CN107561984B - A kind of control system and its control method of support apparatus - Google Patents
A kind of control system and its control method of support apparatus Download PDFInfo
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- CN107561984B CN107561984B CN201710792087.4A CN201710792087A CN107561984B CN 107561984 B CN107561984 B CN 107561984B CN 201710792087 A CN201710792087 A CN 201710792087A CN 107561984 B CN107561984 B CN 107561984B
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Abstract
The embodiment of the invention discloses a kind of control system of support apparatus and its control methods, the control system includes at least one control device and power supply, and multiple controllers, the control device includes switch module, control drive module, processor, and communication module, corresponding control signal is issued to support apparatus by controller, and the control signal is fed back in the processor of control device, to enable a processor to issue corresponding control signal to control drive module according to the control signal, the on-off for controlling each switch unit in Signal-controlled switch module that control drive module is issued according to processor, whether with realization the control of electric energy is provided to controller to power supply.The control system and its control method of a kind of support apparatus provided in an embodiment of the present invention are cooperated by module each in control device, it is powered on controlling controller, to realize the automation control acted to support apparatus, manpower is further saved, guarantees the operational safety of equipment.
Description
Technical field
The present embodiments relate to control detection technique more particularly to the control devices and its controlling party of a kind of support apparatus
Method.
Background technique
With the development of science and technology, production facility of coalmine is gradually to automation and electrified levels, it is mining electrically to set
Standby safe handling becomes urgent problem to be solved in current coal production.The especially control device of underground coal mine support apparatus
Using safe, once control device failure will affect mineral products progress, while prestige can be caused to operating personnel and equipment
The side of body.
Currently, the control device of underground support apparatus generallys use hydraulic support electrohydraulic control system, in the control system
Middle controller is able to carry out the operation of associated supports and the logical process of process section as most critical component.And work as controller
When failure, it will lead to auto-action logical order confusion or missed in the controller action device of some execution movement
Operation, then may cause safety accident.In the prior art, it is to entire by the host computer of installation on the computer or server
The working condition of system is shown and is stored.When the system that shows breaks down, maintenance personnel can show according to host computer
The fault point shown, then hurries to fault in-situ to be handled.
But using control device in the prior art, by showing that the observation with maintenance personnel can just know equipment
Then fault point hurries to fault point that could perform corresponding processing to failure through maintenance personnel, thus increase control system behaviour
The complexity of work, and it is possible to which before maintenance personnel reaches fault in-situ, equipment has executed movement, this will be to the peace of equipment
Full property has an impact, and leads to the service life reduction of equipment.
Summary of the invention
In view of this, can be solved the embodiment of the invention provides a kind of control device of support apparatus and its control method
Certainly in the prior art due to the complexity of manual operation and hysteresis quality, be not easy to equipment automatic operation and controller without
Method controls equipment in time and executes relevant operation, and insecurity factor in equipment use is caused to lead to the problem of.
In a first aspect, the embodiment of the invention provides a kind of control systems of support apparatus, comprising: at least one control dress
It sets and power supply and multiple controllers；
The control device includes switch module, control drive module, processor and communication module；
The switch module includes first switch unit and second switch unit, the power supply signal of the first switch unit
Input terminal is connect with the AC power source and output end is connect with the input terminal of the power supply, the first switch list
The on-off of member, for controlling the AC power source to the power supply inputing power；
The input terminal of the second switch unit is connect with the first output end of the power supply and output end and each
The power supply signal input of a controller connects, and is each control after being converted the AC power source
Device provides DC power supply, so that the controller works on power；
The first input end of the communication module connect with the first control signal output end of each controller and
First output end is connect with the first control signal input terminal of the processor, for forwarding the first of each controller to control
Signal processed is to the processor；
The input terminal of the control drive module connect and exports with the first control signal output end of the processor
End is connect with the master control end of the switch module, the second control signal for being issued according to the processor, described in control
The on-off of switch unit in switch module；
The second control signal output end of each controller and the control terminal of each support apparatus are correspondingly connected with,
For issuing first control signal to the corresponding support apparatus, to control the support apparatus movement, and by described first
It controls signal and the processor is fed back to by the communication module；
The processor power supply signal input part is electrically connected with the AC power source, for being fed back according to the communication module
First control signal, judge the corresponding controller working condition, and according to the working condition of the controller to described
It controls drive module and issues corresponding second control signal.
Optionally, the control device further includes signal acquisition module；
The input terminal of the signal acquisition module connect with the total current output end of the switch module and output end with
The second control signal input terminal of the processor connects；
Correspondingly, the second input terminal of the communication module connect with the second control signal output end of the processor,
And second output terminal is connect with the control signal input of the controller；
The signal acquisition module is used to acquire the current signal in the switch module, and the current signal is inputted
The processor, the processor issues third control signal and is transferred to the controller by the communication module, so that institute
It states controller and signal is controlled according to the third, Xiang Suoshu support apparatus issues corresponding control signal.
Optionally, the control device further include: memory module；
The input terminal of the memory module is connect with the AC power source and the power supply letter of output end and the processor
Number input terminal connection, for transmitting and storing the electric signal of the AC power source, so that the processor works on power.
Optionally, the control system further include: host computer；
The host computer receives the signal that the controller receives and sends by the communication module, and to the reception
It is stored and is shown with the signal of sending.
Optionally, the control system includes multiple control devices；
The switch module further includes third switch unit, the input terminal and the power supply of the third switch unit
Connection and output end are connect with the power supply signal input of the first switch unit of next control device, described for controlling
The electric signal of power supply provides electric signal to next control device.
Second aspect, the embodiment of the invention provides a kind of control method of the control system of support apparatus, the control
System includes at least one control device and power supply and multiple controllers, wherein the control device includes switching molding
Block, control drive module, processor and communication module, the control method include:
The control device, which powers on, to be initialized；
Obtain the first control signal that the controller issues；
The power supply is controlled according to the first control signal to power to the controller.
Optionally, the control device further includes signal acquisition module, the control method further include:
Obtain the current signal of the power supply output；
According to the current signal, the controller is controlled to the support apparatus and issues corresponding control signal.
Optionally, before the first control signal for obtaining the controller sending, further includes:
The identity information of each controller is obtained, and determines the quantity of the controller according to the identity information；
The heartbeat packet that each controller of timing receipt issues, and according to the quantity of the controller judge it is each described in
Whether controller work is abnormal；
It powers if so, suspending the power supply to the controller, and restarts the controller.
Optionally, described to include: to controller power supply according to the first control signal control power supply
According to the first control signal, obtains the controller and control the practical action message executed of the support apparatus
And the technique segment information that the support apparatus need to execute；
Judge whether the action message matches with the technique segment information, and the power supply electricity is controlled according to match condition
Source powers to the controller.
Optionally, the control system further includes host computer, correspondingly, described control the power supply electricity according to match condition
Source powers to the controller, comprising:
If mismatching, report the host computer to be stored and shown conflict content, and obtains confirmation in real time and execute
The operational order of the action message.
The embodiment of the invention provides a kind of control system of support apparatus and its control method, which includes extremely
A few control device and power supply and multiple controllers, the control device include switch module, control drive module,
Processor and communication module issue corresponding control signal to support apparatus by controller, and the control signal are fed back
Into the processor of control device, to enable a processor to issue corresponding control to control drive module according to the control signal
Signal, the on-off for controlling each switch unit in Signal-controlled switch module that control drive module is issued according to processor, with reality
Now to power supply whether to controller provide electric energy control.The embodiment of the present invention, which is able to solve, to be needed to use in the prior art
Manual operation realizes control to equipment, the complexity and hysteresis quality and equipment for causing equipment to control using when be also easy to produce not
The technical issues of safety factor.Control system provided in an embodiment of the present invention can pass through module phase interworking each in control device
It closes, is powered on controlling controller, to realize the automation control acted to support apparatus, further save manpower, guarantee to set
Standby operational safety.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of the control system for support apparatus that the embodiment of the present invention one provides；
Fig. 2 is a kind of structural block diagram of the control system of support apparatus provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of structural frames of the control system of the support apparatus of multiple control devices provided in an embodiment of the present invention
Figure；
Fig. 4 is a kind of flow chart of the control method for control system that the embodiment of the present invention three provides；
Fig. 5 is a kind of flow chart of the control method for control system that the embodiment of the present invention four provides；
Fig. 6 is a kind of flow chart of the control method for control system that the embodiment of the present invention five provides；
Fig. 7 is a kind of flow chart of the control method for control system that the embodiment of the present invention six provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of structural block diagram of the control system for support apparatus that the embodiment of the present invention one provides, the control system
It can be used for controlling the case where support apparatus works on power, which for example can be the hydraulic support of underground coal mine work.
As shown in Figure 1, the control system includes: at least one control device 10 and power supply 30 and multiple controllers 20, this hair
Bright embodiment is illustrated by taking the corresponding power supply of a control device as an example, and but it is not limited to this.
With reference to Fig. 1, control device 10 includes: switch module 11, control drive module 12, processor 13 and communication mould
Block 14.Wherein, switch module 11 includes first switch unit 111 and second switch unit 112, and first switch unit 111
Power supply signal input is connect with AC power source VCC, and the output end of first switch unit 111 and the input terminal of power supply 30 connect
It connects, the on-off of first switch unit 111, for controlling AC power source VCC to power supply inputing power；Second switch unit
112 input terminal is connect with the first output end of power supply 30, the output end of second switch unit 112 and the electricity of controller 20
Source signal input terminal connection, for after being converted, AC power source VCC being provided to DC power supply for controller 20, for control
Device 20 processed works on power；The first input end of communication module 14 is connect with the first control signal output end of controller 13, communication
First output end of module 14 is connect with the first control signal input terminal of processor 13, the first control for transmitting controller 20
Signal processed is to processor 13；The input terminal of control drive module 12 is connect with the first control signal output end of processor 13, is controlled
The output end of drive module 12 processed is connect with the master control end of switch module 11, the second control for being issued according to processor 13
Signal, the on-off of switch unit in control switch module 11；The second control signal output end and support apparatus 40 of controller 20
Control terminal be correspondingly connected with, for corresponding support apparatus 40 issue first control signal, with control support apparatus 40 movement,
And the first control signal is fed back into processor 13 by communication module 14；13 power supply signal input of processor and alternating current
Source VCC electrical connection, the first control signal for being fed back according to communication module 14 judge corresponding 20 working condition of controller,
And corresponding second control signal is issued to control drive module 12 according to the working condition of controller 20.
It should be noted that only the statement of adaptability goes out a case where control device corresponds to a controller in Fig. 1, it is real
A control device can correspond to multiple controllers, such as four controllers on border, and each controller has unique identity
Information, and each controller one support apparatus of corresponding control is acted.
Support apparatus is a kind of for that can grasp with driving face, and plate top is supported and is managed, to prevent work sky
Between roof caving equipment.The support apparatus can protect the bright inner machine of work and personnel safety to produce, such as hydraulic support etc..
Usually guarantee that safety in production hydraulic support should have enough strength and stiffness, stability is good, can bear centainly unbalanced
Load and shock loading and lightweight and portable in volume, it is compact-sized, it is easy to operate, it is easy to dismount and repair, the spies such as multiplexing number height
Point.Common hydraulic support can be divided into brace type, protected type and support-protected type three classes, and these types of hydraulic support must have
There is ascending, descending, pushes away, moves four elemental motions.These movements are the highly pressurised liquids supplied using pumping plant, different by job specification
Several hydraulic cylinders are completed.Every frame bracket hydraulic pipeline is all in parallel with working face main line, has the pumping plant of a concentration to be used as
Hydraulic power supply, every frame bracket of working face, forms hydraulic system independent.Support apparatus provided in an embodiment of the present invention
Control system pass through each control module in control device 10 controller 20 detected and controlled, to realize support apparatus
Execution movement control.
Control system provided in an embodiment of the present invention, by carrying out initialized power up to control system, so that control system
In each module of control device 10 and power supply 30 and controller 20 be powered on.When controller 20 is powered on, root
According to the actual act demand of corresponding support apparatus 40, corresponding first control signal is issued to it, and this first is controlled
Signal is forwarded in processor 13 by communication module 14, and processor 13 sentences the control information of the first control signal
It is disconnected, and corresponding second control signal is issued from judging result to control drive module 12, so that control drive module 12 can
According to the second control signal, the on-off of switch unit in control switch module 11.Wherein, when control first switch unit 111
When disconnection, entire control system power-off, it will stop working, until maintenance personnel completes equipment and control system maintenance；And
When second switch unit 112 disconnects, power supply 30 no longer provides DC power supply to controller 20, and controller 20 stops work
Make.From further achieve the purpose that control equipment work.
Each module that the present invention implements control device in a kind of control system of the support apparatus provided can be by control
The control signal that device processed issues is judged, is powered with controlling power supply to control device and controller, to detect control
The control signal of the sending of device corresponds to the action situation of support apparatus, to realize that control system reaches certainly the control of support apparatus
The level of dynamicization, further saves manpower, guarantees the operational safety of equipment.
Embodiment two
Fig. 2 is a kind of structural block diagram of the control system of support apparatus provided by Embodiment 2 of the present invention, and the present embodiment exists
It is advanced optimized on the basis of above-mentioned implementation, i.e., signal acquisition mould is increased to control device 10 on the basis of the above embodiments
Block 15.The input terminal of signal acquisition module 15 is connect with the total current output end of switch module 11, signal acquisition module 15 it is defeated
Outlet is connect with the second control signal input terminal of processor 13, correspondingly, the second input terminal and processor of communication module 14
13 second control signal output end connection, the second output terminal of communication module 14 and the control signal input of controller 20 connect
It connects.Signal acquisition module 15 is used to acquire the current signal in switch module 11, and the current signal is passed through communication module 14
Input processor 13, processor 13 issues third control signal and is transferred to by communication module 14 to controller 20, so that control
Device 20 controls signal according to the third, issues corresponding control signal to support apparatus 40.
The size of current signal can reflect the operating condition of each component in circuit, the size of electric current in switch module 11
It is able to reflect the break-make situation of its each switch unit, so that processor 13 can be according to switching on-off situation to controller
20, which issue third, controls signal, to control whether controller 20 continues to issue corresponding control signal to support apparatus 40, finally
Achieve the purpose that controlling support apparatus 40 carries out corresponding actions.
Optionally, the control device 10 in the control system further includes memory module 16.The input terminal of memory module 16 with
AC power source VCC connection, the output end of memory module 16 is connect with the power supply signal input of processor 13, for transmitting and storing up
Deposit the electric signal of AC power source VCC, device 13 for processing works on power so that processor 13 switch module 11 with exchange
Power supply VCC remains to issue the working condition that corresponding control signal controls each module in the control system in the case where powering off.
Optionally, which further includes host computer.The host computer receives controller 20 by communication module 14 and receives
With the signal of sending, and the signal that this receives and sends is stored and shown.Wherein, which can be by communicating mould
The corresponding signal of the wireless transmission of block 14, the host computer for example can be server having a display function.
In addition, for that can also include multiple control devices 10 in control system.Fig. 3 is provided in an embodiment of the present invention one
The structural block diagram of the control system of the support apparatus of the multiple control devices of kind.As shown in figure 3, the control device 10 of the control system
Middle switch module 11 further includes third switch unit 113.Wherein, the input terminal of third switch unit 113 and power supply 30 connect
It connects, the power supply signal input of the first switch unit 111 of the output end of third switch unit 113 and next control device 10 connects
It connects, for controlling transmitting of the electric signal of power supply 30 to next control device.In the embodiment of the present invention it is merely exemplary with
It is illustrated for two control devices, the control device of remaining quantity is similar with this principle, and details are not described herein.
The embodiment of the present invention in the control device of control system by increasing signal acquisition module, by the signal acquisition
Module acquisition current signal be sent to processor, with enable a processor to be passed through in real time according to the current signal communication module to
Controller issues corresponding control signal, to be further ensured that the safety in production of equipment and personnel.
Embodiment three
Fig. 4 is a kind of flow chart of the control method for control system that the embodiment of the present invention three provides, and this method is applicable
The case where each module controls in control system is set with further reaching the control control system supporting to be controlled
It is standby.The control system described in embodiment as above includes at least one control device and power supply and controller, control dress
It sets including switch module, control drive module, processor and communication module.As shown in figure 4, the control method includes:
S301, the control device are powered on and are initialized.
Illustratively, initialization be it is a kind of variable is assigned to default value, control is set as the process of default conditions.Entire system
System initialization needs to initialize each software or tool.For example, the initialization of control device is exactly to pass through to control
After device processed powers on, modules in control device are arranged with initial default conditions.The initial default conditions can be with
It is that switch module is on-state etc. in control device.
S302, the first control signal that the controller issues is obtained.
Illustratively, usual controller can change the wiring of main circuit or control circuit according to predetermined order and change electricity
Resistance value in road, to control the starting of motor, speed regulation, braking and the movement such as reversed.It is posted by program counter, instruction
Storage, command decoder, clock generator and operation controller composition.After control device in control system is initialized,
So that power supply provides DC power supply to controller, controller starts power up work.The controller controls signal by sending,
So that support apparatus executes corresponding action message, to guarantee that the action message of support apparatus accurately executes, controller will be issued
Control signal feed back to control device so that whether the control situation that control device can obtain the controller normal.Wherein,
Controller can be with the connection type of communication module be electrically connected or wireless telecommunications connection.
S303, it is powered according to the first control signal control power supply to the controller.
Illustratively, drive module is by receiving data, and transmits the data to tested module, so that tested mould
Block executes corresponding movement, thus drive module can be used to simulate the upper level module of tested module, be equivalent to tested mould
The main program of block.Processor in control device can control it and control drive module to switch module according to the control signal
Corresponding on-off signal is issued, to control the case where power supply is powered to controller.For example, controlling support apparatus in controller
Action message inaccuracy when disconnect switch module in switch accordingly, power supply no longer to controller power.
Control method provided in an embodiment of the present invention is by being powered on and initialized control device, so that in control system
Each module runs well, and further according to the first control signal that controller issues, control power supply is powered to controller, from
And realize and controller is controlled, it further controls support apparatus and executes corresponding actions, guarantee that the safety of equipment and personnel is raw
It produces.
Example IV
Fig. 5 is a kind of flow chart of the control method for control system that the embodiment of the present invention four provides.The present embodiment is upper
It states and is optimized on the basis of embodiment, providing the preferred control device further comprises signal acquisition module.Accordingly
, as shown in figure 5, the control method includes:
S401, the control device are powered on and are initialized；
S402, the first control signal that the controller issues is obtained；
S403, it is powered according to the first control signal control power supply to the controller；
S404, the current signal for obtaining the power supply output.
Illustratively, the size of current signal can reflect the operating condition of each component in circuit, defeated in power supply
The size of electric current is controlled by the on-off of switch module in control device out, and signal acquisition module can acquire the electric current
Size, to reflect the break-make situation of switch module in control device
S405, according to the current signal, control the controller to the support apparatus and issue corresponding control signal.
Illustratively, signal acquisition module size of current collected in control device reflects power supply to controller
The case where power supply, so that the processor in control device can issue corresponding control to controller 20 according to current signal
Signal is finally reached control supporting and sets to control whether controller 20 continues to issue corresponding control signal to support apparatus 40
Standby 40 carry out the purpose of corresponding actions.
After the embodiment of the present invention is by being acquired the current signal that power supply exports, issued to controller corresponding
Control signal, to control whether controller continues to act, so as to work normally controller in the case where to support apparatus
Corresponding control signal is issued, is further ensured that the production safety of personnel and equipment.
Embodiment five
Fig. 6 is a kind of flow chart of the control method for control system that the embodiment of the present invention five provides.The present embodiment is upper
It states and is optimized on the basis of embodiment, provide the method preferably judged the working condition of controller.Accordingly
, as shown in fig. 6, the control method includes:
S501, the control device are powered on and are initialized；
S502, the identity information for obtaining each controller, and the controller is determined according to the identity information
Quantity.
Illustratively, in the controls, a control device can correspond to multiple controllers, and each controller has only
One identity information determined can learn the case where specific controller issues control signal and identity by the identity information
The number of information and the quantity of controller are corresponding, thus control corresponding to control device can be determined according to the identity information
The quantity of device.
The heartbeat packet that each controller of S503, timing receipt issues, and judged respectively according to the quantity of the controller
Whether a controller work is abnormal；If so, executing S504；If it is not, then executing S505；
S504, the pause power supply power to the controller, and restart the controller；
S505, the first control signal that the controller issues is obtained.
Illustratively, illustratively, the heartbeat packet of controller refers to that the communication of the controller maintains frame, if can receive,
Then indicate that controller and the module for receiving the heartbeat packet are working properly, so that it can normally maintain the work of itself
Make state, continue to the first control signal that controller is issued, to judge that control signal corresponds to the accuracy of control action.
If can not normally receive, the electric signal that power supply provides controller is disconnected, and restart the controller, to realize control
The initialization again of device processed.It is to be controlled think highly of open after the completion of obtain the identity information of controller again to determine the number of controller
Amount, and receives the heartbeat packet of each controller, judges controller and receive the module of the heartbeat packet whether can work normally, until
It can be worked normally.In addition, the settable number for restarting controller in control device, reach restart number after if still not
It can work normally and then judge that controller needs replacing, failed controller information is reminded by controller display or host computer,
To determine the location of controls to be replaced.
S506, it is powered according to the first control signal control power supply to the controller.
Whether the embodiment of the present invention is abnormal by upon power-up of the system, judging the heartbeat packet that controller timing issues, and determines
Whether the working condition of current controller is normal, so that it is determined that whether the control signal that controller is issued is normal, to realize control
The accurate control of system processed guarantees the production safety of personnel and equipment.
Embodiment six
Fig. 7 is a kind of flow chart of the control method for control system that the embodiment of the present invention six provides.The present embodiment is upper
Being embodied for embodiment is stated, the specific method to controller power supply control is provided, specifically: according to first control
Signal processed, obtains that the controller controls the practical action message executed of the support apparatus and the support apparatus need to execute
Technique segment information；Judge whether the action message matches with the technique segment information, and the confession is controlled according to match condition
Power supply is preferred to controller power supply.As shown in fig. 7, the method for the embodiment of the present invention includes:
S601, the control device are powered on and are initialized；
S602, the first control signal that the controller issues is obtained；
S603, according to the first control signal, obtain the controller control the support apparatus it is practical execute it is dynamic
Make information and technique segment information that the support apparatus need to execute.
Illustratively, support apparatus for example can be hydraulic support, and hydraulic support is able to carry out ascending, descending, pushes away, moves four
Elemental motion.When needing to be implemented corresponding actions, first control signal can be issued to support apparatus by controller, so that supporting
Equipment executes corresponding movement after receiving the first control signal.And the accuracy for the control action that controller issues can be by
Processor in control device is judged.It can thus receive what the first control signal that controller issues executed by processor
The action message that action signal and support apparatus are actually subjected to execute corresponds to the information of process section, further to the work feelings of controller
Condition is judged.
S604, judge whether the action message matches with the technique segment information；If so, executing S605；If it is not, then
Execute S606；
S605, the control support apparatus execute the action message；
S606, it reports the host computer to be stored and shown conflict content, and obtains confirmation in real time and execute described move
Make the operational order of information.
Illustratively, when the control device of control system further includes host computer, host computer can be to control device and control
The operating condition of device processed is shown and is stored, and human-computer interaction additionally may be implemented, so that maintenance personnel can be to controller
It is directly operated with control device.Correspondingly, the movement that the actual needs of support apparatus executes is technique segment information, and control
The corresponding support apparatus of the control signal movement to be executed that device processed issues is action message.Receive technique segment information and
After action message, need to judge whether the two matches.When technique segment information is matched with action message, then show that controller is sent out
Control signal out is normal, and support apparatus can execute the action message；And when technique segment information and action message mismatch,
Then possible controller is abnormal, and is suspended the execution of this action message, is reported the conflict content to host computer, and inquiry behaviour automatically
Make whether personnel confirm execution, executed if confirmation, such as selection cancels or selection time-out, then cancels movement, do not receive such as
It executes instruction and controller when throwing away compulsory execution, then it is assumed that controller failure, device are cut off the power output switch, are reported an error simultaneously.
The control method of control system described in the present embodiment can be used in the control system described in the various embodiments described above into
Row control, technical principle is similar with the technical effect of generation, and which is not described herein again.
In addition, the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of control system of support apparatus characterized by comprising at least one control device and power supply and
Multiple controllers；
The control device includes switch module, control drive module, processor and communication module；
The switch module includes first switch unit and second switch unit, the power supply signal input of the first switch unit
End is connect with AC power source and output end is connect with the input terminal of the power supply, the on-off of the first switch unit,
For controlling the AC power source to the power supply inputing power；
The input terminal of the second switch unit is connect with the first output end of the power supply and output end and each institute
The power supply signal input connection for stating controller mentions after being converted the AC power source for each controller
For DC power supply, so that the controller works on power；
The first input end of the communication module is connect and first with the first control signal output end of each controller
Output end is connect with the first control signal input terminal of the processor, for forwarding the first of each controller to control letter
Number to the processor；
It is described control drive module input terminal connect with the first control signal output end of the processor and output end and
The master control end of the switch module connects, and the second control signal for being issued according to the processor controls the switch
The on-off of switch unit in module；
The second control signal output end of each controller and the control terminal of each support apparatus are correspondingly connected with, and are used for
First control signal is issued to the corresponding support apparatus, to control the support apparatus movement, and described first is controlled
Signal feeds back to the processor by the communication module；
The processor power supply signal input part is electrically connected with the AC power source, for being fed back according to the communication module
One control signal, judges the corresponding controller working condition, and according to the working condition of the controller to the control
Drive module issues corresponding second control signal.
2. control system according to claim 1, which is characterized in that the control device further include: signal acquisition module；
The input terminal of the signal acquisition module connect with the total current output end of the switch module and output end with it is described
The second control signal input terminal of processor connects；
Correspondingly, the second input terminal of the communication module connect with the second control signal output end of the processor and
Second output terminal is connect with the control signal input of the controller；
The signal acquisition module is used to acquire the current signal in the switch module, and will be described in current signal input
Processor, the processor issues third control signal and is transferred to the controller by the communication module, so that the control
Device processed controls signal according to the third, and Xiang Suoshu support apparatus issues corresponding control signal.
3. control system according to claim 1, which is characterized in that the control device further include: memory module；
The input terminal of the memory module is connect with the AC power source and the power supply signal of output end and the processor is defeated
Enter end connection, for transmitting and storing the electric signal of the AC power source, so that the processor works on power.
4. control system according to claim 1, which is characterized in that further include: host computer；
The host computer receives the signal that the controller receives and sends by the communication module, and to the reception and hair
Signal out is stored and is shown.
5. control system according to any one of claims 1 to 4, which is characterized in that the control system includes multiple controls
Device processed；
The switch module further includes third switch unit, and the input terminal and the power supply of the third switch unit connect
It connects and output end is connect with the power supply signal input of the first switch unit of next control device, for controlling the confession
The electric signal of power supply provides electric signal to next control device.
6. a kind of control method of the control system applied to the described in any item support apparatus of Claims 1 to 5, feature exist
In the control system includes at least one control device and power supply and multiple controllers, wherein the control dress
It sets and includes: including switch module, control drive module, processor and communication module, the control method
The control device, which powers on, to be initialized；
Obtain the first control signal that the controller issues；
The power supply is controlled according to the first control signal to power to the controller.
7. control method according to claim 6, which is characterized in that the control device further includes signal acquisition module,
The control method further include:
Obtain the current signal of the power supply output；
According to the current signal, the controller is controlled to the support apparatus and issues corresponding control signal.
8. control method according to claim 6, which is characterized in that in first control for obtaining the controller and issuing
Before signal processed, further includes:
The identity information of each controller is obtained, and determines the quantity of the controller according to the identity information；
The heartbeat packet that each controller of timing receipt issues, and each control is judged according to the quantity of the controller
Whether device work is abnormal；
It powers if so, suspending the power supply to the controller, and restarts the controller.
9. control method according to claim 6, which is characterized in that described according to first control signal control
Power supply is powered to the controller
According to the first control signal, obtains the controller and control the practical action message executed of the support apparatus and institute
State the technique segment information that support apparatus need to execute；
Judge whether the action message matches with the technique segment information, and according to match condition control the power supply to
The controller power supply.
10. control method according to claim 9, which is characterized in that the control system further includes host computer, accordingly
, it is described to be powered according to the match condition control power supply to the controller, comprising:
If mismatching, the host computer is reported to be stored and shown conflict content, and obtained described in confirmation execution in real time
The operational order of action message.
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