CN109917711A - A kind of control system and its control method of intelligent paver - Google Patents
A kind of control system and its control method of intelligent paver Download PDFInfo
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- CN109917711A CN109917711A CN201910228123.3A CN201910228123A CN109917711A CN 109917711 A CN109917711 A CN 109917711A CN 201910228123 A CN201910228123 A CN 201910228123A CN 109917711 A CN109917711 A CN 109917711A
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Abstract
The invention discloses a kind of control system of intelligent paver and its control methods, the present invention passes through the state signal collecting that signal acquisition module will respectively switch on control panel, the detection signal of sensor is acquired simultaneously, collected signal is input to controller by CAN network, controller controls each executing agency in turn and is accurately acted, it is more accurate to control, to improve construction quality and efficiency.In addition, can display real-time the state of control system over the display, when a failure occurs, it may appear that the alarm indication of respective execution mechanisms, so that it may which the route for checking this executing agency part quickly solves the problems, such as.Compared with prior art, fault point can be quickly found to repair.
Description
Technical field
The invention belongs to paver automatic control technology fields, and in particular to a kind of control system of intelligent paver and its
Control method.
Background technique
Currently, the part that the working condition of paver is participated in control by operator manually is more, such operating efficiency is not
It is high and be easy to appear human operational error.As electronic technology, sensor technology are constantly progressive, paver starts to intelligence
Direction is developed, and needs to pave the control system for managing platform for intelligence and control method is studied.
Summary of the invention
For in the prior art the technical issues of, the present invention provides a kind of control system of intelligent paver and its controls
Method reduces operation error its object is to improve operating efficiency.
In order to solve the above technical problems, the present invention is achieved by the following technical programs:
A kind of control system of intelligent paver, including controller, signal acquisition module, control panel, sensor and hold
Row mechanism is provided with starting/stopping modular, forward/backward module, hopper open/close module and screed on the control panel
Lifting/lowering module, the sensor include rotary angle transmitter, and the executing agency includes hopper, screed and scraper plate；
The signal acquisition module opens for starting/stopping modular, forward/backward module, hopper on acquisition control panel/
The output signal of block and screed lifting/lowering module is molded, and collected signal is transferred to controller；The rotary angle transmitter
Controller is transferred to for acquiring the angular signal of scraper plate, and by collected signal；The controller is used for basis and receives
Starting/stopping modular signal control paver start and stop, for according to receive forward/backward module by signal control pave
The forward or backward of machine is received for the folding according to the hopper open/close module by signal control hopper received for basis
Screed lifting/lowering module by signal control screed lifting, for controlling scraper plate according to the angular signal of scraper plate received
Corner.
It further, further include display, the display is used to receive and the information of display controller input/output.
Further, the controller and display communication connection.
Further, the model DP200 of the display.
Further, the model RC28-14 of the controller.
Further, the model MI64A5 of the signal acquisition module.
Further, the communication connection is CAN network communication.
A kind of control method of the control system of intelligent paver are as follows: initialize controller CAN network, signal is adopted
Collect starting/stopping modular, forward/backward module, hopper open/close module and screed lifting/lowering mould on module acquisition control panel
The output signal of block, and collected signal is transferred to controller, the controller is according to the starting/stopping modular received
Signal controls the start and stop of paver, and the forward or backward of speed changer is controlled according to the forward/backward module by signal received, according to
The folding of the hopper open/close module by signal control hopper received is pressed according to the screed lifting/lowering module by signal control received
The lifting of plate；The angular signal of the rotary angle transmitter acquisition scraper plate, and collected signal is transferred to controller, it is described
Controller controls the corner of scraper plate according to the angular signal of the scraper plate received.
Further, further include power on, when advance/fallback block in the open state, display display alarm
Information is closed, alarm release until by forward/backward module.
Further, when controller does not receive the signal of signal acquisition module output, controller shields all outputs；
When the signal of controller normal received signal acquisition module output, signal instruction that controller is exported according to signal acquisition module
Control corresponding executing agency's movement.
Compared with prior art, the present invention at least has the advantages that the present invention will be controlled by signal acquisition module
The state signal collecting respectively switched on panel processed, while the detection signal of sensor is acquired, collected signal is passed through into CAN net
Network is input to controller, and controller controls each executing agency in turn and accurately acted, and it is more accurate to control, to improve
Construction quality and efficiency.In addition, can display real-time the state of control system over the display, when a failure occurs, it may appear that phase
Answer the alarm indication of executing agency, so that it may which the route for checking this executing agency part quickly solves the problems, such as.Compared to existing skill
Art can quickly find fault point and repair.
Detailed description of the invention
Fig. 1 is network topological diagram of the invention；
Fig. 2 is control method flow chart of the present invention.
Specific embodiment
The invention discloses a kind of control system of intelligent paver and its control methods, suitable for most of pavers
Electric control system controls, including control hardware system and control software approach.
In terms of hardware system, vehicle is equipped with Rexroth RC28-14 controller, which has 28 tunnel proportional quantities to export, and 14
The output of way switch amount supports CAN network communication, can control the everything of paver completely；It is equipped with Sa Australia-Danfoss
DP200 display, the monitor resolution is high, has 2 ports CAN2.0B, while can also be programmed；It is equipped with independent research
Switching signals all on operation panel are acquired and are sent by MI64A5 signal acquisition module.There is multi-option ginseng in display simultaneously
Number setting, can meet the electric-control system of most of pavers.
Specifically, as a certain preferred embodiment of the invention, a kind of control system of intelligent paver, including control
Device, signal acquisition module, control panel, sensor, Engine ECU and executing agency are provided with starting/stopping on control panel
Module, forward/backward module, hopper open/close module, screed lifting/lowering module and display, sensor include rotation angular sensing
Device, executing agency include hopper, screed and scraper plate；Switch on the input terminal and operation panel of signal acquisition module is electrically connected
It connects, the output end of signal acquisition module and the input terminal of controller pass through CAN network communication connection, the output end of sensor and control
The input terminal of device processed, by being electrically connected, is controlled by CAN network communication connection, the output end of controller with the input terminal of executing agency
Device processed and display pass through CAN network communication connection.Starting/stopping modular on signal acquisition module acquisition control panel, advance/
The output signal of fallback block, hopper open/close module and screed lifting/lowering module, and collected signal is transferred to control
Device, controller are forward/backward according to what is received according to the start and stop of the starting received/stopping modular signal control paver
Module by signal controls the forward or backward of paver, according to the folding of the hopper open/close module by signal control hopper received, root
According to the lifting of the screed lifting/lowering module by signal control screed received；Rotary angle transmitter acquires the angular signal of scraper plate, and
Collected signal is transferred to controller, controller controls scraper plate according to the angular signal of the scraper plate received；Engine ECU
The two-way exchange of signal is carried out with controller；Display is used to receive and the information of display controller input/output.
Vehicle uses CAN communication network, star-shaped topological structure, using cabinet internal controller as host node, operation panel and aobvious
Show that the equipment such as device are from node.Paver network topology is shown in Fig. 1.
Whole network is respectively all sent to from the data of node by the communication between each node of host node concentrated controling management
Host node, then be responsible for data being sent to purpose from node by host node.It can both simplify so respectively from the communication association between node
View be easy to network monitoring and management, be also easy to fault diagnosis, can cut off arbitrarily suspect all the way it is problematic after node again
Carry out system investigation.And CAN network is a kind of serial communication bus for aiming at automobile electronic controller communication Design, which gathers around
There are stronger communication speed and higher anti-interference ability, so use is star-shaped for paver Control System NetWork
Topological CAN communication network is a kind of control mode of classics.
Real-time diagnosis refers to that controller does real-time detection to all outputs and sensor input.All outputs are controlled
Device can open a way, short circuit and open circuit diagnose；For sensor, program is judged according to working sensor parameter, thus into
Row real-time diagnosis.
Specific embodiment:
1) hopper open/close: have on operation panel hopper folding switch, be three self-resetting switch, model 1NT91-7,
If operating switch to the left when, the X5-8 input point of MI64A5 module receives a high level, and is sent to control by CAN network
Device processed when controller receives this signal, drives output point 128 to obtain electric to control the Y20.1 solenoid valve of hopper valve block, expects at this time
Bucket can be opened；If operating switch to the right when, the X6-1 input point of MI64A5 module receives a high level, and passes through CAN net
Network is sent to controller, when controller receives this signal, drives output point 103 to control the Y20.2 solenoid valve of hopper valve block
Must be electric, hopper can close at this time；
2) screed lifting/lowering: having screed lifter switch on operation panel, is three self-resetting switch, model
1NT91-7, if operating switch is upward, the X3-1 input point of MI64A5 module receives a high level, and passes through CAN network
It is sent to controller, when controller receives this signal, drives output point 242 to control the Y29.2 electricity of screed lifting valve block
Magnet valve obtains electric, screed rising at this time；If operating switch is downward, the X3-2 input point of MI64A5 module receives one high electricity
It is flat, and controller is sent to by CAN network, when controller receives this signal, output point 256 is driven to control screed liter
The Y29.1 solenoid valve of drop valve block obtains electric, screed decline at this time；
3) one-key start/extinction function: having button switch on operation panel, when a button is depressed, the X9- of MI64A5 module
6 input points receive a high level, and are sent to controller by CAN network, the driving of output point 243 starting of controller after
Electric appliance (note: output end adds protection diode) can start；Flame-out is that send torque limit to Engine ECU be 0 to controller
Information.
4) rotary angle transmitter: this sensor be it is linear contactless, select the RTD-060-HV-S-0-0 of Honeywell to pass
Sensor, and match magnet ring, when magnet ring different rotation angle, output voltage changes between 0.5VDC-4.5VDC.Controller receives
To the output voltage of rotary angle transmitter, the angle for acting the control electric current of scraper plate valve block according to rotary angle transmitter is in 175mA-
Linear change between 450mA is realized and is controlled the ratio of scraper plate.
5) startup self-detection: carry out 1s startup self-detection to operation type switch on operation panel has switch upon power-up in 1s
Triggering, all output shieldings, and alarm in display main interface；After switching reset, shielding is released, alarm disappears.
The detection machine working condition that computer can continue is controlled, and is shown with intuitive man-machine interface and Manipulation of the machine, from
And realize that operation refines, operation is fool, improves the quality and efficiency of construction.
A kind of control method of the control system of intelligent paver of the present invention are as follows: initialization: controller CAN network is carried out
Initialization, controller output and input carry out feature configuration；
Power on: when interpreting system powers on control panel travel handle state, when traveling handle when powering on
When through setting forward or backward, as shown in Fig. 2, not executing output control part, display shows that " STOP " alarms.When traveling handle
When returning to middle position, alarm condition is released；
Starting/stopping modular on signal acquisition module acquisition control panel, forward/backward module, hopper open/close module and
The output signal of screed lifting/lowering module, and collected signal is transferred to controller, controller is opened according to what is received
The start and stop of dynamic/stopping modular signal control paver, according to the advance of the forward/backward module by signal control paver received
Or retreat, according to the folding of the hopper open/close module by signal control hopper received, according to the screed lifting/lowering mould received
The lifting of block signal control screed；Rotary angle transmitter acquires the angular signal of scraper plate, and collected signal is transferred to control
Device processed, controller control scraper plate according to the angular signal of the scraper plate received；Engine ECU and controller carry out the two-way of signal
Exchange, Engine ECU receive engine oil pressure sensor signal, water temperature sensor signal, engine operation hourage, then send
To controller, controller passes through CAN according to engine oil pressure pickup signal, water temperature sensor signal, engine operation hourage
Network-control starts revolving speed；
Output control: when controller does not receive the signal of signal acquisition module output, controller shields all outputs；
When the signal of controller normal received signal acquisition module output, signal instruction that controller is exported according to signal acquisition module
Control corresponding executing agency's movement.
In addition, the present invention also carries out real-time diagnosis: controller inputs real-time monitoring to all output and sensor, to institute
There is output to open a way, short circuit and open circuit diagnose；For sensor, real-time monitoring is carried out according to working sensor parameter.
Claims (10)
1. a kind of control system of intelligent paver, it is characterised in that: including controller, signal acquisition module, control panel, biography
Sensor and executing agency are provided with starting/stopping modular, forward/backward module, hopper open/close module on the control panel
With screed lifting/lowering module, the sensor includes rotary angle transmitter, and the executing agency includes hopper, screed and scraper plate；
The signal acquisition module is for starting/stopping modular, forward/backward module, hopper open/close mould on acquisition control panel
The output signal of block and screed lifting/lowering module, and collected signal is transferred to controller；The rotary angle transmitter is used for
The angular signal of scraper plate is acquired, and collected signal is transferred to controller；The controller is used to be opened according to what is received
The start and stop of dynamic/stopping modular signal control paver, for according to the forward/backward module by signal control paver received
It moves forward or back, for the folding according to the hopper open/close module by signal control hopper received, for being pressed according to what is received
Plate lifting/lowering module by signal controls the lifting of screed, controls turning for scraper plate for the angular signal according to the scraper plate received
Angle.
2. a kind of control system of intelligent paver according to claim 1, it is characterised in that: it further include display, institute
Display is stated for receiving the information of simultaneously display controller input/output.
3. a kind of control system of intelligent paver according to claim 2, it is characterised in that: the controller and display
Device communication connection.
4. a kind of control system of intelligent paver according to claim 2, it is characterised in that: the model of the display
For DP200.
5. a kind of control system of intelligent paver according to claim 1, it is characterised in that: the model of the controller
For RC28-14.
6. a kind of control system of intelligent paver according to claim 1, it is characterised in that: the signal acquisition module
Model MI64A5.
7. a kind of control system of intelligent paver according to claim 1, it is characterised in that: the communication connection is
CAN network communication.
8. the control method of the described in any item control systems of claim 1~7, it is characterised in that: by controller CAN network into
Row initializes, starting/stopping modular, forward/backward module, hopper open/close module on signal acquisition module acquisition control panel
With the output signal of screed lifting/lowering module, and collected signal is transferred to controller, the controller is according to receiving
The start and stop of starting/stopping modular signal control paver, according to the forward/backward module by signal control speed changer received
Move forward or back, according to receive hopper open/close module by signal control hopper folding, according to the screed liter received/
The lifting of module by signal control screed is dropped；The angular signal of rotary angle transmitter acquisition scraper plate, and by collected signal
It is transferred to controller, the controller controls the corner of scraper plate according to the angular signal of the scraper plate received.
9. the control method of control system according to claim 8, it is characterised in that: further include power on, when advance/
Fallback block in the open state, close until by forward/backward module, alarm release by display display alarm information.
10. the control method of control system according to claim 8, it is characterised in that: when controller does not receive signal
When the signal of acquisition module output, controller shields all outputs；When the letter of controller normal received signal acquisition module output
Number when, the signal instruction that controller is exported according to signal acquisition module controls corresponding executing agency and acts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910228123.3A CN109917711A (en) | 2019-03-25 | 2019-03-25 | A kind of control system and its control method of intelligent paver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910228123.3A CN109917711A (en) | 2019-03-25 | 2019-03-25 | A kind of control system and its control method of intelligent paver |
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| CN109917711A true CN109917711A (en) | 2019-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910228123.3A Pending CN109917711A (en) | 2019-03-25 | 2019-03-25 | A kind of control system and its control method of intelligent paver |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111445682A (en) * | 2020-04-02 | 2020-07-24 | 陕西建设机械股份有限公司 | Wireless control system and method for paver based on WIFI and paver |
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| CN104452546A (en) * | 2014-10-21 | 2015-03-25 | 广东惠利普路桥信息工程有限公司 | Control system for road surface paver |
| CN205229744U (en) * | 2015-12-16 | 2016-05-11 | 陕西建设机械股份有限公司 | Paver operating panel signal pickup assembly |
| CN108415407A (en) * | 2018-03-14 | 2018-08-17 | 徐工集团工程机械有限公司 | Levelling Failure Detection Controller, levelling of paver control device and method |
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Patent Citations (5)
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| US20130099551A1 (en) * | 2006-04-27 | 2013-04-25 | Wirtgen Gmbh | Road Construction Machine, Leveling Device, As Well As Method For Controlling The Milling Depth Or Milling Slope In A Road Construction Machine |
| CN203768771U (en) * | 2013-12-30 | 2014-08-13 | 天津康远工程机械有限公司 | Paver control system |
| CN104452546A (en) * | 2014-10-21 | 2015-03-25 | 广东惠利普路桥信息工程有限公司 | Control system for road surface paver |
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| CN111445682A (en) * | 2020-04-02 | 2020-07-24 | 陕西建设机械股份有限公司 | Wireless control system and method for paver based on WIFI and paver |
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Application publication date: 20190621 |