied the development and national economy level on the one hand, economy reaches all the more the demand of high-altitude operation vehicle, and demand is big more.High-altitude operation vehicle has been widely applied to nearly all work high above the ground place abroad, and is very ripe at aspects such as the structural shape of product, control mode, move modes.China still is in the junior stage, and structural shape is single, and control mode is simple, and intelligent level falls behind, and this has hindered the development process of high-altitude operation vehicle industry in China to a great extent.The work high above the ground vehicle control is the core of its overall technology; Conventional high-altitude operation vehicle control is to realize control function by master controller passing ratio handle; The control effect can only be carried out information feedback through operating personnel's naked-eye observation; The control effect is difficult to reach good horizontal, makes security, intellectuality, the hommization level of high-altitude operation vehicle receive very big restriction.Therefore, be necessary to develop and a kind ofly can high-altitude operation vehicle real-time working state, real-time pose information be carried out device shown with the hommization mode, to improve the controlling level of high-altitude operation vehicle.
Summary of the invention
The purpose of this invention is to provide a kind of high-altitude operation vehicle man-machine interaction method, and the employed high-altitude operation vehicle human-computer interaction device of this high-altitude operation vehicle man-machine interaction method.This method and apparatus can read the real time data information that the high-altitude operation vehicle master controller sends at the operation process of high-altitude operation vehicle; Mode with data, figure or animation more intuitively is in particular the real-time working state that operating personnel show high-altitude operation vehicle; Simultaneously through having the button input of specific function definition; Can realize the complicated control function that traditional handle or switch can't be realized, improve the hommization degree of high-altitude operation vehicle control procedure, improve the control effect; Reduce the operation easier of high-altitude operation vehicle, promote the intelligent level of high-altitude operation vehicle.
For achieving the above object; Technical solution of the present invention is: a kind of high-altitude operation vehicle human-computer interaction device; Be provided with the ARM control module in this high-altitude operation vehicle human-computer interaction device; It is characterized in that, be built-in with in this ARM control module: CAN bus communication module, LCD MODULE, and keyboard input module; Be connected with on this ARM control module: power conversion module and handle load module.
Wherein the ARM control module is made up of arm processor, SDRAM storer, Flash storer, reset circuit, clock circuit, DLL etc., is the nucleus module of this high-altitude operation vehicle human-computer interaction device.
More particularly, said CAN bus communication module is made up of CAN bus controller built-in in the ARM control module, photoelectric isolating circuit, CAN bus transceiver, CAN bus communication interface;
Said LCD MODULE is made up of the built-in liquid-crystal controller of ARM control module, LCD interface, LCD, backlight control circuit;
Said power conversion module is made up of insulating power supply unit, electric pressure converter unit, gives other module for power supply in the device respectively;
Said keyboard input module is made up of the built-in IO control port of ARM control module, button inputting circuits, press mold panel;
Said handle load module is made up of photoelectric isolating circuit, AD converting unit, signal conditioning circuit, ratio handle.
Described high-altitude operation vehicle human-computer interaction device; Can link to each other with the high-altitude operation vehicle master controller through the CAN bus communication interface; And the high-altitude operation vehicle master controller links to each other with linear transducer, angular transducer, oil pressure sensor and LOAD CELLS respectively through himself interface, formation high-altitude operation vehicle intelligence control system.
Described high-altitude operation vehicle human-computer interaction device, its operational process adopts following flow process:
A kind of high-altitude operation vehicle man-machine interaction method is characterized in that step is following:
Steps A: after powering on, human-computer interaction device reads institute's stored configuration parameters through the ARM control module from its Flash storer, other each modules are carried out initialization, and demonstration is stored in the start-up picture in the Flash storer in LCD MODULE;
Step B: whether inspection CAN bus communication module receives the data that send the outside, if having then change step C, if not then change step D;
Step C: according to the data that receive; Needed effective real time data in the display interface of extraction LCD MODULE; Read the display routine that is stored in the Flash storer, real time data is shown on LCD according to the mode of display routine with numerical value, curve or animation;
Step D: the state of inspection keyboard input module, if button input is arranged, then change step e, if not then change step F;
Step e: according to the numbering of current display page and the key assignments of button, which in replacing display page, change displaying contents, the special control function be the function of judgement key assignments belong to, if preceding two are then changeed step F; If the 3rd, then change step G;
Step F: display routine and the function of key assignments according to being stored in the Flash storer are upgraded the displaying contents in the LCD, and change step H;
Step G: key assignments is formed the data that will send, send the data to the high-altitude operation vehicle master controller, and change step B through CAN bus communication module;
Step H: the numerical value of scanning handle load module, if the handle load module in effective range of control, then the data of handle are sent to the work high above the ground vehicle controller through CAN bus communication module.Change step B.
Described high-altitude operation vehicle human-computer interaction device, its power supply is 9 ~ 30V DC voltage, output power is lower than 10W.
Described high-altitude operation vehicle human-computer interaction device, the Flash storer of its ARM control module is no less than 16MB, and SDRAM is no less than 16MB, and this module has DLL, can be connected the display control program of back through this device of special software change with computing machine.
Described high-altitude operation vehicle human-computer interaction device, the button of its keyboard input module are distributed on the press mold panel, and number is no less than 10; The ratio handle of handle load module is the handle of analog quantity output, and number is no less than 4.
Described high-altitude operation vehicle human-computer interaction device has the aluminium alloy waterproof case, and waterproof connector and external unit through 15 cores are electrically connected.
Described high-altitude operation vehicle human-computer interaction device, its LCD are 16 RGB displays, and resolution is 640 * 480.
Distinguishing feature of the present invention is to use the embedded ARM processor platform to constitute the core of high-altitude operation vehicle human-computer interaction device; Based on open real-time multi-task operating system and the transmission of communication interface rapidly and efficiently driver; Graphical display technics in conjunction with hommization; Formed the man-machine interactive system of a plurality of task parallel processings such as bus communication, graphic presentation, key scan, handle input; Can show more intuitively with the mode of numerical value, curve, animation real-time working state and external environmental information high-altitude operation vehicle; Help operating personnel can better grasp the job information of high-altitude operation vehicle more in time, satisfy in the application operating of high-altitude operation vehicle specific (special) requirements for security and hommization.
Technological core of the present invention is to utilize embedded ARM processor data-handling capacity and graphical flexibly display technique efficiently; In conjunction with real-time multi-task operating system, constitute the built-in human-machine interaction device of multi-task parallel operations such as real-time Communication for Power, vector quantization show, variation is mutual.
The present invention adopts embedded design of hardware and software technology to realize the embedded-type ARM human-computer interaction device; Has the bus type communication interface; Can be connected with high-altitude operation vehicle master controller and various sensor and form complete work high above the ground vehicle control jointly, realize the real-time pose of high-altitude operation vehicle actual mechanical process high and medium Operation Van and the graphical demonstration of duty, and can calculate safety coefficient; And in display screen, show with eye-catching color; Remind the security of the attention operation of operating personnel under difference control attitude, the input through collection ratio handle and button simultaneously, to display page switch, parameter changes perhaps order sent to master controller to realize the control function of complicacy; Reduce the complexity of high-altitude operation vehicle operating process, improve the intelligent level of high-altitude operation vehicle.
The major advantage of the embedded high-altitude operation vehicle human-computer interaction device that the present invention proposes is following: utilize the high-altitude operation vehicle human-computer interaction device based on the embedded system technology development of arm processor to adopt the bus type communication interface, can use more flexibly in work high above the ground vehicle control integrated; Adopt the RGB LCD, can clear data presented, curve, animation, can give prominence to important informations such as display alarm or fault; Utilize the electrical isolation designing technique that kernel control module and other modules are isolated on electric, avoided of the influence of the electromagnetic interference (EMI) of external input signal, improved the reliability of system the control module executive software; Adopt the input voltage power supply of wide pressure scope, reduced the influence of high-altitude operation vehicle mains fluctuations, improved its job stability human-computer interaction device; Human-computer interaction device adopts aluminium alloy waterproof case and waterproof connector, makes controller have the favorable protection performance.
Description of drawings
Fig. 1 is the structured flowchart of high-altitude operation vehicle human-computer interaction device.
Fig. 2 is the connection block diagram of human-computer interaction device in the work high above the ground vehicle control.
Fig. 3 is the interface synoptic diagram of a kind of embodiment of LCD MODULE displayed content.
Embodiment
Based on the human-computer interaction device of embedded technology design key control unit as the work high above the ground vehicle control; Adopt the central authorities control core of arm processor as this device; In conjunction with real-time multi-task operating system and graphical display technique, realize high-altitude operation vehicle use in operating personnel's good man-machine interaction process.Describe below in conjunction with the embodiment of accompanying drawing this invention.
Fig. 1 is the overall construction drawing of this human-computer interaction device, and controller is made up of 6 modules such as ARM control module, power conversion module, CAN bus communication module, LCD MODULE, keyboard input module, handle load modules.Wherein the ARM control module is made up of arm processor, SDRAM storer, Flash storer, reset circuit, clock circuit, DLL etc.; It is the nucleus module of this intelligent controller; The outside expanding system bus of this module, other each modules link to each other with the ARM control module through its system bus respectively.In an embodiment, arm processor adopts the LPC2478 processor chips of NXP company, and the SDRAM storer is the MT48LC16M16A2 storer of 16MB, and the Flash storer adopts the E28F128 storer of 16MB.CAN bus communication module is made up of photoelectric isolating circuit, level shifting circuit, CAN bus communication interface circuit, is connected on the CAN communication function pin in the system bus of ARM control module.LCD MODULE LCD interface, LCD, backlight control circuit constitute, and are connected on the built-in liquid-crystal controller (not shown) of ARM control module.LCD adopts 16 RGBs, resolution 640 * 480 in real-time example, and backlight control circuit is made up of the booster circuit that 5V changes 30V.Keyboard input module is connected to the built-in IO control port (not shown) of ARM control module by button inputting circuits, press mold panel.In an embodiment the press mold panel designs 10 function buttons.The handle load module is made up of ratio handle, signal conditioning circuit, A/D convertor circuit, photoelectric isolating circuit, is connected on the SPI pin of ARM control module.The power conversion module is made up of isolated supplies modular converter and non-isolation type power transfer module, and wherein the isolated supplies modular converter will be imported power source conversion and be the direct supply on ground altogether not with it, give the power supply of ARM control module; The non-isolation type power transfer module will be imported power source conversion and become with it different voltages with different grades such as the 12V on ground, 5V altogether, give other functional module power supplies.
Fig. 2 is the connection block diagram of human-computer interaction device in the work high above the ground vehicle control.Among the figure; Human-computer interaction device links to each other with the high-altitude operation vehicle master controller through the CAN bus; Master controller is through self analog quantity or digital quantity interface; Link to each other with the actuator such as length, angle, oil pressure, sensor and proportioning valve such as weigh, switch valve, engine on being installed in high-altitude operation vehicle, operating personnel take corresponding operation according to the job task that will realize through ratio handle or function button to human-computer interaction device; Human-computer interaction device sends to master controller with control command, and master controller drives each actuator and moves; Master controller obtains the duty and the posture information of high-altitude operation vehicle through the signal of gathering various sensors; Pass to human-computer interaction device through the CAN bus; Adopt modes such as numerical value, curve, animation on LCDs, to show, for operating personnel provide friendly, accurately, feedback information intuitively.Among the figure, the telescopic arm 2 that worktable 1 is formed through last folding arm 3, down folding arm 4 is installed on the panoramic table 5.Operating personnel 7 manage operating grip 6, get in touch with the human-computer interaction device.
Fig. 3 is the interface synoptic diagram of a kind of embodiment of the LCD displayed content of high-altitude operation vehicle human-computer interaction device.The upper left side is the caution bar that is used for describing high-altitude operation vehicle work at present state danger coefficient among the figure; A danger coefficient hour caution bar is green; The caution bar is yellow after danger coefficient surpasses certain value, and the caution bar is for red after danger coefficient continues to increase to certain value.The below of caution bar is the real-time animation district of high-altitude operation vehicle operational process; Be the operation attitude and the position of platform of carrying out the high-altitude operation vehicle of dynamic drafting according to the real time data of each sensor on the high-altitude operation vehicle, be used for the non-productive operation personnel to grasp the jib form of high-altitude operation vehicle in real time.The upper right side is the model of high-altitude operation vehicle, and model below is the real time data and the important operating state data of part of each sensor in the control system, comprises height and the work range of job platform etc.Data belows is self a warning message in the control system, is used for the critical component fault or unusual in the description control system and the method for Breakdown Maintenance.This warning message is divided into warning and limits two ranks according to the significance level of fault; When the control assembly of fault does not influence for allomeric function and safe coefficient; Adopt alert levels; Be used for alert and in time safeguard, below warning message, indicate simultaneously with circular yellow piece; When trouble unit has material impact for job safety, adopt the restriction rank, not only below indicate with red piece, the also action of actuator in the automatic limit and control system prevents the generation of danger simultaneously.The lower right is the calendar time of system, indicates current system time.The rightmost side is to be used for indicating the concrete function of button under this page condition with specific function, can carry out different definition to the function that same key assignments is realized through the logical relation between display page and the key assignments, strengthens the function of man-machine interaction.
The present invention adopts embedded software and hardware technology of ARM and graphical display technics to form the high-altitude operation vehicle human-computer interaction device with good Man Machine Interface; Cooperate the complete work high above the ground vehicle control of common formation such as high-altitude operation vehicle master controller, related sensor, actuator; Human-computer interaction device can not only be that operating personnel provide good interactive interface with more intuitive mode; Can also realize the complicated motion control that traditional work high above the ground vehicle control can't be realized through the function setting of button, for controlling level and the hommization degree that improves high-altitude operation vehicle provides support.Embodiment provided by the present invention is a kind of embodiment in the summary of the invention, and its summary of the invention comprises but is not limited only to this embodiment.
Claims (10)
1. a high-altitude operation vehicle human-computer interaction device is provided with the ARM control module in this high-altitude operation vehicle human-computer interaction device, it is characterized in that, is built-in with in this ARM control module: CAN bus communication module, LCD MODULE, and keyboard input module; Be connected with on this ARM control module: power conversion module and handle load module.
2. high-altitude operation vehicle human-computer interaction device according to claim 1; It is characterized in that; Described ARM control module is made up of arm processor, SDRAM storer, Flash storer, reset circuit, clock circuit, DLL, constitutes the nucleus module of this high-altitude operation vehicle human-computer interaction device.
3. high-altitude operation vehicle human-computer interaction device according to claim 1; It is characterized in that said CAN bus communication module is made up of CAN bus controller built-in in the ARM control module, photoelectric isolating circuit, CAN bus transceiver, CAN bus communication interface;
Said LCD MODULE is made up of the built-in liquid-crystal controller of ARM control module, LCD interface, LCD, backlight control circuit;
Said power conversion module is made up of insulating power supply unit, electric pressure converter unit, gives other module for power supply in the device respectively;
Said keyboard input module is made up of the built-in IO control port of ARM control module, button inputting circuits, press mold panel;
Said handle load module is made up of photoelectric isolating circuit, AD converting unit, signal conditioning circuit, ratio handle.
4. high-altitude operation vehicle human-computer interaction device according to claim 1 is characterized in that, described high-altitude operation vehicle human-computer interaction device is to link to each other with the master controller of high-altitude operation vehicle through the CAN bus communication interface; And the master controller of high-altitude operation vehicle links to each other with linear transducer, angular transducer, oil pressure sensor and LOAD CELLS respectively through himself interface, formation high-altitude operation vehicle intelligence control system.
5. high-altitude operation vehicle human-computer interaction device according to claim 1 is characterized in that the power supply of described high-altitude operation vehicle human-computer interaction device is 9 ~ 30V DC voltage, and output power is lower than 10W.
6. according to the described high-altitude operation vehicle human-computer interaction device of one of claim 2 ~ 5; It is characterized in that; The Flash storer of said ARM control module is no less than 16MB; SDRAM is no less than 16MB, and this module has DLL, can be connected the display control program of back through this device of special software change with computing machine.
7. high-altitude operation vehicle human-computer interaction device according to claim 6 is characterized in that, described high-altitude operation vehicle human-computer interaction device, the button of its keyboard input module are distributed on the press mold panel, and number is no less than 10; The ratio handle of handle load module is the handle of analog quantity output, and number is no less than 4.
8. high-altitude operation vehicle human-computer interaction device according to claim 6 is characterized in that, described high-altitude operation vehicle human-computer interaction device has the aluminium alloy waterproof case, and waterproof connector and external unit through 15 cores are electrically connected.
9. high-altitude operation vehicle human-computer interaction device according to claim 6 is characterized in that, described high-altitude operation vehicle human-computer interaction device, its LCD are 16 RGB displays, and resolution is 640 * 480.
10. high-altitude operation vehicle man-machine interaction method that adopts the said high-altitude operation vehicle human-computer interaction device of claim 1 is characterized in that step is following:
Steps A: after powering on, human-computer interaction device reads institute's stored configuration parameters through the ARM control module from its Flash storer, other each modules are carried out initialization, and demonstration is stored in the start-up picture in the Flash storer in LCD MODULE;
Step B: whether inspection CAN bus communication module receives the data that send the outside, if having then change step C, if not then change step D;
Step C: according to the data that receive; Needed effective real time data in the display interface of extraction LCD MODULE; Read the display routine that is stored in the Flash storer, real time data is shown on LCD according to the mode of display routine with numerical value, curve or animation;
Step D: the state of inspection keyboard input module, if button input is arranged, then change step e, if not then change step F;
Step e: according to the numbering of current display page and the key assignments of button, which in replacing display page, change displaying contents, the special control function be the function of judgement key assignments belong to, if preceding two are then changeed step F; If the 3rd, then change step G;
Step F: display routine and the function of key assignments according to being stored in the Flash storer are upgraded the displaying contents in the LCD, and change step H;
Step G: key assignments is formed the data that will send, send the data to the high-altitude operation vehicle master controller, and change step B through CAN bus communication module;
Step H: the numerical value of scanning handle load module, if the handle load module in effective range of control, then the data of handle are sent to the work high above the ground vehicle controller through CAN bus communication module, change step B.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103177487A (en) * | 2013-03-05 | 2013-06-26 | 北京轩慧国信科技有限公司 | Road vehicle working action analyzer |
| CN104536315A (en) * | 2014-12-08 | 2015-04-22 | 湖南星邦重工有限公司 | Aerial work platform |
| CN105116876A (en) * | 2015-07-31 | 2015-12-02 | 徐州重型机械有限公司 | Human-computer interaction system of aerial work platform |
| CN105366601A (en) * | 2015-12-03 | 2016-03-02 | 徐州海伦哲专用车辆股份有限公司 | Security monitoring and warning system for vehicle-mounted aerial work platform |
| CN111399487A (en) * | 2018-12-17 | 2020-07-10 | 沈阳新松机器人自动化股份有限公司 | AGV hand control device of adjustable rudder angle |
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| CN103177487A (en) * | 2013-03-05 | 2013-06-26 | 北京轩慧国信科技有限公司 | Road vehicle working action analyzer |
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| CN105116876A (en) * | 2015-07-31 | 2015-12-02 | 徐州重型机械有限公司 | Human-computer interaction system of aerial work platform |
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