CN109721011B - Modular redundancy control method and system for aerial work vehicle - Google Patents
Modular redundancy control method and system for aerial work vehicle Download PDFInfo
- Publication number
- CN109721011B CN109721011B CN201910035597.6A CN201910035597A CN109721011B CN 109721011 B CN109721011 B CN 109721011B CN 201910035597 A CN201910035597 A CN 201910035597A CN 109721011 B CN109721011 B CN 109721011B
- Authority
- CN
- China
- Prior art keywords
- control module
- working
- working state
- standby
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 82
- 230000002159 abnormal effect Effects 0.000 claims abstract description 27
- 238000011084 recovery Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 40
- 238000010586 diagram Methods 0.000 description 10
- 230000009471 action Effects 0.000 description 7
- 238000004590 computer program Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000005303 weighing Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Images
Landscapes
- Safety Devices In Control Systems (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a modular redundancy control method and a system for an aerial working truck, wherein the system comprises a main controller and a standby control module, the standby control module has three working states which are respectively a rotary table control module working state, a platform control module working state and a get-off control module working state, and the standby control module can be switched among the three working states; a master controller to: acquiring detection signals of detection units in the rotary table control module, the platform control module and the get-off control module; analyzing the acquired detection signals of each work control module, and judging whether each detection signal is normal or not; responding to the detection signal which is judged to be abnormal, determining the abnormal detection signal, and judging a fault work control module according to the abnormal detection signal; and sends out an instruction to control the standby control module to switch the working state to the working state of the fault working control module.
Description
Technical Field
The invention belongs to the technical field of special vehicle control, and particularly relates to a modular redundancy control method and a modular redundancy control system for an aerial work vehicle.
Background
The overhead working truck is a special vehicle for transporting workers and using equipment to the site and carrying out aerial operation. The high-altitude operation vehicle is a special machine which is provided with a plurality of hydraulic oil cylinders and can lift up and down to operate under the control of a hydraulic or electric system, and is widely applied to various high-altitude operation fields of electric power, fire control, traffic, advertisement, decoration and cleaning of building outer walls, garden maintenance, communication equipment maintenance and repair and the like. Compared with the traditional scaffold type aerial work, the aerial work vehicle has extremely high aerial work safety, environmental adaptability and work efficiency, gradually replaces a scaffold, and becomes the mainstream aerial work mode at present.
The electrical control system of the overhead working truck comprises an upper truck control system and a lower truck control system. The boarding control system also comprises a platform control system and a rotary table control system. The get-off control system mainly controls the interlocking function of the supporting legs and the getting-on and getting-off, and is strictly forbidden to operate during high-altitude operation. In the construction process, the safety of constructors must be ensured, and the control system of the overhead working truck is required to have higher safety and reliability.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a modular redundancy control method and a modular redundancy control system for an overhead working truck.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a redundancy control method, comprising:
acquiring detection signals of the detection units in each work control module,
analyzing the acquired detection signals of each work control module, and judging whether each detection signal is normal or not;
in response to determining that any of the detection signals is abnormal, determining the abnormal detection signal; judging a fault work control module according to the abnormal detection signal; and sends out an instruction to control the standby control module to switch the working state to the working state of the fault working control module.
Furthermore, the redundancy control method is characterized by also comprising the step of sending an instruction to display the abnormal detection signal, so that the maintenance is convenient and timely.
On the other hand, the invention also provides a redundant control system of the high-altitude operation vehicle, the control system comprises three working control modules which are respectively a rotary table control module, a platform control module and a get-off control module,
further comprising: a main controller and a standby control module,
the standby control module has three working states, wherein the three working states are respectively a rotary table control module working state, a platform control module working state and a get-off control module working state, and the standby control module can be switched among the three working states;
the main controller is used for: acquiring detection signals of detection units in the rotary table control module, the platform control module and the get-off control module;
analyzing the acquired detection signals of each work control module, and judging whether each detection signal is normal or not;
responding to the detection signal which is judged to be abnormal, determining the abnormal detection signal, and judging a fault work control module according to the abnormal detection signal; and sends out an instruction to control the standby control module to switch the working state to the working state of the fault working control module.
The high-altitude operation vehicle redundant control system is characterized in that,
the standby control module working state switching unit is used for receiving and executing the instruction of the main controller and switching the working state of the standby control module to the working state of the fault working control module.
Furthermore, the standby control module is in signal connection with the main controller through a standby control module working state switching unit.
Furthermore, the redundancy control system is characterized in that the rotary table control module, the platform control module and the get-off control module are respectively in signal connection with the main controller.
Furthermore, the redundancy control system is characterized by further comprising a display module, wherein the display module is in signal connection with the main controller and is used for receiving and executing instructions of the main controller and displaying abnormal detection signals on the display equipment, so that the redundancy control system is convenient to overhaul in time.
Preferably, the functions of the turntable control module include: the anti-collision device has the functions of working arm action control, working arm amplitude limitation, automatic vehicle unfolding/folding function, emergency switch, limit position speed reduction, engine remote control, electric emergency pump, cab and landing leg anti-collision; the detection unit in the turntable control module includes: inclination angle sensor, length sensor, revolving stage angle sensor.
Preferably, the functions of the get-off control module include: the system comprises a support leg state detection and display function, a unilateral operation function, an emergency switch, an on-off interlocking function, a chassis hand brake, a power takeoff state acquisition function and an automatic throttle adjusting function; the detection unit in the get-off control module comprises: a supporting leg state detection sensor and a recovery position detection sensor.
Preferably, the functions of the platform control module include: the system comprises a working arm action control device, a platform load weighing device, a platform anti-collision function, a real-time display function and an emergency switch; the detection unit in the platform control module comprises: platform inclination sensor, platform load sensor, ultrasonic sensor.
Has the advantages that: the invention provides a modular redundancy control method and a modular redundancy control system for an aerial work vehicle, aiming at the control system of the aerial work vehicle, in order to ensure the safety of the aerial work, the redundancy control is added into the original control system, and the safety problem that the whole vehicle control system is difficult to predict in the process of the aerial work is prevented. Has the following advantages:
(1) the invention makes the main controller independent of the three control modules, is beneficial to searching the fault problem and reduces the complexity of the control system.
(2) The invention utilizes one control module as a standby control module of the three working modules, thereby reducing the cost of the whole vehicle.
(3) Compared with the prior art, the invention increases the standby control module and the standby control module working state switching unit, and improves the reliability of the control system.
(4) The invention can automatically switch the working state of the standby control module to replace the fault working control module when the working control module has a problem through the working state switching unit of the standby control module.
Drawings
FIG. 1 is a block diagram of a control system of an embodiment;
FIG. 2 is a system block diagram of an embodiment redundant control system.
Detailed Description
The present invention will be further described with reference to the following examples.
Example 1
As shown in fig. 1, a redundancy control method includes:
acquiring detection signals of the detection units in each work control module,
analyzing the acquired detection signals of each work control module, and judging whether each detection signal is normal or not;
in response to determining that any of the detection signals is abnormal, determining the abnormal detection signal; judging a fault work control module according to the abnormal detection signal; and sends out an instruction to control the standby control module to switch the working state to the working state of the fault working control module.
Further, the method also comprises the following steps: and an instruction is sent to display abnormal detection signals, so that the maintenance is convenient and timely.
Example 2
As shown in figure 1, the redundant control system of the high-altitude operation vehicle comprises three working control modules, namely a rotary table control module 6, a platform control module 7 and a get-off control module 5, and is characterized in that,
as shown in fig. 2, the method further includes: a main controller 2 and a standby control module 4,
the standby control module 4 has three working states, wherein the three working states are respectively a rotary table control module working state, a platform control module working state and a get-off control module working state, and the standby control module can be switched among the three working states;
the main controller 2 is configured to: acquiring detection signals of detection units in the turntable control module 6, the platform control module 7 and the get-off control module 5,
analyzing the acquired detection signals of each work control module, and judging whether each detection signal is normal or not;
responding to the detection signal which is judged to be abnormal, determining the abnormal detection signal, and judging a fault work control module according to the abnormal detection signal; and sends out an instruction to control the standby control module to switch the working state to the working state of the fault working control module.
The standby control module working state switching unit 3 is used for receiving and executing the instruction of the main controller and switching the working state of the standby control module to the working state of the fault working control module.
Further, the standby control module 4 is in signal connection with the main controller 2 through the standby control module working state switching unit 3.
Furthermore, the redundancy control system also comprises a display module 1, wherein the display module 1 is in signal connection with the main controller 2 and is used for receiving and executing instructions of the main controller and displaying abnormal detection signals on the display equipment, so that the redundancy control system is convenient to overhaul in time.
Furthermore, the redundancy control system is characterized in that the rotary table control module, the platform control module and the get-off control module are respectively in signal connection with the main controller.
Further, in some embodiments, as shown in fig. 1, the functions of the turntable control module include: the anti-collision device has the functions of working arm action control, working arm amplitude limitation, automatic vehicle unfolding/folding function, emergency switch, limit position speed reduction, engine remote control, electric emergency pump, cab and landing leg anti-collision; the detection unit in the turntable control module includes: inclination angle sensor, length sensor, revolving stage angle sensor.
Further, in some embodiments, as shown in fig. 1, the functions of the get-off control module include: the system comprises a support leg state detection and display function, a unilateral operation function, an emergency switch, an on-off interlocking function, a chassis hand brake, a power takeoff state acquisition function and an automatic throttle adjusting function; the detection unit in the get-off control module comprises: a supporting leg state detection sensor and a recovery position detection sensor.
Further, in some embodiments, as shown in fig. 1, the functions of the platform control module include: the system comprises a working arm action control device, a platform load weighing device, a platform anti-collision function, a real-time display function and an emergency switch; the detection unit in the platform control module comprises: platform inclination sensor, platform load sensor, ultrasonic sensor.
In this embodiment, a modular control system is improved based on an original control system, so that the whole control system is modular and is simpler and more clear. And a standby control module working state switching unit are added to form a redundancy control system.
As shown in fig. 1, the modular control system is mainly composed of the following components: the device comprises a main controller, a rotary table control module, a platform control module and a get-off control module.
As shown in fig. 2, the whole redundant control system mainly includes: a display module 1; a main controller 2; a standby control module working state switching unit 3; a standby control module 4; a get-off control module 5; a turntable control module 6; a platform control module 7; various sensors 8.
In this embodiment, as shown in fig. 1 and 2, a modular redundancy control system is mainly implemented by a main controller and three control modules. The three control modules are respectively a rotary table control module, a get-off control module and a platform control module. The main controller is independent, and respectively receives and transmits information to the three control modules, so that the three control modules do not participate in specific action control.
The turntable control module has the main functions of: the device comprises a working arm action control device, a working arm amplitude limitation device, an automatic vehicle unfolding/folding function, an emergency switch, a limit position speed reduction device, an engine remote control device, an electric emergency pump, a cab and supporting leg anti-collision function and the like.
The get-off control module has the functions of: the landing leg state detection and display, unilateral operation function, emergency switch, the interlocking function of getting on and off the bus, chassis manual brake, power takeoff state acquisition function, automatically regulated throttle function etc..
The platform control module has the functions of: the device comprises a working arm action control device, a platform load weighing device, a platform anti-collision function, a real-time display function, an emergency switch and the like.
The detection unit in the turntable control module includes: inclination angle sensor, length sensor, revolving stage angle sensor.
The detection unit in the get-off control module comprises: a supporting leg state detection sensor and a recovery position detection sensor.
The detection unit in the platform control module comprises: platform inclination sensor, platform load sensor, ultrasonic sensor.
The standby control module in the high-altitude operation vehicle redundancy control system is in the same position with the get-off control module, the platform control module and the rotary table control module, and the standby control module is communicated with the main controller through the standby control module working state switching unit.
When the overhead working truck works normally, the main controller continuously communicates information with each working control module, and the main controller acquires, analyzes and judges detection signals of detection units in each working control module in real time; when a detection signal of one of the three working control modules has a problem, the main controller judges which working module has a fault according to the detection signal with the problem, and determines a fault working control module; and send out the instruction and give standby control module operating condition switching unit, switch over standby control module to the operating condition of trouble job control module rapidly, replace trouble job control module to guarantee that construction operation can safe, orderly completion, avoid the unnecessary loss, main control unit still shows the problem that appears on display device simultaneously, convenient in time overhauls.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. A redundancy control method, comprising:
acquiring detection signals of detection units in each work control module;
analyzing the acquired detection signals of each work control module, and judging whether each detection signal is normal or not;
in response to determining that any of the detection signals is abnormal, determining the abnormal detection signal; judging a fault work control module according to the abnormal detection signal; and sending an instruction to control the standby control module to switch the working state to the working state of the fault working control module; the standby control module has three working states, the three working states are respectively a working state of the turntable control module, a working state of the platform control module and a working state of the get-off control module, and the standby control module can be switched among the three working states.
2. The redundancy control method according to claim 1, further comprising issuing an instruction to display an abnormal detection signal.
3. A redundant control system comprises three working control modules which are respectively a rotary table control module, a platform control module and a get-off control module, and is characterized in that,
further comprising: a main controller and a standby control module,
the standby control module has three working states, wherein the three working states are respectively a rotary table control module working state, a platform control module working state and a get-off control module working state, and the standby control module can be switched among the three working states;
the main controller is used for: acquiring detection signals of detection units in the turntable control module, the platform control module and the get-off control module,
analyzing the acquired detection signals of each work control module, and judging whether each detection signal is normal or not;
responding to the detection signal which is judged to be abnormal, determining the abnormal detection signal, and judging a fault work control module according to the abnormal detection signal; and sends out an instruction to control the standby control module to switch the working state to the working state of the fault working control module.
4. The redundant control system of claim 3,
the standby control module working state switching unit is used for receiving and executing the instruction of the main controller and switching the working state of the standby control module to the working state of the fault working control module.
5. The redundant control system according to claim 4, wherein the standby control module is in signal connection with the main controller through a standby control module operation state switching unit.
6. The redundant control system of claim 3, wherein the turntable control module, the platform control module, and the get-off control module are in signal connection with a main controller, respectively.
7. The redundant control system of claim 3, further comprising a display module in signal communication with the main controller for receiving and executing instructions from the main controller to display the abnormal detection signal on the display device.
8. The redundant control system of claim 3, wherein the detection unit in the turret control module comprises: inclination angle sensor, length sensor, revolving stage angle sensor.
9. The redundant control system of claim 3, wherein the detection unit in the drop-off control module comprises: a supporting leg state detection sensor and a recovery position detection sensor.
10. The redundant control system of claim 3, wherein the detection unit in the platform control module comprises: platform inclination sensor, platform load sensor, ultrasonic sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910035597.6A CN109721011B (en) | 2019-01-15 | 2019-01-15 | Modular redundancy control method and system for aerial work vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910035597.6A CN109721011B (en) | 2019-01-15 | 2019-01-15 | Modular redundancy control method and system for aerial work vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109721011A CN109721011A (en) | 2019-05-07 |
| CN109721011B true CN109721011B (en) | 2020-08-07 |
Family
ID=66299719
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910035597.6A Active CN109721011B (en) | 2019-01-15 | 2019-01-15 | Modular redundancy control method and system for aerial work vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109721011B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859932A (en) * | 2020-12-29 | 2021-05-28 | 江苏徐工工程机械研究院有限公司 | Electric control system and method for aerial work platform |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102145869A (en) * | 2011-02-15 | 2011-08-10 | 徐州赫思曼电子有限公司 | Safety limit system for amplitude limit and torque limit redundancy |
| CN102540874A (en) * | 2012-02-03 | 2012-07-04 | 台达电子企业管理（上海）有限公司 | Equipment control system and redundant control method thereof |
| CN105867268A (en) * | 2016-04-06 | 2016-08-17 | 徐工集团工程机械有限公司 | Engineering machinery safety control method and system, and engineering machinery |
| CN107188098A (en) * | 2017-07-12 | 2017-09-22 | 徐工集团工程机械有限公司 | Work high above the ground truck control device, method and high-altitude operation vehicle |
| CN107235454A (en) * | 2017-07-25 | 2017-10-10 | 徐州海伦哲专用车辆股份有限公司 | A kind of communicator and communication means of insulation arm high-altitude operation vehicle |
| CN107539926A (en) * | 2017-08-24 | 2018-01-05 | 徐工集团工程机械有限公司 | High-altitude operation vehicle control method, high-altitude operation vehicle dedicated control device and system |
-
2019
- 2019-01-15 CN CN201910035597.6A patent/CN109721011B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102145869A (en) * | 2011-02-15 | 2011-08-10 | 徐州赫思曼电子有限公司 | Safety limit system for amplitude limit and torque limit redundancy |
| CN102540874A (en) * | 2012-02-03 | 2012-07-04 | 台达电子企业管理（上海）有限公司 | Equipment control system and redundant control method thereof |
| CN105867268A (en) * | 2016-04-06 | 2016-08-17 | 徐工集团工程机械有限公司 | Engineering machinery safety control method and system, and engineering machinery |
| CN107188098A (en) * | 2017-07-12 | 2017-09-22 | 徐工集团工程机械有限公司 | Work high above the ground truck control device, method and high-altitude operation vehicle |
| CN107235454A (en) * | 2017-07-25 | 2017-10-10 | 徐州海伦哲专用车辆股份有限公司 | A kind of communicator and communication means of insulation arm high-altitude operation vehicle |
| CN107539926A (en) * | 2017-08-24 | 2018-01-05 | 徐工集团工程机械有限公司 | High-altitude operation vehicle control method, high-altitude operation vehicle dedicated control device and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109721011A (en) | 2019-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110412962B (en) | Promotion centralized control system that accuse is many | |
| CN103043041B (en) | Supporting leg type engineering vehicle and control method and system thereof | |
| CN104296596B (en) | A kind of carrier rocket is surveyed and is sent out flow control journey command system and method | |
| CN109721011B (en) | Modular redundancy control method and system for aerial work vehicle | |
| CN112650223B (en) | Multifunctional track-changing device control system and method applied to inspection robot | |
| CN111645733A (en) | Automatic adjustment method for train track | |
| CN115784024A (en) | Tower crane handheld terminal control method and device, handheld terminal and storage medium | |
| CN204980953U (en) | Hoist and landing leg control system thereof | |
| CN212769485U (en) | Electric control system and engineering machinery | |
| CN111943049A (en) | Electrical control system, method, controller and engineering machinery | |
| CN201489361U (en) | Extensible zone controller based on CAN bus | |
| CN203682922U (en) | Intelligent crane control device | |
| CN107188098B (en) | Control device and method for overhead working truck and overhead working truck | |
| CN111302168A (en) | Double-control-cabinet redundant intelligent control system and method | |
| CN110482411A (en) | A kind of crane control system and method based on autonomous control | |
| CN102999000B (en) | For the safety monitoring assembly of intelligence de-hackers | |
| CN103279110B (en) | A kind of inspection control device of locomotive stand-by motor overhaul of the equipments line | |
| CN206033001U (en) | Mine vertical shaft hoisting machine unmanned on duty control system | |
| CN202600466U (en) | Self-networking and programmable signal collecting, processing and output device | |
| CN210199541U (en) | Wiper controller with network interface | |
| CN114217606B (en) | Remote intelligent control system and method for gantry crane | |
| CN204557171U (en) | The through job platform control system of contact net comprehensive upkeep operation car | |
| CN220855485U (en) | Arch and anchor integrated trolley control system | |
| CN216783771U (en) | Electric drive safety net and system based on information network | |
| CN218853463U (en) | Emergency stop protection system of flight cinema and flight cinema system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |