CN105867268A - Engineering machinery safety control method and system, and engineering machinery - Google Patents
Engineering machinery safety control method and system, and engineering machinery Download PDFInfo
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- CN105867268A CN105867268A CN201610209437.5A CN201610209437A CN105867268A CN 105867268 A CN105867268 A CN 105867268A CN 201610209437 A CN201610209437 A CN 201610209437A CN 105867268 A CN105867268 A CN 105867268A
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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
- G05B19/048—Monitoring; Safety
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Abstract
The invention discloses an engineering machinery safety control method and system, and engineering machinery. The engineering machinery safe control system comprises a rotary table safety controller and a get-off safety input/output module, wherein the get-off safety input/output module is connected with the rotary table safety controller through a first safety communication bus; and safety correlation information and non-safety correlation information are transmitted through the first safety communication bus. According to the invention, by use of the safety controller and safety input/output module which support a safety communication bus protocol, the safety correlation information and the non-safety correlation information can be transmitted through the same communication bus cable, such that the line is simplified, and the cost is decreased.
Description
Technical field
The present invention relates to engineering machinery security control field, particularly to a kind of engineering machinery safety
Control method, system and engineering machinery.
Background technology
Aerial work platform is used to transport personnel, instrument and the material equipment to appointment position operation,
The multifunctional special engineering truck being made up of controlled workbench, extension means and chassis, chassis is
Shaped road vehicle, and by pilot control its move for high-altitude operation vehicle, and use self-propelled
Chassis is then self-propelled aloft working platform.Aerial work platform range of application is extremely wide, is answered
For electric power, fire-fighting, traffic, skin decoration and cleaning, garden maintenance, communication apparatus
Multiple industry and the places such as maintenance and maintenance.Owing to aerial work platform is used to manned work high above the ground
, so must being fulfilled for " high security " requirement of manned work high above the ground.
The control system of high-altitude operation vehicle is typically by controller, sensor, actuator and communication system
Composition.Along with work high above the ground automation and intelligentized development, the parts in control system are increasingly
Many, the wire laying mode of traditional point-to-point can cause number of conductors to be multiplied, and wire harness is more and more huger
Greatly.Complicated and in disorder wire harness, adds the fault rate of control system, reduces high-altitude operation vehicle
Reliability.Additionally, circuit is connected by slip ring between high-altitude operation vehicle gets on and off.Cross multi-thread
The quantity of Shu Zengjia slip-ring brush, thus increase cost.In order to simplify circuit, field bus technique
It is applied in control system.Due to CAN (Controller Area Network, controller local
Network) bus signal line quantity is few, transfer rate is fast, networking is free, dilatancy is strong, reliability
High, advantage of lower cost, therefore in work high above the ground vehicle control, the scene becoming main is total
Line.
But, due to fieldbus can be interfered, the factor such as hardware fault causes security information to pass
Input by mistake by mistake, cause security function to lose efficacy.Even if after applying CANopen upper-layer protocol, it is also difficult to
Meet the requirement of security information transmission reliability.In order to solve the danger that disabler brings, American-European
Country has started the application of functional safety technology.In European Union's aerial work platform standard EN280:2013
In, explicitly pointing out control system needs to meet functional safety requirement, and security performance class requirement
It is up to PLd.Therefore, the data communication bus for transmission security related information also has function to pacify
Full requirement.If used " safety relay " or " safety programmable logic controller (PLC) "
Hard wired rudimentary state of a control, can meet functional safety requirement, but install and safeguard
Cost is the highest, and reconfigures systematic comparison trouble, and flexibility is poor.
Prior art is primarily present following shortcomings:
(1) information transmission bus that the work high above the ground vehicle control of the overwhelming majority is used does not meets
The requirement of safety bus.
(2) although using the mode of redundant CAN bus to disclosure satisfy that functional safety requirement, but this
Also the circuit making control system becomes complicated, financial cost increase.
Summary of the invention
In view of above technical problem, the invention provides a kind of engineering machinery method of controlling security, be
System and engineering machinery, it is possible to use same safe communication bus transmission security related information and Fei An
Total correlation information.
According to an aspect of the present invention, it is provided that a kind of engineering machinery safety control system, including
Turntable safety governor and safe input/output module of getting off, wherein:
Safe input/output module of getting off is by the first safe communication bus and turntable security control
Device connects；
Security related information and non-safety-related information are passed by the first safe communication bus
Defeated.
In one embodiment of the invention, described system also includes the first electrical equipment, wherein:
First electrical equipment is connected with safe input/output module of getting off by holding wire；
First electrical equipment is safety-related element, and the signal of the first electrical equipment belongs to safe phase
Pass information；
The signal of the first electrical equipment is total by the first secure communication according to safe communication bus agreement
Line is transmitted.
In one embodiment of the invention, described system also includes the second electrical equipment, wherein:
Second electrical equipment is connected with safe input/output module of getting off by holding wire；
Second electrical equipment is non-safety-related element, and the signal of the second electrical equipment belongs to non-peace
Total correlation information；
The signal of the second electrical equipment is entered by the first safe communication bus according to communication bus protocol
Row transmission.
In one embodiment of the invention, described system also includes the 3rd electrical equipment, wherein:
3rd electrical equipment passes through the first safe communication bus and safe input/output module of getting off
Connect.
In one embodiment of the invention, described system also includes the 4th electrical equipment, wherein:
4th electrical equipment is connected with turntable safety governor by the second safe communication bus；
4th electrical equipment is safety-related element, and the signal of the 4th electrical equipment belongs to safe phase
Pass information；
The signal of the 4th electrical equipment is total by the second secure communication according to safe communication bus agreement
Line is transmitted.
In one embodiment of the invention, described system also includes the 5th electrical equipment, wherein:
5th electrical equipment is connected with turntable safety governor by holding wire.
In one embodiment of the invention, described system also includes platform safety input/output mould
Block, wherein:
Platform safety input/output module is by the second safe communication bus and turntable security control
Device connects；
Security related information and non-safety-related information are passed by the second safe communication bus
Defeated.
In one embodiment of the invention, described system also includes the 6th electrical equipment, wherein:
6th electrical equipment is connected with platform safety input/output module by holding wire；
6th electrical equipment is safety-related element, and the signal of the 6th electrical equipment belongs to safe phase
Pass information；
The signal of the 6th electrical equipment is total by the second secure communication according to safe communication bus agreement
Line is transmitted.
In one embodiment of the invention, described system also includes the 7th electrical equipment, wherein:
7th electrical equipment is connected with platform safety input/output module by holding wire；
7th electrical equipment is non-safety-related element, and the signal of the 7th electrical equipment belongs to non-peace
Total correlation information；
The signal of the 7th electrical equipment is entered by the second safe communication bus according to communication bus protocol
Row transmission.
In one embodiment of the invention, described system also includes the 8th electrical equipment, wherein:
8th electrical equipment is by the second safe communication bus and platform safety input/output module
Connect.
According to a further aspect in the invention, it is provided that a kind of engineering machinery, including the most any of the above-described enforcement
Engineering machinery safety control system described in example.
According to a further aspect in the invention, it is provided that a kind of engineering machinery method of controlling security, including:
Turntable safety governor carries out data by the first safe communication bus and the first electrical equipment
Communication, wherein, safe input/output module of getting off is pacified with turntable by the first safe communication bus
Full controller connects, and the first electrical equipment is connected with safe input/output module of getting off by holding wire
Connect；
Turntable safety governor carries out data by the first safe communication bus and the second electrical equipment
Communication, wherein, the second electrical equipment is connected with safe input/output module of getting off by holding wire.
In one embodiment of the invention, described method also includes:
3rd electrical equipment is by the first safe communication bus and the first electrical equipment, second electric
Element and turntable safety governor carry out data communication, and wherein, the 3rd electrical equipment passes through first
Safe communication bus is connected with safe input/output module of getting off.
In one embodiment of the invention, security related information and non-safety-related information are passed through
First safe communication bus is transmitted, and wherein, the signal of the first electrical equipment belongs to safe phase
Pass information, the signal of the first electrical equipment is logical by the first safety according to safe communication bus agreement
Letter bus is transmitted；The signal of the second electrical equipment belongs to non-safety-related information, the second electricity
The signal of gas element is transmitted by the first safe communication bus according to communication bus protocol.
In one embodiment of the invention, described method also includes:
Turntable safety governor carries out data by the second safe communication bus and the 4th electrical equipment
Communication, wherein, the signal of the 4th electrical equipment belongs to security related information, the 4th electrical equipment
Signal be transmitted by the second safe communication bus according to safe communication bus agreement；
Turntable safety governor carries out data communication by holding wire and the 5th electrical equipment.
In one embodiment of the invention, described method also includes:
Turntable safety governor carries out data by the second safe communication bus and the 6th electrical equipment
Communication, wherein, platform safety input/output module is pacified with turntable by the second safe communication bus
Full controller connects, and the 6th electrical equipment is by holding wire with platform safety input/output module even
Connect；
Turntable safety governor carries out data by the second safe communication bus and the 7th electrical equipment
Communication, wherein, the 7th electrical equipment is connected with platform safety input/output module by holding wire.
In one embodiment of the invention, described method also includes:
8th electrical equipment is by the second safe communication bus and the 6th electrical equipment, the 7th electric
Element and turntable safety governor carry out data communication, and wherein, the 8th electrical equipment is by the
Two safe communication bus are connected with platform safety input/output module.
In one embodiment of the invention, security related information and non-safety-related information are passed through
Second safe communication bus is transmitted, and wherein, the signal of the 6th electrical equipment belongs to safe phase
Pass information, the signal of the 6th electrical equipment is logical by the second safety according to safe communication bus agreement
Letter bus is transmitted；The signal of the 7th electrical equipment belongs to non-safety-related information, the 7th electricity
The signal of gas element is transmitted by the second safe communication bus according to communication bus protocol.
The present invention by use support safe communication bus agreement safety governor, safety input/
Output module, makes security related information can be communicated total by same with non-safety-related information
Line cable transmission, thus simplify circuit, provide cost savings.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it is clear that
Ground, the accompanying drawing in describing below is only some embodiments of the present invention, skill common for this area
From the point of view of art personnel, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings
Obtain other accompanying drawing.
Fig. 1 is the schematic diagram of one embodiment of engineering machinery safety control system of the present invention.
Fig. 2 is the schematic diagram of one specific embodiment of engineering machinery safety control system of the present invention.
Fig. 3 is the electrical equipment of the engineering machinery safety control system of Fig. 2 peace in engineering machinery
Dress schematic diagram.
Fig. 4 is the schematic diagram of one embodiment of engineering machinery method of controlling security of the present invention.
Fig. 5 is the schematic diagram of engineering machinery another embodiment of method of controlling security of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention
It is clearly and completely described, it is clear that described embodiment is only that a part of the present invention is real
Execute example rather than whole embodiments.Description at least one exemplary embodiment is actual below
On be merely illustrative, never as to the present invention and application thereof or any restriction of use.Base
Embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, broadly falls into the scope of protection of the invention.
Unless specifically stated otherwise, the parts illustrated the most in these embodiments are relative with step
Layout, numerical expression and numerical value do not limit the scope of the invention.
Simultaneously, it should be appreciated that for the ease of describing, the size of the various piece shown in accompanying drawing
It is not to draw according to actual proportionate relationship.
May not make in detail for technology, method and apparatus known to person of ordinary skill in the relevant
Discuss, but in the appropriate case, described technology, method and apparatus should be considered to authorize specification
A part.
Shown here with in all examples discussed, any occurrence should be construed as merely and show
Example rather than as limit.Therefore, other example of exemplary embodiment can have not
Same value.
It should also be noted that similar label and letter expression similar terms in following accompanying drawing, therefore,
The most a certain Xiang Yi accompanying drawing is defined, then need not it is entered in accompanying drawing subsequently
One step discussion.
Fig. 1 is the schematic diagram of one embodiment of engineering machinery safety control system of the present invention.Such as Fig. 1
Shown in, described engineering machinery safety control system includes turntable safety governor 18 and peace of getting off
Full input/output (I/O) module 12, wherein:
Get off safe input/output module 12 by the first safe communication bus 17 and turntable safety
Controller 18 connects.
Security related information and non-safety-related information can pass through same safety communication cable
(the first safe communication bus 17) is transmitted.
In one embodiment of the invention, the first safe communication bus 17 use based on
CANopen Safety protocol security bus is as data communication bus.CANopen Safety assists
View is a kind of safety bus agreement that CiA tissue is worked out based on CANopen agreement, and becomes
For EU criteria EN 50325-5:2010.CANopen Safety agreement allows safety-relevant communication
Use CANopen communication network, on the same network segment of CANopen, i.e. run safe phase
Close and non-security communication data.
In one embodiment of the invention, the first safe communication bus 17 is the communication that gets on and off
CAN cable.
In one embodiment of the invention, safe input/output module 12 of getting off can select peace
Full performance rate reaches the safe I/O module of PLd；Turntable safety governor 18 can select peace
Full performance rate reaches the safety governor of PLd.
Based on the above embodiment of the present invention provide engineering machinery safety control system, use based on
CANopen Safety protocol security bus is as data communication bus, thus solves use
Single CAN does not meets EN280:2013 to work high above the ground vehicle control functional safety
The problem required.Owing in the present invention, security related information and non-safety-related information can be passed through
Same CAN network transmits, thus simplifies circuit, provides cost savings.Further,
The Control system architecture of the present invention is basic with the structure of existing control system based on CAN
Unanimously, easily compatible.
The engineering machinery safety control system of the present invention is of the whole control system of engineering machinery
Point, situation about causing danger for anti-locking system, can be independent dedicated system, it is also possible to
Basic control system integrates.
In one embodiment of the invention, described engineering machinery can be mobilecrane, with
The engineering machinery such as car crane, Telescopic handler, high-altitude operation vehicle.
The engineering machinery safety control system of the present invention can ensure the controlled plants such as engineering machinery
Functional safety, wherein, functional safety refers to and engineering machinery and work machine control system
The part of relevant general safety, it depends on electrical/electronic/programmable electronic
(E/E/PE) safety-related systems and Outer risks reduce the correct enforcement of facility function.
Below in conjunction with Fig. 2 and Fig. 3 embodiment to the engineering machinery security control shown in Fig. 1 of the present invention
The all parts of system is described in further detail.
Fig. 2 is the schematic diagram of one specific embodiment of engineering machinery safety control system of the present invention.Figure
Engineering machinery in 2 embodiments is specially high-altitude operation vehicle.Fig. 3 is the engineering machinery safety of Fig. 2
The electrical equipment of control system scheme of installation in engineering machinery.
In the embodiment shown in Fig. 1 of the present invention, engineering machinery safety control system can also wrap
Include the first electrical equipment 100, wherein: the first electrical equipment 100 is by holding wire and peace of getting off
Input port or the output port of full input/output module 12 connect.First electrical equipment 100
For safety-related element, the signal of the first electrical equipment 100 belongs to security related information.First
The signal of electrical equipment 100 passes through the first safe communication bus 17 according to safe communication bus agreement
It is transmitted.
In the specific embodiment shown in Fig. 2 of the present invention, the electrically unit of first in Fig. 1 embodiment
Part 100 specifically can include get off scram button 9, mode selection switch 8, supporting leg state-detection
Sensor 11 and recovery position-detection sensor 10.Get off scram button 9, mode selection switch
8, supporting leg state detection sensor 11 and reclaim position-detection sensor 10 respectively with safety of getting off
The input port of input/output module 12 connects.Get off scram button 9, mode selection switch 8,
The signal of supporting leg state detection sensor 11 and recovery position-detection sensor 10 belongs to safe phase
According to CANopen Safety agreement by the first safe communication bus (above, OFF signal, need
Get off communication CAN cable) 17 it is transmitted with turntable safety governor 18.Such as Fig. 3
Shown in, supporting leg state detection sensor 11 is fixed on supporting leg 29.Reclaim position detection sensing
Device 10 is fixed on chassis 31.
In the embodiment shown in Fig. 1 of the present invention, engineering machinery safety control system can also wrap
Include the second electrical equipment 200, wherein: the second electrical equipment 200 is by holding wire and peace of getting off
Input port or the output port of full input/output module 12 connect；Second electrical equipment 200
For non-safety-related element, the signal of the second electrical equipment 200 belongs to non-safety-related information；
The signal of the second electrical equipment 200 passes through the first safe communication bus 17 according to communication bus protocol
It is transmitted.
In the specific embodiment shown in Fig. 2 of the present invention, the electrically unit of second in Fig. 1 embodiment
Part 200 specifically can include getting off control cabinet rocking bar 14, the control cabinet button 15 and getting off of getting off
Magnetic valve group 13, wherein: control cabinet rocking bar 14 of getting off, control cabinet button 15 of getting off are by letter
Number line be connected to the to get off input port of safe input/output module 12 connects.Get off magnetic valve
Group 13 is connected to get off by holding wire the output port of safe input/output module 12, gets off
The control that magnetic valve group 13 is transmitted by the first safe communication bus 17 by turntable safety governor 18
System instruction controls；Turntable safety governor 18 can be got off magnetic valve group 13 by control, real
Now control the flexible of supporting leg 29 as shown in Figure 3.
In the embodiment shown in Fig. 1 of the present invention, engineering machinery safety control system can also wrap
Include the 3rd electrical equipment 300, wherein: the 3rd electrical equipment 300 is total by the first secure communication
Line 17 is connected with safe input/output module 12 of getting off.
In the specific embodiment shown in Fig. 2 of the present invention, the electrically unit of the 3rd in Fig. 1 embodiment
Part 300 is specifically as follows control cabinet display 16 of getting off, and control cabinet display 16 of getting off passes through
First safe communication bus 17 is connected with safe input/output module 12 of getting off.Get off control cabinet
The data that display 16 is sended over by safe input/output module 12 of getting off for display, example
Such as scram button 9 of getting off, mode selection switch 8, get off control cabinet rocking bar 14 and control of getting off
The input signal of case button 15；Supporting leg state detection sensor 11 and recovery position detection sensing
The real-time data collection of device 10；Or turntable safety governor 18 is sent to magnetic valve group of getting off
The control instruction of 13.
In the specific embodiment shown in Fig. 3 of the present invention, engineering machinery safety control system also may be used
To include control cabinet 30 of getting off, wherein, getting off control cabinet 30 described in can be defeated by safety of getting off
Enter/output module 12, control cabinet rocking bar 14 of getting off, control cabinet button 15 of getting off, jerk of getting off
Button 9, mode selection switch 8 and control cabinet display 16 of getting off form.As it is shown on figure 3,
Described control cabinet 30 of getting off is arranged on chassis 31, and under existing work high above the ground vehicle control
Car control cabinet position consistency.
Thus, the security related information of the first electrical equipment 100 in the above embodiment of the present invention
All can be by same secure communication electricity with the non-safety-related information of the second electrical equipment 200
Cable (the first safe communication bus 17) is transmitted.Security related information and non-safety-related letter
Breath both can be at first electrical equipment the 100, second electrical equipment 200 and turntable safety governor
Transmit between 18；Security related information and non-safety-related information can also be transferred to control of getting off
Case display 16 shows.
In the embodiment shown in Fig. 1 of the present invention, engineering machinery safety control system can also wrap
Include the 4th electrical equipment 400, wherein: the 4th electrical equipment 400 is total by the second secure communication
Line 20 is connected with turntable safety governor 18.4th electrical equipment 400 is safety-related element,
The signal of the 4th electrical equipment 400 belongs to security related information.The letter of the 4th electrical equipment 400
Number it is transmitted by the second safe communication bus 20 according to safe communication bus agreement.
In the specific embodiment shown in Fig. 2 of the present invention, the electrically unit of the 4th in Fig. 1 embodiment
Part 400 specifically can include turntable angular transducer 7, extension means obliquity sensor 5 and stretch
Exhibition mechanism length sensor 6.Turntable angular transducer 7, extension means obliquity sensor 5 and stretch
The information that exhibition mechanism length sensor 6 sends belongs to security related information, therefore, and three biographies
Sensor all uses the CAN communication interface supporting CANopen Safety agreement, by the second peace
Full communication bus 20 (communication CAN cable of i.e. getting on the bus) is entered with turntable safety governor 18
Row communication.
As it is shown on figure 3, turntable safety governor 18 is fixed on the base of turntable 27, with existing
There is the turntable controller position consistency of work high above the ground vehicle control.Turntable angular transducer 7 is pacified
It is contained on the angle measurement gear driving gear to engage with turntable 27, the anglec of rotation of measuring circurmarotate 27.
Extension means obliquity sensor 5 and extension means linear transducer 6 are fixed on extension means 26
Fixed arm on, for measuring change angle and the spread length of extension means 26.Three of the above
Sensor uses the sensor composition position detecting system of PLd grade, the position of detection workbench
Put, prevent it from exceeding safety work space.The installation site of three sensors is made with existing high-altitude
The linear transducer of industry vehicle control, obliquity sensor and turntable angular transducer position consistency.
Due to three sensing station dispersions, so using CAN to connect, circuit can be simplified.
In another embodiment of the invention, it is possible to use the length angle of PLd grade is two-in-one
The linear transducer of the PLd grade used in sensor alternate figures 2 and Fig. 3 embodiment and angle
Sensor, realizes work-table position detection function.
In the embodiment shown in Fig. 1 of the present invention, engineering machinery safety control system can also wrap
Include the 5th electrical equipment 500, wherein: the 5th electrical equipment 500 is pacified with turntable by holding wire
Full controller 18 connects.In the specific embodiment shown in Fig. 2 of the present invention, in Fig. 1 embodiment
The 5th electrical equipment 500 be specifically as follows turntable magnetic valve group 19, turntable magnetic valve group 19
For the control instruction sent according to turntable safety governor 18, control turntable motor, luffing oil
Cylinder, telescopic oil cylinder and leveling cyclinder.
For the engineering machinery such as high-altitude operation vehicle, the engineering machinery safety control system shown in Fig. 1
Platform safety input/output module 1 can also be included, wherein: platform safety input/output module
1 is connected with turntable safety governor 18 by the second safe communication bus 20.Safety-related letter
Breath and non-safety-related information can be transmitted by the second safe communication bus 20.Platform is pacified
Full input/output module 1 uses the module of PLd grade.
In the embodiment shown in Fig. 1 of the present invention, engineering machinery safety control system can also wrap
Include the 6th electrical equipment 600, wherein: the 6th electrical equipment 600 is pacified with platform by holding wire
Input port or the output port of full input/output module 1 connect.6th electrical equipment 600 is
Safety-related element, the signal of the 6th electrical equipment 600 belongs to security related information.6th electricity
The signal of gas element 600 passes through the second safe communication bus 20 according to safe communication bus agreement
It is transmitted.
In the specific embodiment shown in Fig. 2 of the present invention, the electrically unit of the 6th in Fig. 1 embodiment
Part 600 can include platform scram button 2, platform obliquity sensor 3 and platform load sensing
Device 4, wherein: platform scram button 2, platform obliquity sensor 3 and platform load transducer 4
It is connected by the input port of holding wire with platform safety input/output module 1.As it is shown on figure 3,
Platform obliquity sensor 3, platform load sensor 4 are arranged on platform 32.Platform inclination angle passes
The sensor of PLd grade selected by sensor 3, platform load sensor 4.Platform obliquity sensor
3, the signal of platform load sensor 4 and platform scram button 2 is safety-related signal, needs
According to CANopen Safety agreement the second safe communication bus 20 and turntable safety governor 18
It is transmitted.
In the embodiment shown in Fig. 1 of the present invention, engineering machinery safety control system can also wrap
Include the 7th electrical equipment 700, wherein: the 7th electrical equipment 700 is pacified with platform by holding wire
Full input/output module 1 connects.7th electrical equipment 700 is non-safety-related element, the 7th
The signal of electrical equipment 700 belongs to non-safety-related information.The signal of the 7th electrical equipment 700
Entered by the second safe communication bus 20 according to the communication bus protocol of such as CANopen agreement
Row transmission.
In the specific embodiment shown in Fig. 2 of the present invention, the electrically unit of the 7th in Fig. 1 embodiment
Part 700 can include that platform courses case rocking bar 23, platform courses case button 24 and motor control
Contactor 22, wherein: platform courses case rocking bar 23, platform courses case button 24 pass through signal
Line is connected with the input port of platform safety input/output module 1.Electric motor control contactor 22
Being connected by the output port of holding wire with platform safety input/output module 1, motor controls to connect
The control that tentaculum 22 is transmitted by the second safe communication bus 20 according to turntable safety governor 18
Instruction controls the swing of workbench 32.Platform safety input/output module 1 is used for gathering defeated
The information of inbound port, and it is transferred to turntable safety governor 18 by CAN；With
And receive the control instruction that turntable safety governor 18 is transmitted by CAN, and by described
Control instruction is sent to electric motor control contactor 22.
In the embodiment shown in Fig. 1 of the present invention, engineering machinery safety control system can also wrap
Include the 8th electrical equipment 800, wherein: the 8th electrical equipment 800 is total by the second secure communication
Line 20 is connected with platform safety input/output module 1.In the concrete reality shown in Fig. 2 of the present invention
Executing in example, the 8th electrical equipment 800 in Fig. 1 embodiment can be platform courses case display screen
21.Platform courses case display screen 21 can show and sent by platform safety input/output module 1
The data come over, such as platform courses case rocking bar 23, platform courses case button 24, platform jerk
The input signal of button 2；Adopting in real time of platform obliquity sensor 3 and platform load transducer 4
Collection data；Or turntable safety governor 18 is sent to the control of electric motor control contactor 22 and refers to
Order.
In the specific embodiment shown in Fig. 3 of the present invention, engineering machinery safety control system also may be used
To include platform courses case 25, wherein, platform courses case 25 can be inputted by platform safety/defeated
Go out module 1, platform scram button 2, platform courses case rocking bar 23, platform courses case button 24,
Platform courses case display screen 21 forms.As it is shown on figure 3, platform courses case 25 is fixed on work
On platform 32, with the platform courses case position consistency of existing work high above the ground vehicle control, convenience
Operated by personnel.
Platform safety input/output module 1, turntable safety governor in the above embodiment of the present invention
18 all use the module of PLd grade with safe input/output module 12 of getting off, and its interface is with outer
Shape is identical with standard I/O module, but its hardware configuration uses Redundancy Design or detects in real time, makes
Its reliability is higher.
Platform safety input/output module 1, turntable safety governor in the above embodiment of the present invention
18 all support CANopen agreement and CANopen with safe input/output module 12 of getting off
Safety agreement, therefore security related information and essential information all can be by same CAN
Network transmits, and the most each parts only need to take a CAN communication interface, and the second secure communication
Bus 20 and the first safe communication bus 17 have only to a CAN cable, without
Want redundant configuration.Therefore, the CAN network topology structure of the present invention is made with existing high-altitude
The bus network topology structure of industry vehicle control is consistent, has the highest compatibility.Second peace
Full communication bus 20 and first safe communication bus 17 wire laying mode on car body and existing height
The CAN cable distribution mode of idle job vehicle control is consistent.
First safe communication bus of the above embodiment of the present invention and the second safe communication bus are a kind of
Safety bus, wherein safety bus is to realize Safety-Related System security information reliable communicating
Safety-related transmission system, is the important component part realizing system allomeric function safety.
According to a further aspect in the invention, it is provided that a kind of engineering machinery, including the most any of the above-described enforcement
Engineering machinery safety control system described in example.
In one embodiment of the invention, described engineering machinery can be mobilecrane, with
The engineering machinery such as car crane, Telescopic handler, high-altitude operation vehicle.
In one embodiment of the invention, as it is shown on figure 3, described engineering machinery can also include
Driver's cabin 28.
The engineering machinery of the above embodiment of the present invention includes engineering machinery safety based on CAN
Control system, wants so that engineering machinery meets EN280:2013 safety-related systems functional safety
Ask；Make security related information and the non-safety-related information can be by same single CAN cable
Transmission, thus simplify circuit, provide cost savings；The CAN network topology structure of the present invention
Consistent with the bus network topology structure of existing work machine control system, CAN cable distribution
Mode and controller, I/O module, sensor installation site basically identical with existing system, therefore
There is the highest compatibility, thus reduce improvement cost.
Fig. 4 is the schematic diagram of one embodiment of engineering machinery method of controlling security of the present invention.Preferably
, the present embodiment can be by any of the above-described embodiment of the present invention (such as Fig. 1 or Fig. 2 embodiment)
Engineering machinery safety control system perform.The method includes:
Step 401, turntable safety governor 18 is by the first safe communication bus 17 and first
Electrical equipment 100 carries out data communication, and wherein, safe input/output module 12 of getting off passes through
First safe communication bus 17 is connected with turntable safety governor 18, the first electrical equipment 100
It is connected with safe input/output module 12 of getting off by holding wire.
Step 402, turntable safety governor 18 is by the first safe communication bus 17 and second
Electrical equipment 200 carries out data communication, wherein, the second electrical equipment 200 by holding wire with
Safe input/output module 12 of getting off connects.
In one embodiment of the invention, described method can also include: the 3rd electrical equipment
300 pass through the first safe communication bus 17 and first electrical equipment the 100, second electrical equipment 200
Carrying out data communication with turntable safety governor 18, wherein, the 3rd electrical equipment 300 is by the
One safe communication bus 17 is connected with safe input/output module 12 of getting off.
In the above embodiment of the present invention, security related information and non-safety-related information are by the
One safe communication bus 17 is transmitted, and wherein, the signal of the first electrical equipment 100 belongs to peace
Total correlation information, the signal of the first electrical equipment 100 according to safe communication bus agreement by the
One safe communication bus 17 is transmitted；The signal of the second electrical equipment 200 belongs to non-security phase
Pass information, the signal of the second electrical equipment 200 is logical by the first safety according to communication bus protocol
Letter bus 17 is transmitted.
In one embodiment of the invention, described method can also include: turntable security control
Device 18 carries out data communication by the second safe communication bus 20 and the 4th electrical equipment 400,
Wherein, the signal of the 4th electrical equipment 400 belongs to security related information, the 4th electrical equipment 400
Signal be transmitted by the second safe communication bus 20 according to safe communication bus agreement；Turn
Platform safety governor 18 carries out data communication by holding wire and the 5th electrical equipment 500.
Fig. 5 is the schematic diagram of engineering machinery another embodiment of method of controlling security of the present invention.Preferably
, the present embodiment can be by any of the above-described embodiment of the present invention (such as Fig. 1 or Fig. 2 embodiment)
Engineering machinery safety control system perform.The method includes:
Step 501, turntable safety governor 18 is by the second safe communication bus 20 and the 6th
Electrical equipment 600 carries out data communication, and wherein, platform safety input/output module 1 is by the
Two safe communication bus 20 are connected with turntable safety governor 18, and the 6th electrical equipment 600 leads to
Cross holding wire to be connected with platform safety input/output module 1.
Step 502, turntable safety governor 18 is by the second safe communication bus 20 and the 7th
Electrical equipment 700 carries out data communication, wherein, the 7th electrical equipment 700 by holding wire with
Platform safety input/output module 1 connects.
Step 503, the 8th electrical equipment 800 is by the second safe communication bus 20 and the 6th electricity
Gas element the 600, the 7th electrical equipment 700 and turntable safety governor 18 carry out data communication,
Wherein, the 8th electrical equipment 800 by the second safe communication bus 20 and platform safety input/
Output module 1 connects.
In the above embodiment of the present invention, security related information and non-safety-related information are by the
Two safe communication bus 20 are transmitted, and wherein, the signal of the 6th electrical equipment 600 belongs to peace
Total correlation information, the signal of the 6th electrical equipment 600 according to safe communication bus agreement by the
Two safe communication bus 20 are transmitted；The signal of the 7th electrical equipment 700 belongs to non-security phase
Pass information, the signal of the 7th electrical equipment 700 is logical by the second safety according to communication bus protocol
Letter bus 20 is transmitted.
The above embodiment of the present invention uses based on CANopen Safety protocol security bus conduct
Data communication bus, thus solve the single CAN of use and do not meet EN280:2013 pair
The problem that work high above the ground vehicle control functional safety requires.Due to letter safety-related in the present invention
Breath and non-safety-related information can be transmitted by same CAN network, thus simplify
Circuit, provides cost savings.Further, the Control system architecture of the present invention is with existing based on CAN
The structure of the control system of bus is basically identical, easily compatible.
In an embodiment of the invention, for the engineering machinery shown in Fig. 2 and Fig. 3 of the present invention
Safety control system, the engineering machinery method of controlling security of the present invention specifically may include that
Step 11, obtains scram button 9 of getting off, mode selection switch 8, control cabinet of getting off shake
Bar 14 and the input signal of control cabinet button 15 of getting off, and supporting leg state detection sensor 11
With the real-time data collection reclaiming position-detection sensor 10.
Step 12, the input signal obtained according to step 11 and real-time data collection, determine the
One control instruction.
Step 13, is sent to, by the first control instruction, magnetic valve group 13 of getting off, in order to electromagnetism of getting off
Valve group 13 controls the flexible of supporting leg 29 according to the first control instruction.
Thus the present invention above-mentioned engineering machinery safety control system can by user input signal with
And the Real-time Collection signal of supporting leg state detection sensor and recovery position-detection sensor controls to prop up
Stretching of leg.
In an embodiment of the invention, for the engineering machinery shown in Fig. 2 and Fig. 3 of the present invention
Safety control system, the engineering machinery method of controlling security of the present invention can also include:
Step 21, obtains scram button 9 of getting off, mode selection switch 8, control cabinet of getting off shake
Bar 14 and the input signal of control cabinet button 15 of getting off, and turntable angular transducer 7, stretch
Exhibition mechanism obliquity sensor 5 and the real-time data collection of extension means linear transducer 6.
Step 22, the input signal obtained according to step 21 and real-time data collection, determine the
Two control instructions.
Step 23, is sent to turntable magnetic valve group 19, in order to turntable electromagnetism by the second control instruction
Valve group 19 controls turntable motor, amplitude oil cylinder, telescopic oil cylinder and leveling according to the second control instruction
The operation of oil cylinder, and then control turntable 27 and the action of extension means 26.
Thus the present invention above-mentioned engineering machinery safety control system can by user input signal with
And turntable angular transducer 7, extension means obliquity sensor 5 and extension means linear transducer 6
Real-time Collection signal realize to turntable 27 and the control of extension means 26.
In an embodiment of the invention, for the engineering machinery shown in Fig. 2 and Fig. 3 of the present invention
Safety control system, the engineering machinery method of controlling security of the present invention can also include:
Step 31, obtains platform courses case rocking bar 23, platform courses case button 24, platform suddenly
Stop the input signal of button 2, and platform obliquity sensor 3 and platform load transducer 4
Real-time data collection.
Step 32, the input signal obtained according to step 31 and real-time data collection, determine the
Three control instructions.
Step 33, is sent to electric motor control contactor 22 by the 3rd control instruction, in order to motor control
Contactor 22 processed controls the swing of workbench 32 according to the 3rd control instruction.
Thus the present invention above-mentioned engineering machinery safety control system can by user input signal with
And the Real-time Collection signal control work of platform obliquity sensor 3 and platform load transducer 4 is flat
The swing of platform 32.
So far, the present invention is described in detail.In order to avoid covering the design of the present invention, do not have
Details more known in the field are described.Those skilled in the art as described above, completely
It can be appreciated how implement technical scheme disclosed herein.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment
Can be completed by hardware, it is also possible to instruct relevant hardware by program and complete, described
Program can be stored in a kind of computer-readable recording medium, and storage medium mentioned above is permissible
It is read-only storage, disk or CD etc..
Description of the invention is given for the sake of example and description, and is not exhaustively
Or it limit the invention to disclosed form.Many modifications and variations are for the common skill of this area
It is obvious for art personnel.Selecting and describing embodiment is the principle in order to the present invention is more preferably described
Apply with reality, and make those of ordinary skill in the art it will be appreciated that the present invention thus design is suitable
The various embodiments with various amendments in special-purpose.
Claims (18)
1. an engineering machinery safety control system, it is characterised in that include turntable security control
Device and safe input/output module of getting off, wherein:
Safe input/output module of getting off is by the first safe communication bus and turntable security control
Device connects；
Security related information and non-safety-related information are passed by the first safe communication bus
Defeated.
System the most according to claim 1, it is characterised in that also include that first is the most first
Part, wherein:
First electrical equipment is connected with safe input/output module of getting off by holding wire；
First electrical equipment is safety-related element, and the signal of the first electrical equipment belongs to safe phase
Pass information；
The signal of the first electrical equipment is total by the first secure communication according to safe communication bus agreement
Line is transmitted.
System the most according to claim 2, it is characterised in that also include that second is the most first
Part, wherein:
Second electrical equipment is connected with safe input/output module of getting off by holding wire；
Second electrical equipment is non-safety-related element, and the signal of the second electrical equipment belongs to non-peace
Total correlation information；
The signal of the second electrical equipment is entered by the first safe communication bus according to communication bus protocol
Row transmission.
System the most according to claim 3, it is characterised in that also include that the 3rd is the most first
Part, wherein:
3rd electrical equipment passes through the first safe communication bus and safe input/output module of getting off
Connect.
5. according to the system according to any one of claim 1-4, it is characterised in that also include
4th electrical equipment, wherein:
4th electrical equipment is connected with turntable safety governor by the second safe communication bus；
4th electrical equipment is safety-related element, and the signal of the 4th electrical equipment belongs to safe phase
Pass information；
The signal of the 4th electrical equipment is total by the second secure communication according to safe communication bus agreement
Line is transmitted.
System the most according to claim 5, it is characterised in that also include that the 5th is the most first
Part, wherein:
5th electrical equipment is connected with turntable safety governor by holding wire.
7. according to the system according to any one of claim 1-4, it is characterised in that also include
Platform safety input/output module, wherein:
Platform safety input/output module is by the second safe communication bus and turntable security control
Device connects；
Security related information and non-safety-related information are passed by the second safe communication bus
Defeated.
System the most according to claim 7, it is characterised in that also include that the 6th is the most first
Part, wherein:
6th electrical equipment is connected with platform safety input/output module by holding wire；
6th electrical equipment is safety-related element, and the signal of the 6th electrical equipment belongs to safe phase
Pass information；
The signal of the 6th electrical equipment is total by the second secure communication according to safe communication bus agreement
Line is transmitted.
System the most according to claim 8, it is characterised in that also include that the 7th is the most first
Part, wherein:
7th electrical equipment is connected with platform safety input/output module by holding wire；
7th electrical equipment is non-safety-related element, and the signal of the 7th electrical equipment belongs to non-peace
Total correlation information；
The signal of the 7th electrical equipment is entered by the second safe communication bus according to communication bus protocol
Row transmission.
System the most according to claim 9, it is characterised in that also include that the 8th is electric
Element, wherein:
8th electrical equipment is by the second safe communication bus and platform safety input/output module
Connect.
11. 1 kinds of engineering machinery, it is characterised in that include as any one of claim 1-10
Described engineering machinery safety control system.
12. 1 kinds of engineering machinery method of controlling security, it is characterised in that including:
Turntable safety governor carries out data by the first safe communication bus and the first electrical equipment
Communication, wherein, safe input/output module of getting off is pacified with turntable by the first safe communication bus
Full controller connects, and the first electrical equipment is connected with safe input/output module of getting off by holding wire
Connect；
Turntable safety governor carries out data by the first safe communication bus and the second electrical equipment
Communication, wherein, the second electrical equipment is connected with safe input/output module of getting off by holding wire.
13. methods according to claim 12, it is characterised in that also include:
3rd electrical equipment is by the first safe communication bus and the first electrical equipment, second electric
Element and turntable safety governor carry out data communication, and wherein, the 3rd electrical equipment passes through first
Safe communication bus is connected with safe input/output module of getting off.
14. according to the method described in claim 12 or 13, it is characterised in that
Security related information and non-safety-related information are passed by the first safe communication bus
Defeated, wherein, the signal of the first electrical equipment belongs to security related information, the first electrical equipment
Signal is transmitted by the first safe communication bus according to safe communication bus agreement；Second electricity
The signal of gas element belongs to non-safety-related information, and the signal of the second electrical equipment is total according to communication
Wire protocol is transmitted by the first safe communication bus.
15. according to the method described in claim 12 or 13, it is characterised in that also include:
Turntable safety governor carries out data by the second safe communication bus and the 4th electrical equipment
Communication, wherein, the signal of the 4th electrical equipment belongs to security related information, the 4th electrical equipment
Signal be transmitted by the second safe communication bus according to safe communication bus agreement；
Turntable safety governor carries out data communication by holding wire and the 5th electrical equipment.
16. according to the method described in claim 12 or 13, it is characterised in that also include:
Turntable safety governor carries out data by the second safe communication bus and the 6th electrical equipment
Communication, wherein, platform safety input/output module is pacified with turntable by the second safe communication bus
Full controller connects, and the 6th electrical equipment is by holding wire with platform safety input/output module even
Connect；
Turntable safety governor carries out data by the second safe communication bus and the 7th electrical equipment
Communication, wherein, the 7th electrical equipment is connected with platform safety input/output module by holding wire.
17. methods according to claim 16, it is characterised in that also include:
8th electrical equipment is by the second safe communication bus and the 6th electrical equipment, the 7th electric
Element and turntable safety governor carry out data communication, and wherein, the 8th electrical equipment is by the
Two safe communication bus are connected with platform safety input/output module.
18. methods according to claim 17, it is characterised in that
Security related information and non-safety-related information are passed by the second safe communication bus
Defeated, wherein, the signal of the 6th electrical equipment belongs to security related information, the 6th electrical equipment
Signal is transmitted by the second safe communication bus according to safe communication bus agreement；7th electricity
The signal of gas element belongs to non-safety-related information, and the signal of the 7th electrical equipment is total according to communication
Wire protocol is transmitted by the second safe communication bus.
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| CN105867268B (en) | 2018-11-23 |
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