CN108749687B - Remote wireless control device and method for side-pull carriage movement mechanism of van vehicle - Google Patents
Remote wireless control device and method for side-pull carriage movement mechanism of van vehicle Download PDFInfo
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- CN108749687B CN108749687B CN201810394250.6A CN201810394250A CN108749687B CN 108749687 B CN108749687 B CN 108749687B CN 201810394250 A CN201810394250 A CN 201810394250A CN 108749687 B CN108749687 B CN 108749687B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 72
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- 230000008569 process Effects 0.000 claims description 6
- 238000009825 accumulation Methods 0.000 claims description 5
- 238000003745 diagnosis Methods 0.000 claims description 5
- 230000036541 health Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000003749 cleanliness Effects 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000011156 evaluation Methods 0.000 claims description 2
- 230000036544 posture Effects 0.000 claims 1
- 238000004064 recycling Methods 0.000 claims 1
- 238000011897 real-time detection Methods 0.000 abstract 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D33/00—Superstructures for load-carrying vehicles
- B62D33/04—Enclosed load compartments ; Frameworks for movable panels, tarpaulins or side curtains
Abstract
The invention provides a remote wireless control device for a side pull compartment movement mechanism of a van vehicle, which comprises a leveling module, a compartment centralized control module and an electro-hydraulic control module, wherein the leveling module is connected with the compartment centralized control module; the leveling module detects the horizontal state of the vehicle body by using a horizontal sensor on the vehicle body to obtain leveling information and outputs the leveling information; the carriage centralized control module is used for acquiring the state of each motion mechanism in the carriage to obtain state information and outputting the state information through a CAN bus; and the electro-hydraulic control module is used for reading the state information and the leveling information of each motion mechanism, judging whether the state information and the leveling information are abnormal or not, and outputting the judgment result, the state information and the leveling information. The invention also provides a remote wireless control method of the side carriage-pulling movement mechanism of the van vehicle. The device and the method can realize real-time detection of the state in the vehicle and ensure the safety of operators.
Description
Technical Field
The invention relates to the field of van vehicles, in particular to a van vehicle side carriage movement mechanism remote wireless control device and method.
Background
In the field of conventional van vehicles with functions of laterally pulling carriages or turning plate unfolding and folding, most of the carriage pulling or turning plate unfolding and folding mechanisms of the van vehicles adopt manual valves or buttons to directly drive and control the mechanisms, the traditional control system and the traditional control mode are only suitable for vehicles with simple carriage body structures, and when a multistage motion mechanism or other systems exist in the carriage body, the damage of mechanisms in the vehicles is easily caused due to misoperation or improper control sequence. Meanwhile, the contradiction that personnel cannot observe the in-vehicle condition and the levelness information of the vehicle body in real time when operating outside the vehicle exists, and personal injury safety accidents can be caused if the personnel operate improperly in the vehicle.
Disclosure of Invention
In view of the above, the present invention provides a remote wireless control device and method for a side-pull box moving mechanism of a van vehicle, which can detect the state in the vehicle in real time and ensure the safety of the operator.
The invention provides a remote wireless control device for a side pull compartment movement mechanism of a van vehicle, which comprises a leveling module, a compartment centralized control module, an electro-hydraulic control module and a CANnet module; the leveling module is connected with the electro-hydraulic control module through an electric signal; the carriage centralized control module is connected with the electro-hydraulic control module through a CAN bus.
And the leveling module is used for detecting the horizontal state of the vehicle body by using a horizontal sensor on the vehicle body to obtain leveling information and outputting the leveling information.
And the carriage centralized control module is used for acquiring the state of each motion mechanism in the carriage to obtain state information and outputting the state information to the CAN bus.
The electro-hydraulic control module is used for reading the state information of each motion mechanism and the leveling information collected by the carriage centralized control module, judging whether the state information and the leveling information are abnormal or not, and outputting the judgment result, the state information and the leveling information through the CAN bus.
And the CANnet module converts the state information and the leveling information into Ethernet signals and outputs the Ethernet signals to the monitoring equipment.
Preferably, the electrohydraulic control module further compares the state information of each motion mechanism in the carriage read by the electrohydraulic control module with the stored historical state information of each motion mechanism to judge whether the state information is abnormal, and further records the information of normal in-place and failure-in-place each time in the state information, updates the state information once every time the carriage moves, counts the number of times of failure-in-place and the position points with more frequent failure due to failure, and automatically arranges the position points with more frequent failure to the front area of the statistical table.
Optionally, the state information of each motion mechanism includes: the motion attitude, the displacement amount, the running speed of the motor and the like of other motion mechanisms in the vehicle.
Preferably, the electro-hydraulic control module is further configured to acquire state information of the hydraulic system, where the state information includes a rotation speed, a working pressure, a working flow rate, an in-place signal of the motor pump, a volumetric efficiency of the gear pump calculated from the rotation speed and the flow rate information, and a leakage rate of the directional valve calculated from a flow rate difference between the front and the rear of the directional valve, and the state information is stored and sent through a CAN bus.
And further, the electro-hydraulic control module is also used for carrying out health management and fault diagnosis on the hydraulic system through the state information of the hydraulic system stored every time, including the evaluation of the service life of the gear pump, the judgment of whether the valve core of the hydraulic valve is blocked or not, the judgment of whether the motor is locked or not and the cleanliness of the hydraulic oil.
Preferably, the remote wireless control device for the side pull carriage movement mechanism of the van vehicle, provided by the invention, has the following conditions for judging the leveling information: when the leveling precision reaches the conditions that the X axis is less than or equal to 30 'and the Y axis is less than or equal to 30', the leveling is finished.
The invention also provides a remote wireless control method for the side pull compartment movement mechanism of the van vehicle, which comprises the following steps:
leveling the exhibition vehicle, and when the required leveling precision is achieved, leveling is finished;
collecting state information of each motion mechanism in the carriage, and sending the state information through a CAN bus;
judging whether the state information of each motion mechanism is consistent with the information required to be possessed by normal operation, and if so, turning to the next working process;
controlling a man-machine control interface, and sequentially unfolding the pull box and the turning plate;
and after the hydraulic system detects the unfolding in-place signal, the hydraulic system is kept to continuously operate for 2 seconds, so that the pull carriage and the turning plate completely reach the positions.
And judging whether the state information of each motion mechanism is consistent with the information required to be possessed by normal operation, if so, turning to the next working flow, and stopping unfolding the pull carriage and the turning plate and displaying corresponding abnormal information on a human-computer control interface when the state information of each motion mechanism is inconsistent with the information required to be possessed by normal operation.
And judging whether the state information of each motion mechanism is consistent with the information required to be possessed in normal operation, and if so, switching to the next working flow.
After the hydraulic system detects the unfolding in-place signal, the hydraulic system is kept to continuously operate for 2 seconds, and the pulling carriage and the turning plate completely reach the position.
From the above, on the basis of the wireless local area network communication technology, the remote wireless control device for the side pull carriage movement mechanism of the van vehicle provided by the invention has the advantages that the electro-hydraulic control module is communicated with the computer and the human-computer operation interface in an interconnecting way through the CANnet module, so that various state information data acquired and stored by the electro-hydraulic control module are transmitted to the computer and the human-computer operation interface, and meanwhile, instructions on the human-computer interface can also be transmitted to the electro-hydraulic control module, so that the remote wireless control of the whole electro-hydraulic control module is realized; the electro-hydraulic control module reads and judges the state information of each motion mechanism collected by the carriage centralized control module and the leveling information collected by the leveling module, and counts the state information to guide subsequent fault elimination and improvement; meanwhile, the electrohydraulic control module also collects the running state information of the hydraulic system, and data accumulation is carried out, so that fault diagnosis and health management of the hydraulic system are realized.
The invention provides a remote wireless control method for a side carriage-pulling movement mechanism of a van vehicle, which overcomes the defect that personnel cannot identify the state position of each mechanism in a carriage and whether the leveling state of the whole vehicle meets the carriage-pulling unfolding and folding requirements when operating in a safety area outside the vehicle.
Drawings
Fig. 1 is a schematic view of a control system of an embodiment of a remote wireless control device for a side pull compartment movement mechanism of a van vehicle according to the present invention;
fig. 2 is a schematic distribution diagram of state monitoring points of each moving mechanism in a carriage of a side-pull carriage moving mechanism remote wireless control device of a van vehicle provided by the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
As an embodiment of the remote wireless control device for the side pull carriage movement mechanism of the van vehicle provided by the invention, as shown in fig. 1, the remote wireless control device for the side pull carriage movement mechanism of the van vehicle comprises a leveling module, a carriage centralized control module, an electro-hydraulic control module, a CANnet module, a human-computer control interface and a computer storage module; the leveling module is connected with the electro-hydraulic control module through an electric signal; the carriage centralized control module is connected with the electro-hydraulic control module through a CAN bus.
And the leveling module is used for detecting the horizontal state of the vehicle body by using a horizontal sensor on the vehicle body to obtain leveling information and outputting the leveling information.
And the carriage centralized control module is used for acquiring the state of each motion mechanism in the carriage to obtain state information and outputting the state information to the CAN bus.
The electro-hydraulic control module is used for reading the state information of each motion mechanism and the leveling information collected by the carriage centralized control module, judging whether the state information and the leveling information are abnormal or not, and outputting the judgment result, the state information and the leveling information through the CAN bus.
And the CANnet module converts the state information and the leveling information into Ethernet signals and outputs the Ethernet signals to the monitoring equipment.
The human-computer control interface comprises a first row of support leg states, specifically comprises a support state, a recovery state and a stop state; the second row of expansion cabin states specifically comprise an expansion state, a withdrawal state and a stop state; and the pressure value is also displayed on the control interface.
Preferably, the electrohydraulic control module further comprises a step of comparing the state information of each motion mechanism in the carriage read by the electrohydraulic control module with the stored historical state information of each motion mechanism to judge whether the state information is abnormal or not, and further recording the information of normal in-place and failure in-place in the state information every time, wherein the state information is updated once the carriage moves, the times of failure in normal in-place and the positions with more frequent failure in failure are counted, and the positions with more frequent failure are automatically arranged in the front area of the counting table, so that an operator can quickly find and timely make corresponding processing measures.
Preferably, when the leveling precision reaches the conditions that the X axis is less than or equal to 30 'and the Y axis is less than or equal to 30', the leveling is finished.
As another embodiment of the present invention, the electro-hydraulic control module is further configured to acquire state information of the hydraulic system, including a rotation speed, a working pressure, a working flow rate, an in-place signal of the motor pump, and a leakage rate of the directional valve calculated from a volumetric efficiency of the gear pump calculated from the rotation speed, the flow rate, and the like, and a flow rate difference between the front and the rear of the directional valve, store the state information in the computer, and simultaneously send the state information to the human-machine control interface for real-time monitoring; in the remote wireless control device for the side pull carriage movement mechanism of the van, when the working pressure exceeds a safety range, namely is more than 10.5MPa, the clamping stagnation of the internal action is indicated, and the alarm can be given immediately for troubleshooting.
As another preferred embodiment, the electro-hydraulic control module can perform health management and fault diagnosis on the hydraulic system based on the stored working state information of the hydraulic system each time, including estimation on the service life of the hydraulic system, and the method comprises the following steps: under the state that the rotating speed of the motor is stable, a quantitative gear pump of a hydraulic system is combined, whether the volumetric efficiency of the gear pump is reduced or not can be detected and judged by calculating the time when the pull carriage extends out and retracts and the leveling working time, and the service life of the gear pump is evaluated by long-term data accumulation;
judging whether the hydraulic valve has a fault or not, wherein the method comprises the following steps: the phenomenon that current passes through a coil of the electromagnetic valve, a motor pump rotates but a hydraulic cylinder does not act is used for judging the fault that the valve core of the hydraulic valve is blocked;
whether a locked rotor fault occurs to the motor is judged, and the method comprises the following steps: the motor stalling fault is judged when the current is suddenly increased by detecting the current when the motor normally works.
The method for judging the cleanliness of the hydraulic oil comprises the following steps: and judging the cleanliness of the hydraulic oil through the filter blockage alarm signal.
The invention also provides an embodiment of a remote wireless control method for the side pull compartment movement mechanism of the van vehicle, which comprises the following steps:
(1) leveling the exhibition vehicle, and when the required leveling precision is achieved, leveling is finished;
(2) collecting state information of each motion mechanism in the carriage, and sending the state information through a CAN bus;
(3) judging whether the state information of each motion mechanism is consistent with the information required to be possessed by normal operation, and if so, turning to the next working process;
(4) controlling a man-machine control interface, and sequentially unfolding the pull box and the turning plate;
(5) after the hydraulic system detects the unfolding in-place signal, the hydraulic system is kept to continuously operate for 2 seconds, so that the pull carriage and the turning plate completely reach the positions;
(6) the retracting actions of the carriage and the turning plate are the same as the steps (3) to (5).
Preferably, when the leveling precision reaches the conditions that the X axis is less than or equal to 30 'and the Y axis is less than or equal to 30', the leveling is finished.
Preferably, the step of judging whether the state information of each motion mechanism is consistent with the information required to be possessed by normal operation or not is carried out, if so, the next step of the working process is carried out, and the step of stopping unfolding the pull box and the turning plate and displaying corresponding abnormal information on a human-computer control interface when the state information of each motion mechanism is inconsistent with the information required to be possessed by normal operation is further included.
Preferably, the step of judging whether the state information of each motion mechanism is consistent with the information required by normal operation, and if so, the step of transferring to the next working flow further comprises the step of recording the state information of each motion mechanism into a computer to realize data accumulation.
Preferably, after the hydraulic system detects the unfolding in-place signal, the hydraulic system is kept to operate continuously for 2 seconds, and the pulling carriage and the turning plate completely reach the position, if the detected pressure signal in the unfolding and folding process reaches the overflow pressure of 10.5MPa and is kept continuously for 3-4 seconds, the unfolding or folding in-place signal is not received, the fault of the in-place signal sensor is judged through a fault-tolerant mechanism, and the actual unfolding and folding actions are in place.
According to the embodiment, on the basis of a wireless local area network communication technology, the electro-hydraulic control module is in communication with a computer and a human-computer operation interface in an interconnected manner through the CANnet module, so that the state information data acquired and stored by the electro-hydraulic control module is transmitted to the computer and the human-computer operation interface, and meanwhile, the instruction on the human-computer interface can also be transmitted to the electro-hydraulic control module, so that the remote wireless control of the whole electro-hydraulic control module is realized; the electro-hydraulic control module reads and judges the state information of each motion mechanism collected by the carriage centralized control module and the leveling information collected by the leveling module, and counts the state information to guide subsequent fault elimination and improvement; meanwhile, the electrohydraulic control module also collects the running state information of the hydraulic system, and data accumulation is carried out, so that fault diagnosis and health management of the hydraulic system are realized.
The invention provides a remote wireless control method for a side carriage-pulling movement mechanism of a van vehicle, which overcomes the defect that personnel cannot identify the state position of each mechanism in a carriage and whether the leveling state of the whole vehicle meets the carriage-pulling unfolding and folding requirements when operating in a safety area outside the vehicle.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. A remote wireless control device for a side pull compartment movement mechanism of a van vehicle is characterized by comprising a leveling module, a compartment centralized control module, an electro-hydraulic control module and a CANnet module; the leveling module is connected with the electro-hydraulic control module through an electric signal; the carriage centralized control module is connected with the electro-hydraulic control module through a CAN bus;
the leveling module is used for detecting the horizontal state of the vehicle body by using a horizontal sensor on the vehicle body to obtain leveling information and outputting the leveling information;
the carriage centralized control module is used for acquiring the state of each motion mechanism in the carriage to obtain state information and outputting the state information to the CAN bus;
the electro-hydraulic control module is used for reading the state information and the leveling information of each motion mechanism collected by the carriage centralized control module, judging whether the state information and the leveling information are abnormal or not, and outputting the judgment result, the state information and the leveling information through the CAN bus;
and the CANnet module converts the state information and the leveling information into Ethernet signals and outputs the Ethernet signals to the monitoring equipment.
2. The remote wireless control device for the side pull box motion mechanism of the van vehicle as claimed in claim 1, wherein the electro-hydraulic control module is further configured to determine whether the state information is abnormal by comparing the read state information of each motion mechanism in the car with stored historical state information of each motion mechanism, record information of each time the state information is in place normally and is not in place due to a fault, and update the state information; and counting the times of failure in normal position and the position points with more frequency of failure in normal position, and automatically arranging the position points with more frequency of failure in the front area of the statistical table.
3. The remote wireless control device for side pull carriage motion mechanisms of van-type vehicles according to claim 2, wherein the state information of each motion mechanism comprises: the motion postures and the displacement of other motion mechanisms in the vehicle and the running speed of the motor.
4. The remote wireless control device of the side pull carriage movement mechanism of the van vehicle as claimed in claim 1, wherein the electro-hydraulic control module is further configured to collect status information of a hydraulic system, store the status information and send the status information through a CAN bus, wherein the status information includes a rotation speed, a working pressure, a working flow rate, and an in-place signal of a motor pump, and a leakage amount of the reversing valve calculated from a volumetric efficiency of the gear pump calculated from the rotation speed, the flow rate, and the like, and a flow rate difference between the front and the rear of the reversing valve.
5. The remote wireless control device of the side pull carriage movement mechanism of the van vehicle as claimed in claim 4, wherein the electro-hydraulic control module is further configured to perform health management and fault diagnosis on the hydraulic system through the state information of the hydraulic system stored each time, including evaluation of the service life of the gear pump, determination of whether a spool of the hydraulic valve is stuck, determination of whether a motor is locked, and determination of the cleanliness of hydraulic oil.
6. The remote wireless control device for the side pull carriage movement mechanism of the van-type vehicle as claimed in claim 1, wherein the condition for judging the leveling information is as follows: when the leveling precision reaches the conditions that the X axis is less than or equal to 30 'and the Y axis is less than or equal to 30', the leveling is finished.
7. A remote wireless control method for a side pull carriage movement mechanism of a van vehicle is characterized by comprising the following steps:
leveling the exhibition vehicle, and when the required leveling precision is achieved, leveling is finished;
collecting state information of each motion mechanism in the carriage, and sending the state information through a CAN bus;
judging whether the state information of each motion mechanism is consistent with the information required to be possessed by normal operation, and if so, turning to the next working process;
controlling a man-machine control interface, and sequentially unfolding the pull box and the turning plate;
and after the hydraulic system detects the unfolding in-place signal, the hydraulic system is kept to continuously operate for 2 seconds, so that the pull carriage and the turning plate completely reach the positions.
8. The method as claimed in claim 7, wherein the step of determining whether the state information of each motion mechanism is consistent with the information required for normal operation is performed, and if so, the step of proceeding to the next step further comprises the step of stopping unfolding the pull box and the turning plate and displaying corresponding abnormal information on a human-computer control interface when the state information of each motion mechanism is inconsistent with the information required for normal operation.
9. The method as claimed in claim 8, wherein the step of determining whether the state information of each motion mechanism is consistent with the information required for normal operation, and if so, the step of proceeding to the next work flow further comprises recording the state information of each motion mechanism in a computer to realize data accumulation.
10. The remote wireless control method for the side car-pulling movement mechanism of the van vehicle as claimed in claim 7, wherein after the hydraulic system detects the unfolding in-place signal, the hydraulic system is kept to operate continuously for 2 seconds, so that the car-pulling and turning plate can reach the full position, and the method further comprises the step of judging that the in-place signal sensor is in fault through a fault-tolerant mechanism if the detected pressure signal reaches the overflow pressure of 10.5MPa and the unfolding or recycling in-place signal is not received after the pressure signal is continuously maintained for 3-4 seconds in the unfolding and folding processes, and the actual unfolding and folding actions are in place.
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| CN112000033A (en) * | 2020-07-24 | 2020-11-27 | 广东三向智能科技股份有限公司 | Automatic control system and control method for training mobile vehicle |
| CN113914737B (en) * | 2021-10-25 | 2023-02-24 | 山东蓬翔汽车有限公司 | Side compartment door lifting control system and method for wing-opening compartment type vehicle AGV |
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| CN1968838A (en) * | 2004-05-12 | 2007-05-23 | 夏洛特-梅克伦堡医院（商业用名：卡罗来纳医疗中心） | Mobile medical facility |
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| CN104105466A (en) * | 2011-11-21 | 2014-10-15 | 医疗一级合伙人有限责任公司 | Mobile treatment, diagnostic and minor surgery facility |
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