CN105159280B - A kind of loading machine intelligent maintenance method for supporting remote diagnosis - Google Patents
A kind of loading machine intelligent maintenance method for supporting remote diagnosis Download PDFInfo
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- CN105159280B CN105159280B CN201510540904.8A CN201510540904A CN105159280B CN 105159280 B CN105159280 B CN 105159280B CN 201510540904 A CN201510540904 A CN 201510540904A CN 105159280 B CN105159280 B CN 105159280B
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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Abstract
The invention provides a kind of loading machine intelligent maintenance method for supporting remote diagnosis, integrated controller for loader IECU is powered up startup test on startup, gas pedal is detected at set time intervals when loading machine performs real-time task, steering wheel and control crank, when continuous three time interval gas pedals, whether detection intelligent terminal sends the instruction that system maintenance is tested when steering wheel and control crank allow without instruction and test environment, if receive the instruction of system maintenance test, the then instruction of execution system maintenance test, the result that system maintenance is tested is fed back into integrated controller for loader IECU.The present invention can make full use of the radio receiving transmitting module of intelligent loading machine and calculate processing module and the maintenance instruction of intelligent terminal is transmitted and parsed, and remote maintenance is carried out to loading machine, can generate corresponding report and visualization accident analysis and carry out diagnosis isolation.
Description
Technical field
The present invention relates to the remote maintenance and diagnosis technology of Flying by wire intelligent loading machine, is specially that one kind is used for smart load
The distant visual maintaining diagnostic method of support wifi or the GPS wireless telecommunications of machine.
Background technology
Loading machine is the main force of engineering machinery field, is widely used in highway, railway, building, water power, harbour, mine
Deng the restoration in earth-rock construction of construction project, be mainly used to shovel, loading, unloading, muck haulage and building stones one kind bulk material, can also to rock,
Pan soil carries out slight spading operation.Conventional load machine uses full machine work pattern, and positioning when being unfavorable for breaking down is with examining
It is disconnected, less support remote maintenance.Integrated electric-control system by direct drive valve, computer, the new and high technology such as automatically control and fully tie
Close, reduce the labor intensity of operating personnel, and the signal of appliance computer collection and processing simplifies maintenance difficulties, is simultaneously
The remote maintenance and diagnosis system of loading machine provides strong platform.Also no support wifi or GPS wireless telecommunications domestic at present
Loading machine maintenance system, so theory and technology is also very weak, it is necessary to further further investigate in this respect.
The content of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of loading machine for supporting visual remote to diagnose and intelligently tieed up
Maintaining method.
The technical solution adopted for the present invention to solve the technical problems comprises the following steps：
Step 1, intelligent terminal generation power-up enabling signal, is transmitted to loading machine via remote wireless signals R-T unit
CAN module, and then be sent to integrated controller for loader IECU；
Step 2, integrated controller for loader IECU are powered up startup test；
Step 3, loading machine perform real-time task when, at set time intervals detect gas pedal, steering wheel and
Control crank, gas pedal, steering wheel and control crank without instruction and test environment allow when mark PBIT_LOCK be 1, it is no
It is then 0, when the PBIT_LOCK of continuous three time intervals is 1, whether detection intelligent terminal sends the finger of system maintenance test
Order, if receiving the instruction of system maintenance test, the instruction of execution system maintenance test, if continuous three during execute instruction
Time interval detection PBIT_LOCK is 0, then continues executing with the real-time task of loading machine, otherwise, treats that instruction will be after the completion of performing
The result of system maintenance test feeds back to integrated controller for loader IECU；
Step 4, integrated controller for loader IECU will power up the result that startup test and system maintenance are tested and generate visually
Change maintenance report, return to intelligent terminal.
Described power-up, which starts test, includes software version number detection, CPU Autonomous tests, RAM detection, ROM detections, timer
Detection that detection, interrupt control unit are detected, synchro indicator is tested, CCDL is tested, LRU-ID is detected, D/A unrolls, supply voltage are surveyed
Examination and CAN detection.
Described software version number detection refers to CPU difference Cross transfer each passage software version number, carries out the soft of CPU
Part version number checks, judges whether each passage is consistent, if inconsistent Ze Ji CPU softwares version number Reflector；Described CPU is certainly
Detection be test value add, subtracted, multiplication and division, with or, non-, logical shift left, move to right, logical shift left, shift right operation, judge to count
Calculate whether result is equal to desired value, if the note cpu fault mark not equal to if；Described RAM detections include main memory RAM and storehouse,
Input/output buffer RAM, EBI buffer RAM and NVM, by writing detection data to whole memory blocks, and read and examine
Survey desired value and whether equal compare, wherein NVM also detects to the non-volatile function of power down；Described ROM is detected EPROM about
Determine address preservation verification and with calculation code and compared with, if unequal, put ROM fault mark；Described timer inspection
Survey and software timing time is set, start timer, timer counter value is read when software time count is zero, is judged whether
In allowed band, beyond then note timer failure；Described interrupt control unit detects timer interruption, overflows service index
Test service routine entrance is modified to point to, the timer of interruption pending register is put respectively and overflows interrupt bit, in inspection
Disconnected flag bit, determine whether to interrupt not responding, have, record failure；Synchronizing indication is put in described synchro indicator test first
Device is 1, judges whether synchro indicator is 1 after the 1ms that is delayed, if not then recording synchronism indicator failure；Then put and synchronously refer to
It is 0 to show device, judges whether synchro indicator is 0 after the 1ms that is delayed, if not then recording synchronism indicator failure；Described CCDL
Test is sending mouth transmission test data, and the 1ms that is delayed reads other channel datas in receiving port and compared with the data of transmission
Compared with, it is inconsistent, record failure；Described LRU-ID detection collection LRU_ID1 and LRU_ID2 discrete input signals, intersect and pass
It is defeated, judge whether internally inconsistent；LRU_ID test failure marks are exported if having same case；Described D/A, which unrolls to detect, to be divided
Not She Zhi PITCH_FEEL_GRD, D/A_TEST1 and D/A_TEST2 be equal to 0V, ± 5V, ± 10V, respectively be delayed 10ms, 20ms,
D/A corresponding to 30ms collections unrolls, and corresponding detection threshold sets respectively 0 ± 0.3V, ± 5 ± 0.3V, ± 9.85 ± 0.25V,
Failure is then recorded beyond thresholding；Described CAN detection is to read the self-test mode bit of CAN status register, judges it
Self-test state；CAN state markers is checked, if do not updated, puts CAN failure.
Described system maintenance test includes capstan handle sensor test, steering wheel sensor test, swing arm valve element position
Move test, scraper bowl valve element displacement measurement, the test of hydraulic pump swash plate angle, the survey of prexxure of the hydraulic pump sensor test, swing arm load pressure
Examination, bucket load pressure test, electromagnetism valve test and control of engine speed characteristic test.
The beneficial effects of the invention are as follows：Propose a kind of loading machine for supporting wifi or GPS wireless telecommunications and safeguard diagnosis side
Method, take full advantage of the radio receiving transmitting module of intelligent loading machine and calculate processing module and the maintenance instruction of intelligent terminal is sent out
Send and parse, remote maintenance is carried out to loading machine using electrifying startup BIT (PUBIT) and one-key start BIT (PBIT) method,
Corresponding report and visualization accident analysis can be generated and carry out diagnosis isolation.
Brief description of the drawings
Fig. 1 is the principle schematic of the present invention；
Fig. 2 is IECU PBIT interlock logic schematic diagrames；
Fig. 3 is the into/out logical schematics of PBIT；
Fig. 4 is coded sequence and required schematic diagram of tabling look-up.
Embodiment
The technical scheme is that a kind of loading machine intelligent maintenance method for supporting visual remote to diagnose, intelligent terminal
(mobile phone, analog capsule cabin etc.) sends remote maintenance by wifi or GPS and instructed, and loading machine calculates processing module and receives and perform phase
Attended operation is closed, and testing result is remotely returned.Concrete scheme is as follows：
(1) intelligent terminal generation remote maintenance instruction, the main inspection included to loading machine hardware, software and hydraulic unit etc.
Survey.
(2) wifi or GPS remote wireless signals R-T units are designed, mainly including hardware and software module therein, and
Support the functions such as bidirectional transmit-receive, data decoding.
(3) to ensure the safety of loading machine normal work, remote maintenance interlock logic is provided with computer module, only
Have in the case of interlocking effectively (logical one), just allow to carry out system remote maintenance test.
(4) computer processing module maintenance function exploitation on locomotive, the main maintenance for including being embedded in computer are loaded
Module carries out dependence test according to the maintenance instruction of reception, main to include power-up and start test and system maintenance test.
(5) generation visualization maintenance report, and return to intelligent terminal.
The present invention is further described with reference to the accompanying drawings and examples, and the present invention includes but are not limited to following implementations
Example, comprises the following steps：
1. being sent by intelligent terminal and safeguarding control instruction information, and wifi is forwarded it in the form of TCP/IP or UDP
Transceiver module, wifi transceiver modules are connected by special purpose interface with CAN module, and send it to dress by CAN
Carrier aircraft integrated manipulator (IECU).
2. it is following two to safeguard that control instruction mainly includes：
The concrete mode that it remotely starts and exited is as follows：
A.PUBIT is only performed after remote system power-up enabling signal is obtained, and to enter PUBIT which imply IECU has one
Individual precondition：I.e. whether system is that power-up starts, electrosemaphore in judgement；
CPU judges：Be allowed for access PUBIT when and if only if, and this passage IECU is " power-up starts ".
At the end, the CPU of each passage needs testing result carrying out CCDL PUBIT, and each cabinet CPU receives this cabinet
CPU PUBIT results, need synchronization before exiting.Its specific preservation ＆ testing content is as follows：
A) software version number detects
CPU distinguishes Cross transfer each passage software version number, carries out CPU software version number inspection.Judge each passage
It is whether consistent, if inconsistent Ze Ji CPU softwares version number failure mark.
B) CPU Autonomous tests
Test value add, subtracted, multiplication and division, with or, non-, logical shift left, move to right, logical shift left, shift right operation, judge
Whether result of calculation is equal to desired value, and cpu fault mark is put if being not equal to.
C) RAM is detected
Ram test includes hosting RAM and storehouse, input/output buffer RAM, EBI buffer RAM and NVM etc..Pass through
Detection data are write to memory block (whole memory blocks), and are read whether equal compared with detecting desired value.Wherein NVM is also needed pair
The non-volatile function of power down is detected.
D) ROM is detected
Verification that EPROM agreed address is preserved and with calculation code and comparing, if unequal, puts ROM fault mark
Will.
E) timer detects
Software timing time is set, starts timer, " software time counting " is decremented to zero, reads timer counter value, sentence
Break whether in particular range, beyond then note timer failure.
F) interrupt control unit detects
Timer interruption, spilling service index are modified to point to test service routine entrance, put interruption pending respectively
The timer and spilling interrupt bit of register, check interrupt flag bit, determine whether to interrupt not responding, have, record failure.
Note：Timer detects and interrupt control unit detection can be with joint test.
G) synchro indicator is tested
It is " 1 " to put synchro indicator；Be delayed T=1ms, reads synchro indicator, " 1 " is determined whether, if it is not, then recording
Synchro indicator failure；
It is " 0 " to put synchro indicator；Be delayed T=1ms, reads synchro indicator, " 0 " is determined whether, if it is not, then recording
Synchro indicator failure.
H) CCDL is tested
Test data is sent sending mouth, delay 1ms reads other three channel datas and the data sent in receiving port
It is compared, it is inconsistent, record failure.
I) LRU-ID is detected
LRU_ID1 and LRU_ID2 discrete input signals are gathered, Cross transfer, are judged whether internally inconsistent；Mutually sympathize with if having
Condition then exports LRU_ID test failure marks.
J) D/A unrolls detection
Set PITCH_FEEL_GRD, D/A_TEST1 and D/A_TEST2 to be equal to 0V, ± 5V, ± 10V respectively, be delayed respectively
D/A corresponding to 10ms, 20ms, 30ms collection unrolls.Corresponding detection threshold set be respectively 0 ± 0.3V, ± 5 ± 0.3V, ±
9.85±0.25V.Failure is then recorded beyond thresholding.
K) supply voltage is tested
L) CAN detects
The self-test mode bit of CAN status register is read, judges its self-test state；CAN state markers is checked, such as
Fruit does not update, then puts CAN failure.
B.PBIT embodiments
To ensure the safety of loading machine normal work, PBIT interlock logics are provided with IECU, are only interlocked in PBIT
Effectively in the case of (logical one), just allow carry out system PBIT tests.
IECU PBIT interlock logics are as shown in Figure 2.
IECU is after PBIT is entered, it is necessary to inquire about the state of " PBIT_LOCK " and aobvious control MFD survey every 100ms
Examination request.PBIT detects completion, it is necessary to carry out fault comprehensive, then declares result to IECU, waits artificial treatment.System remote
The into/out logics of PBIT are referring to Fig. 3.
Possible test event is as shown in the table during long-range one-key start maintenance test：
Testing result after 3 record remote maintenance instruction execution in real time, data is forwarded by CAN, with TCP/IP
Or UDP forms return to intelligent terminal, generate corresponding report and visualization accident analysis and carry out diagnosis isolation.As shown in Fig. 2 can
Specific implementation depending on changing fault message is as follows：
A) realize and classification extraction is carried out to the fault message of the long-range passback of loading machine：IECU does not directly send failure code
To intelligent terminal, but the coded sequence containing abort situation is sent, it is necessary to intelligent terminal is internally tabled look-up, finally give
And show dependent failure code and fault message.Coded sequence and required table look-up as shown in Figure 4：
B) according to above-mentioned failure sequence and its corresponding fault location information, realize abort situation with it can by software
Depending on the one-to-one relationship of position on makeup carrier aircraft picture.
C) when a certain failure occurs, corresponding failure position is changed into 1, and the red point of corresponding position dodges on its loading machine picture
It is bright, complete visualization malfunction coefficient and inquiry.
Claims (4)
- A kind of 1. loading machine intelligent maintenance method for supporting remote diagnosis, it is characterised in that comprise the steps：Step 1, intelligent terminal generation power-up enabling signal, is transmitted to the CAN of loading machine via remote wireless signals R-T unit Bus module, and then it is sent to integrated controller for loader IECU；Step 2, integrated controller for loader IECU are powered up startup test；Step 3, IECU is after PBIT is entered, it is necessary to inquire about the state of " PBIT_LOCK " every 100ms and show control MFD's Test request；When loading machine performs real-time task, gas pedal, steering wheel are detected at set time intervals and manipulates hand Handle, gas pedal, steering wheel and control crank without instruction and test environment allow when mark PBIT_LOCK be 1, be otherwise 0, When the PBIT_LOCK of continuous three time intervals is 1, whether detection intelligent terminal sends the instruction of system maintenance test, if receiving To the instruction of the instruction, then execution system maintenance test of system maintenance test, if during execute instruction between continuous three time It is 0 every detection PBIT_LOCK, then continues executing with the real-time task of loading machine, otherwise, treats instruction after the completion of performing by system maintenance The result of test feeds back to integrated controller for loader IECU；Step 4, integrated controller for loader IECU will power up the result generation visualization dimension for starting test and system maintenance and testing Shield report, returns to intelligent terminal.
- 2. the loading machine intelligent maintenance method according to claim 1 for supporting remote diagnosis, it is characterised in that：Described adds Electrically activating test includes software version number detection, CPU Autonomous tests, RAM detection, ROM detections, timer detection, interrupt control unit Detection, synchro indicator are tested, CCDL is tested, LRU-ID is detected, D/A unrolls detection, supply voltage test and CAN inspection Survey.
- 3. the loading machine intelligent maintenance method according to claim 2 for supporting remote diagnosis, it is characterised in that：Described is soft The detection of part version number refers to CPU difference Cross transfer each passage software version number, carries out CPU software version number inspection, sentences Whether each passage that breaks is consistent, if inconsistent Ze Ji CPU softwares version number Reflector；Described CPU Autonomous tests are by test value Add, subtract, multiplication and division, with or, non-, logical shift left, move to right, logical shift left, shift right operation, judge whether result of calculation is equal to Desired value, if the note cpu fault mark not equal to if；Described RAM detections include hosting RAM and storehouse, input/output buffering RAM, EBI buffer RAM and NVM, by writing detection data to whole memory blocks, and read compared with detecting desired value Whether equal, wherein NVM also detects to the non-volatile function of power down；What described ROM detections preserved EPROM agreed address Verification and with calculation code and compared with, if unequal, put ROM fault mark；Described timer detection sets software meter When the time, start timer, when software time count is zero read timer counter value, judge whether in allowed band It is interior, beyond then note timer failure；Timer interruption, spilling service index are modified to point to by described interrupt control unit detection Service routine entrance is used in test, is put the timer of interruption pending register respectively and is overflowed interrupt bit, checks interrupt flag bit, sentence It is disconnected whether to there is interruption not respond, have, record failure；It is 1 that synchro indicator is put in described synchro indicator test first, delay Judge whether synchro indicator is 1 after 1ms, if not then recording synchronism indicator failure；Then it is 0 to put synchro indicator, is prolonged When 1ms after judge whether synchro indicator is 0, if not then recording synchronism indicator failure；Described CCDL tests are being sent Mouthful send test data, delay 1ms reads other channel datas and compared with the data of transmission in receiving port, it is inconsistent then Record failure；Described LRU-ID detection collection LRU_ID1 and LRU_ID2 discrete input signals, Cross transfer, judge whether mutually It is inconsistent；LRU_ID test failure marks are exported if having same case；Described D/A unrolls to detect sets PITCH_ respectively FEEL_GRD, D/A_TEST1 and D/A_TEST2 are equal to 0V, ± 5V, ± 10V, and 10ms, 20ms, 30ms collection that is delayed respectively are corresponding D/A unroll, it is respectively 0 ± 0.3V, ± 5 ± 0.3V, ± 9.85 ± 0.25V that corresponding detection threshold, which is set, is then remembered beyond thresholding Record failure；Described CAN detection is to read the self-test mode bit of CAN status register, judges its self-test state；Check CAN state markers, if do not updated, put CAN failure.
- 4. the loading machine intelligent maintenance method according to claim 1 for supporting remote diagnosis, it is characterised in that：Described is Maintenance test of uniting includes capstan handle sensor test, steering wheel sensor test, swing arm valve element displacement measurement, scraper bowl valve element position Move test, the test of hydraulic pump swash plate angle, the survey of prexxure of the hydraulic pump sensor test, swing arm Load pressure test, bucket load pressure Examination, electromagnetism valve test and control of engine speed characteristic test.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107592221A (en) * | 2017-09-08 | 2018-01-16 | 湖南康通电子股份有限公司 | The long-range control method and device of broadcast terminal |
| US11030828B2 (en) * | 2018-03-22 | 2021-06-08 | Honeywell International Inc. | System and method to auto create aircraft maintenance records by aircraft data |
| CN110769041B (en) * | 2019-10-11 | 2022-05-24 | 中交一航局安装工程有限公司 | Wireless interlocking construction system for engineering ships and application method thereof |
| CN113722251B (en) * | 2020-05-26 | 2023-12-26 | 上海汽车变速器有限公司 | Two-wire SPI communication system and method for functional safety monitoring |
| CN113741392B (en) * | 2021-09-01 | 2023-04-14 | 中国航空工业集团公司西安飞行自动控制研究所 | Distributed flight control system PBIT mode operation flow method |
| CN114489017B (en) * | 2022-01-28 | 2024-03-12 | 联合汽车电子（重庆）有限公司 | Universal multichannel ECU environment durability test system |
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