CN107867633B - A kind of emergency control method, device and engineering machinery - Google Patents
A kind of emergency control method, device and engineering machinery Download PDFInfo
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- CN107867633B CN107867633B CN201810153459.3A CN201810153459A CN107867633B CN 107867633 B CN107867633 B CN 107867633B CN 201810153459 A CN201810153459 A CN 201810153459A CN 107867633 B CN107867633 B CN 107867633B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The present invention provides a kind of emergency control method and devices, are related to engineering machinery field.Emergency control method includes receiving emergency parachute, first handle is replaced according to emergency parachute control second handle, executing agency to be controlled to act by second handle.Emergency control method and device provided by the invention can enable first handle corresponding function normal operating, greatly improve emergency operation function, largely avoid safety accident when first handle breaks down.
Description
Technical field
The present invention relates to engineering machinery field, in particular to a kind of emergency control method, device and engineering machinery.
Background technology
At present using the crane of electric control handle operation, it is generally assembled with two handles, the corresponding action one of left handle
As be：Revolution, secondary elevator（Large arm is stretched）, right handles it is corresponding action have：Luffing, master winch.
In real work, if the one of handle of crane breaks down, the relevant function of the handle cannot be normal
It uses, corresponding action will not operate to, and so as to seriously affect crane job, special lift heavy operation can even be caused
Safety accident.
Invention content
The purpose of the present invention is to provide a kind of emergency control methods, greatly improve emergency operation function, greatly
Avoid safety accident.
The purpose of the present invention is to provide a kind of emergency control apparatus, greatly improve emergency operation function, greatly
Avoid safety accident.
The present invention provides a kind of technical solution：
A kind of emergency control method, including：
Emergency parachute is received, the emergency parachute is obtained according to the fault-signal of first handle, wherein, the fault-signal
The first handle is characterized to break down；
The first handle is replaced according to emergency parachute control second handle, to be held by second handle control
Row mechanism action.
Further, it is described to be replaced according to emergency parachute control second handle in preferred embodiments of the present invention
The first handle, to include the step of executing agency being controlled to act by the second handle：
Receive the action signal of the second handle；
Action command is generated according to the action signal；
Executing agency's action is controlled according to the action command.
Further, in preferred embodiments of the present invention, the step according to action signal generation action command
Suddenly include：
Matching control signal corresponding with the action signal, wherein, the action signal and the control signal are advance
Association；
The action command is generated according to the control signal.
Further, in preferred embodiments of the present invention, the step according to action signal generation action command
Suddenly include：
Control instruction is generated according to the action signal；
The matching action command corresponding with the control instruction, wherein, the control instruction and the action command
Association in advance.
Further, in preferred embodiments of the present invention, the emergency control method further includes：
Receive the operation signal of first handle；
The fault-signal is generated according to the operation signal.
Further, it is described to generate the fault-signal according to the operation signal in preferred embodiments of the present invention
The step of include：
Contrast signal is generated according to the operation signal；
The fault-signal is generated according to the contrast signal and the operation signal.
Further, it is described to be given birth to according to the contrast signal and the operation signal in preferred embodiments of the present invention
Include into the step of fault-signal：
The contrast signal and the operation signal are compared, when the operation signal and contrast signal mismatch,
Generate the fault-signal.
Further, in preferred embodiments of the present invention, the emergency control method further includes：When the executing agency
After the completion of action, restore the second handle.
A kind of emergency control apparatus, including：
Emergency parachute receiving module, for receiving emergency parachute, fault-signal of the emergency parachute according to first handle
It obtains, wherein, the fault-signal characterizes the first handle and breaks down；
Control module replaces the first handle, to pass through described second according to emergency parachute control second handle
The action of handle control executing agency.
A kind of engineering machinery, including：
Memory；
Processor；And
Emergency control apparatus, the emergency control apparatus are installed in the memory and including one or more by described
The software function module that processor performs, the emergency control apparatus include：
Emergency parachute receiving module, for receiving emergency parachute, fault-signal of the emergency parachute according to first handle
It obtains, wherein, the fault-signal characterizes the first handle and breaks down；
Control module replaces the first handle, to pass through described second according to emergency parachute control second handle
The action of handle control executing agency.
The advantageous effect of emergency control method and device provided by the invention is：In the present invention, emergency parachute is received, according to
First handle is replaced according to emergency parachute control second handle, executing agency to be controlled to act by second handle.The present invention provides
Emergency control method and device can be when first handle or second handle break down, which can be just
Often operation, greatly improves emergency operation function, largely avoids safety accident.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the flow chart of emergency control method that the embodiment of the present invention one provides.
Fig. 2 is the flow chart of the sub-step of the step S120 of emergency control method that the embodiment of the present invention one provides.
Fig. 3 is the flow chart of the sub-step of the step S140 of emergency control method that the embodiment of the present invention one provides.
Fig. 4 is the flow chart of the sub-step of the step S144 of emergency control method that the embodiment of the present invention one provides.
Fig. 5 is the flow chart of the sub-step of the step S144 of emergency control method provided by Embodiment 2 of the present invention.
Fig. 6 is the composition frame chart of emergency control apparatus that the embodiment of the present invention three provides.
Fig. 7 is the composition frame chart of the control module of emergency control apparatus that the embodiment of the present invention three provides.
Fig. 8 is the group of the action command generation module of the control module of emergency control apparatus that the embodiment of the present invention three provides
Into block diagram.
Fig. 9 is the action command generation module of the control module of emergency control apparatus that other embodiments of the invention provide
Composition frame chart.
Figure 10 is the composition frame chart of the fault-signal generation module of emergency control apparatus that the embodiment of the present invention three provides.
Icon：100- emergency control apparatus；110- emergency parachute receiving modules；120- control modules；122- action signals
Receiving module；124- action command generation modules；1242- controls signal generation module；The first generation modules of 1244-；126- is held
Row module；130- operation signal receiving modules；140- fault-signal generation modules；142- contrast signal generation modules；144- pairs
Compare module；150- recovery modules；2242- control instruction generation modules；The second generation modules of 2244-.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be configured to arrange and design with a variety of different.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiments obtained without creative efforts belong to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need to that it is further defined and explained in subsequent attached drawing.
In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and it is not intended that instruction or hint
Relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or one
Connect to body；Can be mechanical connection or electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
The present invention provides a kind of emergency control method and device, applied to engineering mechanical device.Engineering mechanical device can
To be excavator, crane, earth scraper, compacting machine etc..Engineering mechanical device includes body, memory, processor, Peripheral Interface
And emergency control apparatus, memory and processor are mounted on body.
Memory and each element of processor are directly or indirectly electrically connected between each other, to realize the transmission of data or friendship
Mutually.It is electrically connected for example, these elements can be realized between each other by one or more communication bus or signal wire.Emergency flight control
Device include it is at least one can be with software or firmware（firmware）Form be stored in the memory or be solidificated in service
The operating system of device（Operating system, OS）In software function module.The processor is used to perform the storage
The executable module stored in device, such as software function module included by emergency control apparatus and computer program etc..
Wherein, the memory may be, but not limited to, random access memory（Random Access Memory,
RAM）, read-only memory（Read Only Memory, ROM）, programmable read only memory（Programmable Read-Only
Memory, PROM）, erasable read-only memory（Erasable Programmable Read-Only Memory, EPROM）,
Electricallyerasable ROM (EEROM)（Electric Erasable Programmable Read-Only Memory, EEPROM）Deng.
Wherein, for memory for storing program and voice data, the processor performs the journey after execute instruction is received
Sequence.
Processor may be a kind of IC chip, have the processing capacity of signal.Above-mentioned processor can be logical
With processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network
Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), application-specific integrated circuit (ASIC), ready-made programmable
Gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.It can be with
Realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be micro- place
It can also be any conventional processor etc. to manage device or the processor.
Various input/output devices are coupled to processor and memory by processor.In some embodiments, processor
And memory can be realized in one single chip.In some other example, they can be realized by independent chip respectively.
Various input/output devices are coupled to processor and memory by Peripheral Interface.In some embodiments, peripheral hardware
Interface, processor and memory can be realized in one single chip.In some other example, they can be respectively by independent
Chip is realized.
Embodiment one
Referring to Fig. 1, present embodiments providing a kind of emergency control method, emergency control method provided in this embodiment should
For engineering mechanical device, in the present embodiment, for the convenience of description, engineering mechanical device is made specifically to retouch by taking crane as an example
It states.
Crane includes first handle, second handle and hydraulic system, in actual mechanical process, first handle and second
Handle controls two to three actions of hydraulic system respectively.Such as：First handle control revolution, secondary elevator, second handle control
Luffing, master winch.
In actual mechanical process, if first handle or the one of failure of second handle, break down
The corresponding function of handle will not operate to.Emergency control method provided in this embodiment event can occur by a handle wherein
When barrier, the corresponding function of the handle being capable of normal operating.
Emergency control method provided in this embodiment can be when first handle or second handle break down, the handle
Corresponding function can normal operating, greatly improve emergency operation function, largely avoid safety accident.
It is as follows：
Step S110 receives the operation signal of first handle.
In the present embodiment, the operation signal of first handle can be the actual act of operator's operation handle, such as：Behaviour
Make handle to the left or to the right.Can also be that the real-time status of the hydraulic system obtained reacts to first handle and moves first handle
The action signal of work.
Step S120 generates fault-signal according to operation signal.
In the present embodiment, after receiving operation signal, can not normal operating when, generate fault-signal.
Referring to Fig. 2, wherein, step S120 can include step S122 and step S124.
Step S122 generates contrast signal according to operation signal.
In the present embodiment, after receiving operation signal, contrast signal is generated according to operation signal, monitors first in real time
The working condition of handle.
In the present embodiment, contrast signal can be picture signal, and after first handle acts, phase can occur for display icon
It should change, when first handle acts hydraulic system revolution in order to control upwards, can show revolution icon.
It should be noted that contrast signal can also be current signal, after first handle acts, electric current can occur accordingly
Variation.Such as：When first handle acts upwards, the corresponding electric current of first handle gradually increases, and contrast signal value can gradually increase
Greatly.
Step S124, according to contrast signal and operation signal generation fault-signal.
In the present embodiment, contrast signal and operation signal are compared, when operation signal and contrast signal mismatch, generation
Fault-signal.
In the present embodiment, when first handle acts hydraulic system revolution in order to control upwards, picture signal is not shown back
Turn icon or show other icons, judge that first handle breaks down, generate fault-signal.
It should be noted that when contrast signal is current signal, when first handle acts upwards, first handle corresponds to
Electric current without significant change either curent change be more than upper safety limit value or lower safety limit value when, judge first handle
Failure generates fault-signal.
Please continue to refer to Fig. 1, step S130, emergency parachute is received, emergency parachute is obtained according to the fault-signal of first handle
It arrives, wherein, fault-signal characterization first handle breaks down.
In the present embodiment, after first handle breaks down, emergency parachute is received.
In the present embodiment, emergency parachute can be that operator presses emergency button, generate emergency parachute.Can also connect
Receive automatic trigger emergency parachute after fault-signal.
Step S140 replaces first handle according to emergency parachute control second handle, is performed with being controlled by second handle
Mechanism action.
In the present embodiment, after receiving emergency parachute, second handle replaces the function of first handle.Such as in normal work
Make under state, first handle control revolution, secondary elevator, after first handle breaks down, second handle replaces first handle
The function of revolution or secondary elevator controls executing agency to act.
After needing to realize that first handle breaks down, when needing to realize the revolution of first handle control, press it is emergent by
Button, second handle action, control hydraulic system realize above-mentioned revolute function.
In the present embodiment, executing agency is hydraulic system.
Referring to Fig. 3, wherein, step S140 can include step S142, step S144 and step S146.
Step S142 receives the action signal of second handle.
In the present embodiment, in the present embodiment, the action signal of second handle can be the reality of operator's operation handle
Border acts, such as：Operate second handle to the left or to the right.Can also be that the real-time status of the hydraulic system obtained is reacted to the
Two handles make the action signal that second handle acts.
Step S144 generates action command according to action signal.
In the present embodiment, after the action signal for receiving second handle, action command is generated according to action signal.I.e.
In the present embodiment, input action signal, after inter-process, output action instruction, action command control executing agency holds
The corresponding action of row.
Such as：Second handle is needed to complete revolution action, receives the action signal of the control luffing of second handle, foundation
The action signal is generated acts matched action command with revolution, so as to which executing agency be controlled to complete revolution action.
Referring to Fig. 4, step S144 can include step S1442 and step S1444.
Step S1442 matches control signal corresponding with action signal.Wherein, action signal is closed in advance with control signal
Connection.
In the present embodiment, after action signal is received, control signal corresponding with action signal is matched in input terminal.
I.e. in the present embodiment, it is replaced in input terminal.Second handle is made to replace first handle, completes the control function of first handle.
Such as：Second handle is needed to complete revolution action, receives the action signal of the control luffing of second handle, foundation
Action signal matching makees corresponding control signal with back rotation, and revolution action is completed so as to fulfill control executing agency.Wherein,
Revolution action is associated with matching in advance with luffing action.
Step S1444, according to control signal generation action command.
In the present embodiment, according to control signal generation action command.Such as：According to revolution control signal generation back rotation
It instructs.
Step S146, according to the action of action command control executing agency.
Please continue to refer to Fig. 1, step S150, after the completion of executing agency acts, restore second handle.
In the present embodiment, after the completion of second handle replaces first handle, restore the function of second handle.Such as：
Under emergency rating, second handle control revolution, secondary elevator.After executing agency completes revolution action, restore the work(of second handle
Can, make second handle control luffing, master winch.
The operation principle of emergency control method provided in this embodiment：In the present embodiment, the operation of first handle is received
Signal when operation signal and contrast signal mismatch, generates fault-signal.After first handle breaks down, emergent letter is received
Number.Second handle is controlled to replace first handle, receives the action signal of second handle first, is referred to according to action signal generation action
It enables, then matches control signal corresponding with action signal, according to control signal generation action command, held according to action command control
Row mechanism action.After the completion of executing agency acts, restore the function of second handle.
In conclusion emergency control method provided in this embodiment can be when first handle breaks down, first handle
Corresponding function can normal operating, greatly improve emergency operation function, largely avoid safety accident.
Embodiment two
A kind of emergency control method is present embodiments provided, emergency control method provided in this embodiment greatly improves
Emergency operation function, largely avoids safety accident.
The emergency control method that the present embodiment is provided, basic structure and principle and the technique effect and embodiment of generation
One is identical, and to briefly describe, the present embodiment part does not refer to part, can refer to corresponding contents in embodiment one.
Emergency control method that the present embodiment is provided and embodiment one difference lies in, the sub-step of step S144,
In embodiment one, the sub-step of step S144 realizes that second handle replaces first handle by way of inputting and replacing.In this reality
It applies in example, the sub-step of step S144 realizes that second handle replaces first handle by way of exporting and replacing.
Referring to Fig. 5, in the present embodiment, step S144 can include step S2442 and step S2444.
Step S2442 generates control instruction according to action signal.
In the present embodiment, action signal generation and the matched control instruction of action signal are received, is transmitted to output terminal.
Step S2444 matches action command corresponding with control instruction.Wherein, control instruction is closed in advance with action command
Connection.
In the present embodiment, after action command is received, control instruction corresponding with control instruction is matched in output terminal.
I.e. in the present embodiment, it is replaced in output terminal.Second handle is made to replace first handle, completes the control function of first handle.
Such as：Second handle is needed to complete revolution action, receives the action directive of the control luffing of second handle,
It is matched according to the control instruction and makees corresponding action command with back rotation, revolution action is completed so as to fulfill control executing agency.
Wherein, revolution action is associated with matching in advance with luffing action.
Embodiment three
A kind of emergency control apparatus 100 is present embodiments provided, emergency control apparatus 100 provided in this embodiment is applied to
Engineering mechanical device, in the present embodiment, for the convenience of description, engineering mechanical device is described specifically by taking crane as an example.
Crane includes first handle, second handle and hydraulic system, in actual mechanical process, first handle and second
Handle controls two to three actions of hydraulic system respectively.Such as：First handle control revolution, secondary elevator, second handle control
Luffing, master winch.
In actual mechanical process, if first handle or the one of failure of second handle, break down
The corresponding function of handle will not operate to.Emergency control method provided in this embodiment event can occur by a handle wherein
When barrier, the corresponding function of the handle being capable of normal operating.
Emergency control apparatus 100 provided in this embodiment can be when first handle or second handle break down, should
Handle corresponding function can normal operating, greatly improve emergency operation function, largely avoid safety accident.
Referring to Fig. 6, in the present embodiment, emergency control apparatus 100 includes emergency parachute receiving module 110 and control mould
Block 120；
Emergency parachute receiving module 110, for receiving emergency parachute, emergency parachute is obtained according to the fault-signal of first handle
It arrives, wherein, fault-signal characterization first handle breaks down；
In embodiments of the present invention, step S130 can be performed by emergency parachute receiving module 110.
Control module 120 replaces first handle, to be held by second handle control according to emergency parachute control second handle
Row mechanism action.
In embodiments of the present invention, step S140 can be performed by control module 120.
Referring to Fig. 7, in the present embodiment, control module 120 includes action signal receiving module 122, action command life
Into module 124 and execution module 126；
Action signal receiving module 122, for receiving the action signal of second handle；
In embodiments of the present invention, step S142 can be performed by action signal receiving module 122.
Action command generation module 124, for generating action command according to action signal；
In embodiments of the present invention, step S144 can be performed by action command generation module 124.
Execution module 126 controls executing agency's action for the action command.
In embodiments of the present invention, step S146 can be performed by execution module 126.
Referring to Fig. 8, in the present embodiment, action command generation module 124 include control signal generation module 1242 and
First generation module 1244；
Signal generation module 1242 is controlled, for matching control signal corresponding with the action signal.
In embodiments of the present invention, step S1442 can be performed by control signal generation module 1242.
First generation module 1244, for generating the action command according to the control signal.
In embodiments of the present invention, step S1444 can be performed by the first generation module 1244.
Referring to Fig. 9, it should be noted that in the present embodiment, action command generation module 124 includes control signal life
Into 1242 and first generation module 1244 of module.But not limited to this, in other embodiments of the invention, action command generation
Module 124 can also include 2242 and second generation module 2244 of control instruction generation module.
Control instruction generation module 2242, for generating control instruction according to action signal.
In embodiments of the present invention, step S2442 can be performed by control instruction generation module 2242.
Second generation module 2244, for matching action command corresponding with control instruction.
In embodiments of the present invention, step S2444 can be performed by the second generation module 2244.
Please continue to refer to Fig. 6, in the present embodiment, emergency control apparatus 100 further include operation signal receiving module 130 and
Fault-signal generation module 140.
Operation signal receiving module 130, for receiving the operation signal of first handle.
In embodiments of the present invention, step S110 can be performed by operation signal receiving module 130.
Fault-signal generation module 140 generates fault-signal according to operation signal.
In embodiments of the present invention, step S120 can be performed by fault-signal generation module 140.
Referring to Fig. 10, in the present embodiment, fault-signal generation module 140 include contrast signal generation module 142 and
Contrast module 144.
Contrast signal generation module 142, for generating contrast signal according to operation signal.
In embodiments of the present invention, step S122 can be performed by contrast signal generation module 142.
Contrast module 144, for according to contrast signal and operation signal generation fault-signal.
In embodiments of the present invention, step S124 can be performed by contrast module 144.
In the present embodiment, emergency control apparatus 100 further includes recovery module 150,
Recovery module 150 after the completion of working as executing agency's action, restores second handle.
In embodiments of the present invention, step S150 can be performed by recovery module 150.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of emergency control method, applied to crane, which is characterized in that including：
Emergency parachute is received, wherein, the emergency parachute is obtained according to the fault-signal of first handle, the fault-signal characterization
The first handle breaks down；
The first handle is replaced according to emergency parachute control second handle, to control execution machine by the second handle
Structure performs the action of the first handle control, wherein, the first handle controls the execution respectively with the second handle
Two to three actions of mechanism；
After the completion of the executing agency acts, restore the second handle, the second handle is made to control the executing agency
Perform the action of the second handle control.
2. emergency control method according to claim 1, which is characterized in that described according to emergency parachute control second
Handle replaces the first handle, to include the step of executing agency being controlled to act by the second handle：
Receive the action signal of the second handle；
Action command is generated according to the action signal；
Executing agency's action is controlled according to the action command.
3. emergency control method according to claim 2, which is characterized in that described to be acted according to the action signal generation
The step of instruction, includes：
Matching control signal corresponding with the action signal, wherein the action signal is associated in advance with the control signal；
The action command is generated according to the control signal.
4. emergency control method according to claim 2, which is characterized in that described to be acted according to the action signal generation
The step of instruction, includes：
Control instruction is generated according to the action signal；
The matching action command corresponding with the control instruction, wherein the control instruction is closed in advance with the action command
Connection.
5. emergency control method according to claim 1, which is characterized in that the emergency control method further includes：
Receive the operation signal of first handle；
The fault-signal is generated according to the operation signal.
6. emergency control method according to claim 5, which is characterized in that described according to described in operation signal generation
The step of fault-signal, includes：
Contrast signal is generated according to the operation signal；
The fault-signal is generated according to the contrast signal and the operation signal.
7. emergency control method according to claim 6, which is characterized in that described according to the contrast signal and the behaviour
Make the step of signal generates the fault-signal to include：
The contrast signal and the operation signal are compared, when the operation signal and contrast signal mismatch, generation
The fault-signal.
8. a kind of emergency control apparatus, applied to crane, which is characterized in that including：
Emergency parachute receiving module, for receiving emergency parachute, the emergency parachute is obtained according to the fault-signal of first handle,
Wherein, the fault-signal characterizes the first handle and breaks down；
Control module replaces the first handle, to pass through the second handle according to emergency parachute control second handle
Executing agency is controlled to perform the action of the first handle control, wherein, the first handle is controlled respectively with the second handle
Make two to three actions of the executing agency；
Recovery module after the completion of working as executing agency's action, restores the second handle, controls the second handle
The executing agency performs the action of the second handle control.
9. a kind of engineering machinery, which is characterized in that including：
Memory；
Processor；And
Emergency control apparatus, the emergency control apparatus are installed in the memory and including one or more by the processing
The software function module that device performs, the emergency control apparatus include：
Emergency parachute receiving module, for receiving emergency parachute, the emergency parachute is obtained according to the fault-signal of first handle,
Wherein, the fault-signal characterizes the first handle and breaks down；
Control module replaces the first handle, to pass through the second handle according to emergency parachute control second handle
Executing agency is controlled to perform the action of the first handle control, wherein, the first handle distinguishes institute with the second handle
State two to three actions of control executing agency；
Recovery module after the completion of working as executing agency's action, restores the second handle, controls the second handle
The executing agency performs the action of the second handle control.
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| CN201810153459.3A CN107867633B (en) | 2018-02-22 | 2018-02-22 | A kind of emergency control method, device and engineering machinery |
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| CN201810153459.3A CN107867633B (en) | 2018-02-22 | 2018-02-22 | A kind of emergency control method, device and engineering machinery |
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| CN107002389A (en) * | 2016-04-08 | 2017-08-01 | 株式会社小松制作所 | Control system, control method and the working truck of working truck |
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| FR3012112B1 (en) * | 2013-10-22 | 2017-04-21 | Ratier Figeac Soc | METHOD FOR MONITORING THE OPERATION OF AN AIRCRAFT DRIVING DEVICE AND AIRCRAFT DRIVING DEVICE SO MONITORED |
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| EP2343613A2 (en) * | 2010-01-12 | 2011-07-13 | Nabtesco Corporation | Flight control system |
| CN103387185A (en) * | 2013-08-01 | 2013-11-13 | 徐州重型机械有限公司 | Control system, control method and crane |
| CN103775050A (en) * | 2014-02-26 | 2014-05-07 | 陕西建设机械股份有限公司 | Rotary excavating drill mast dual redundancy control device |
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