CN113741391A - Vibration rolls remote monitering system - Google Patents
Vibration rolls remote monitering system Download PDFInfo
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- CN113741391A CN113741391A CN202111013961.2A CN202111013961A CN113741391A CN 113741391 A CN113741391 A CN 113741391A CN 202111013961 A CN202111013961 A CN 202111013961A CN 113741391 A CN113741391 A CN 113741391A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 23
- 230000000875 corresponding effect Effects 0.000 claims abstract description 4
- 238000005096 rolling process Methods 0.000 claims description 26
- 230000007935 neutral effect Effects 0.000 claims description 7
- 238000000227 grinding Methods 0.000 claims description 5
- 238000003801 milling Methods 0.000 claims 2
- 238000000034 method Methods 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000010731 rolling oil Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- Road Paving Machines (AREA)
Abstract
The invention discloses a remote monitoring system for a vibration mill, which comprises a vehicle-mounted controller, a remote controller transmitter, a remote controller receiver, an industrial personal computer and a sensor system, wherein the sensor system, the vehicle-mounted controller and the industrial personal computer are connected through a first CAN bus; the remote controller receiver, the vehicle-mounted controller and the industrial personal computer are connected through a second CAN bus; the sensor system collects pose information, angle information, ultrasonic sensor information and pressure sensor information of the vibration roller and transmits the pose information, the angle information, the ultrasonic sensor information and the pressure sensor information to the vehicle-mounted controller; the remote controller receiver receives a control instruction of the remote controller transmitter and sends the control instruction to the vehicle-mounted controller; and the vehicle-mounted controller controls the corresponding action of the vibration roller according to the control instruction. The vibration roller driving state monitoring system can monitor the vibration roller driving state in real time, is good in real-time performance and strong in reliability, and greatly improves the safety and the working efficiency of the construction process.
Description
Technical Field
The invention relates to the technical field of vibration rolls, in particular to a remote monitoring system of a vibration roll.
Background
With the integration and development of modern industrial technologies, engineering machinery is evolving with the goals of intelligence, humanization, energy conservation and high efficiency, and the intelligent monitoring technology becomes more and more important under the background of the times. At present, the design of an intelligent monitoring system for a host of engineering machinery is started in China, and research on the intelligent monitoring system and key technologies is developed. The vibration roller is an important component of engineering machinery as a compaction machine, and the remote control function of the vibration roller needs to be designed.
The remote monitoring system of vibration roller needs to be capable of acquiring the driving state of the vibration roller in real time and displaying the state parameters in real time in front of operators, and in addition, the remote monitoring system of vibration roller has the functions of stable control means and alarming in dangerous scenes, so that the safety and the reliability of unmanned vibration roller driving are effectively guaranteed.
Disclosure of Invention
The invention aims to provide a vibration roller remote monitoring system which can monitor the running state of a vibration roller in real time.
The technical scheme for realizing the purpose is as follows:
a vibration mill remote monitoring system comprises a vehicle-mounted controller, a remote controller emitter, a remote controller receiver, an industrial personal computer and a sensor system, wherein,
the sensor system, the vehicle-mounted controller and the industrial personal computer are connected through a first CAN bus;
the remote controller receiver, the vehicle-mounted controller and the industrial personal computer are connected through a second CAN bus;
the sensor system collects pose information, angle information, ultrasonic sensor information and pressure sensor information of the vibration roller and transmits the pose information, the angle information, the ultrasonic sensor information and the pressure sensor information to the vehicle-mounted controller;
the remote controller receiver receives a control instruction of the remote controller transmitter and sends the control instruction to the vehicle-mounted controller; the vehicle-mounted controller controls corresponding actions of the vibration roller according to the control instruction;
the vehicle-mounted controller collects rolling parameter information;
and the vehicle-mounted controller sends pose information, angle information, ultrasonic sensor information, pressure sensor information, rolling parameter information and control instructions to the industrial personal computer for display.
Preferably, the sensor system comprises: a GPS signal collector, an angle encoder, a tilt sensor, an ultrasonic sensor and a pressure sensor, wherein,
the GPS signal acquisition instrument acquires pose information; the pose information includes: GPS position and vehicle body driving course;
the angle encoder collects corner information between a driving vehicle of the vibration roller and the vibration wheel;
the inclination angle sensor acquires the inclination angle of the vehicle body relative to the ground;
the angle information comprises corner information and an inclination angle;
the ultrasonic sensor acquires ultrasonic sensor information, wherein the ultrasonic sensor information refers to ultrasonic information of objects around the vehicle body;
the pressure sensor collects pressure sensor information, and the pressure sensor information refers to pressure data of a running system of the vibration roller.
Preferably, the rolling compaction parameter information includes: the current running speed, the number of flat rolls that have been completed, and the number of vibratory rolls that have been completed.
Preferably, the industrial personal computer is connected to the first CAN bus and the second CAN bus through a USB-CAN conversion module.
Preferably, the GPS signal acquisition instrument is connected to the first CAN bus through an RS 232-to-CAN module.
Preferably, the industrial personal computer detects whether the information of the ultrasonic sensor and the information of the pressure sensor are within a preset threshold value, if not, an alarm signal is sent to the vehicle-mounted controller, and the vehicle-mounted controller stops vibrating the roller according to the alarm signal.
Preferably, the industrial personal computer sets automatic control parameters and sends the automatic control parameters to the vehicle-mounted controller, and the vehicle-mounted controller controls the vibration roller to operate according to the automatic control parameters.
Preferably, the automatic control parameters include: vehicle number, working area, area division amount, moving direction, moving speed, operation width, flat rolling frequency, vibration rolling frequency, connecting parameter, safety distance, hydraulic system pressure, error range and neutral position, wherein,
the working area refers to the longitude and latitude of four boundary points of east, west, south and north;
the region division amount refers to the distance between two adjacent target points on the path, namely the single step length of the vibration grinding operation;
the operation width refers to the distance of transverse movement during vibration rolling operation;
the line connecting parameter refers to the overlapping width of two adjacent tracks during rolling operation;
the safety distance refers to the alarm distance of the ultrasonic sensor;
the pressure of the hydraulic system refers to the alarm value of a pressure sensor;
the error range refers to a certain range near the target point;
the neutral position refers to a neutral mark when the vibration roller body returns.
The invention has the beneficial effects that: the invention collects information through a sensor system and sends the information to the industrial personal computer for display through the vehicle-mounted controller, thereby realizing remote real-time monitoring. The remote control of the vibration roller is realized through a remote controller. And parameters are set through an industrial personal computer, so that automatic operation control of the vibration roller is realized. And when the potential safety hazard is involved, an alarm is given to meet the requirements of the actual unmanned vibration roller on safety and remote operability. The invention has good real-time performance and strong reliability. The communication among all parts of the system is mostly realized through the CAN bus, and the data transmission mode has the advantages of good real-time property, strong reliability, long transmission distance and high communication efficiency. The invention has higher working efficiency and operability.
Drawings
Fig. 1 is a block diagram of a vibration mill remote monitoring system of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
Referring to fig. 1, the remote monitoring system for a vibration mill of the present invention includes a vehicle-mounted controller 1, a remote controller transmitter 2, a remote controller receiver 3, an industrial personal computer 4, and a sensor system. The sensor system includes: the device comprises a GPS signal acquisition instrument 5, an angle encoder 6, a tilt sensor 7, an ultrasonic sensor 8 and a pressure sensor 9.
The sensor system, the vehicle-mounted controller 1 and the industrial personal computer 4 are connected through a first CAN bus (CAN 1). The remote controller receiver 3, the vehicle-mounted controller 1 and the industrial personal computer 4 are connected through a second CAN bus (CAN 2). The sensor system collects pose information, angle information, ultrasonic sensor information and pressure sensor information of the vibration roller and transmits the pose information, the angle information, the ultrasonic sensor information and the pressure sensor information to the vehicle-mounted controller 1. The remote controller receiver 3 receives a control instruction of the remote controller transmitter 2 and sends the control instruction to the vehicle-mounted controller 1; the vehicle-mounted controller 1 controls corresponding actions (including steering, running, braking, vibration and the like) of the vibration roller according to the control instruction.
The vehicle-mounted controller 1 acquires rolling parameter information; the vehicle-mounted controller 1 sends pose information, angle information, ultrasonic sensor information, pressure sensor information, rolling parameter information and control instructions to the industrial personal computer 4 for display.
Specifically, the industrial personal computer 4 is connected to the first CAN bus and the second CAN bus through the USB-to-CAN module. The GPS signal acquisition instrument 5 is connected to the first CAN bus through an RS 232-CAN conversion module.
The GPS signal collector 5 collects pose information; the pose information includes: GPS position and vehicle body heading. The GPS signal acquisition instrument 5 outputs GPS position coordinates and vehicle body running course through an RS232 interface, and output signals are converted by an RS 232-CAN module and input to the vehicle-mounted controller 1 through a first CAN bus, so that hardware support is provided for automatic positioning and navigation of the vibration roller.
The angle encoder 6 collects the corner information between the driving vehicle of the vibration roller and the vibration wheel, the corner information is installed at a hinge point of the vehicle body, and an output signal is input to the vehicle-mounted controller 1 through a first CAN bus.
The inclination angle sensor 7 collects the inclination angle of the vehicle body relative to the ground, the inclination angle is used for compensating the offset between the GPS positioning and the actual position, and the output signal of the inclination angle sensor 7 is transmitted to the vehicle-mounted controller 1 through the first CAN bus. The angle information includes corner information and a tilt angle.
The ultrasonic sensor 8 collects ultrasonic sensor information, which refers to ultrasonic information of objects around the vehicle body. The ultrasonic sensor 8 detects an object around the vehicle body, and the presence of the object within a certain range will output an analog to the on-board controller 1, and the on-board controller 1 will thus stop the operation of the vibratory roller.
The pressure sensor 9 collects pressure sensor information, and the pressure sensor information refers to pressure data of a running system of the vibration roller. The pressure sensor 9 detects the pressure of the oil inlet cavity of the swash plate control valve, when the detected pressure exceeds the set safety pressure of the hydraulic system, the pressure sensor transmits an analog quantity to the vehicle-mounted controller 1, and the vehicle-mounted controller 1 stops the operation of the vibration roller.
The rolling parameter information comprises: the current running speed, the number of flat rolls that have been completed, and the number of vibratory rolls that have been completed.
The industrial personal computer 4 detects whether the information of the ultrasonic sensor and the information of the pressure sensor are within a preset threshold value, if not, an alarm signal is sent to the vehicle-mounted controller 1, and the vehicle-mounted controller 1 stops vibrating and rolling according to the alarm signal.
The industrial computer 4 initializes the timer and the CAN, receives vibration roller state information and displays the information on an interface after initialization is completed, waits for user mode selection, selects a manual mode to receive a control instruction of the remote controller so as to control the running state of the vibration roller, and requires to input parameter setting after selecting an automatic mode, and the automatic running of the vibration roller CAN be realized after the parameter setting is completed.
The industrial personal computer 4 sets automatic control parameters and sends the automatic control parameters to the vehicle-mounted controller 1, and the vehicle-mounted controller 1 controls the vibration roller to operate according to the automatic control parameters. The automatic control parameters include: the system comprises a vehicle number, a working area, an area division amount, a movement direction, a movement speed, an operation width, flat rolling times, vibration rolling times, a connecting parameter, a safety distance, hydraulic system pressure, an error range and a neutral position.
Wherein, the vehicle number: when the method is used for vehicle cluster control, an ID is allocated to each vibration roller. A working area: and latitude and longitude inputs of four boundary points of east, west, south and north are provided, and the initial working point can be selected. Region division amount: and the distance between two adjacent target points on the path is the single step length of the vibratory grinding operation. The moving direction is as follows: and setting the boundary of the edge along which the vibration roller starts to work. The movement speed is as follows: and setting the operation speed of the vibration mill. The operation breadth is as follows: the width of the vibrating wheel is input and used for calculating the distance of the transverse movement in path planning. Flat grinding times and vibration grinding times: and setting the times of rolling operation in a vibration/non-vibration state, and if the times of flat rolling and vibration rolling are both greater than 0, defaulting to firstly perform vibration rolling and then perform flat rolling. The row connecting width: and setting the overlapping width of two adjacent tracks in the rolling operation so as to ensure the rolling quality. This parameter is taken into account when calculating the distance of the lateral shift. Safe distance: and setting the alarm interval of the vibration on-roll ultrasonic sensor, and transmitting the parameter to the vehicle-mounted controller. Pressure of a hydraulic system: and setting an alarm value of the vibration rolling oil pressure sensor, wherein the parameter is transmitted to the vehicle-mounted controller. Error range: when the vibration roller moves to a certain range near the target point, the target point is considered to be reached. Setting a middle position: when the vibration rolls the vehicle body back, the middle mark is sent to the vehicle-mounted controller to help the vehicle-mounted controller to determine the vehicle body orientation.
In conclusion, the vibration roller remote state monitoring and control system has the advantages of achieving remote state monitoring and control of the vibration roller, being good in real-time performance, strong in reliability, simple and clear in upper computer man-machine interaction interface, having good emergency handling capacity, and greatly improving safety and working efficiency of a construction process.
The above embodiments are provided only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and therefore all equivalent technical solutions should also fall within the scope of the present invention, and should be defined by the claims.
Claims (8)
1. A vibration mill remote monitoring system is characterized by comprising a vehicle-mounted controller, a remote controller emitter, a remote controller receiver, an industrial personal computer and a sensor system, wherein,
the sensor system, the vehicle-mounted controller and the industrial personal computer are connected through a first CAN bus;
the remote controller receiver, the vehicle-mounted controller and the industrial personal computer are connected through a second CAN bus;
the sensor system collects pose information, angle information, ultrasonic sensor information and pressure sensor information of the vibration roller and transmits the pose information, the angle information, the ultrasonic sensor information and the pressure sensor information to the vehicle-mounted controller;
the remote controller receiver receives a control instruction of the remote controller transmitter and sends the control instruction to the vehicle-mounted controller; the vehicle-mounted controller controls corresponding actions of the vibration roller according to the control instruction;
the vehicle-mounted controller collects rolling parameter information;
and the vehicle-mounted controller sends pose information, angle information, ultrasonic sensor information, pressure sensor information, rolling parameter information and control instructions to the industrial personal computer for display.
2. The vibratory mill remote monitoring system of claim 1, wherein the sensor system comprises: a GPS signal collector, an angle encoder, a tilt sensor, an ultrasonic sensor and a pressure sensor, wherein,
the GPS signal acquisition instrument acquires pose information; the pose information includes: GPS position and vehicle body driving course;
the angle encoder collects corner information between a driving vehicle of the vibration roller and the vibration wheel;
the inclination angle sensor acquires the inclination angle of the vehicle body relative to the ground;
the angle information comprises corner information and an inclination angle;
the ultrasonic sensor acquires ultrasonic sensor information, wherein the ultrasonic sensor information refers to ultrasonic information of objects around the vehicle body;
the pressure sensor collects pressure sensor information, and the pressure sensor information refers to pressure data of a running system of the vibration roller.
3. The vibration mill remote monitoring system according to claim 1, wherein the milling parameter information comprises: the current running speed, the number of flat rolls that have been completed, and the number of vibratory rolls that have been completed.
4. The system for remotely monitoring the vibration mill according to claim 1, wherein the industrial personal computer is connected to the first CAN bus and the second CAN bus through a USB-to-CAN module.
5. The vibration mill remote monitoring system according to claim 2, wherein the GPS signal collector is connected to the first CAN bus through an RS 232-to-CAN module.
6. The vibration mill remote monitoring system according to claim 1, wherein the industrial personal computer detects whether the information of the ultrasonic sensor and the information of the pressure sensor are within a preset threshold value, if not, an alarm signal is sent to the vehicle-mounted controller, and the vehicle-mounted controller stops vibration milling according to the alarm signal.
7. The remote vibration mill monitoring system according to claim 2, wherein the industrial personal computer sets automatic control parameters and sends the automatic control parameters to the vehicle-mounted controller, and the vehicle-mounted controller controls the vibration mill to operate according to the automatic control parameters.
8. A vibratory mill remote monitoring system as set forth in claim 7 wherein said automatic control parameters include: vehicle number, working area, area division amount, moving direction, moving speed, operation width, flat rolling frequency, vibration rolling frequency, connecting parameter, safety distance, hydraulic system pressure, error range and neutral position, wherein,
the working area refers to the longitude and latitude of four boundary points of east, west, south and north;
the region division amount refers to the distance between two adjacent target points on the path, namely the single step length of the vibration grinding operation;
the operation width refers to the distance of transverse movement during vibration rolling operation;
the line connecting parameter refers to the overlapping width of two adjacent tracks during rolling operation;
the safety distance refers to the alarm distance of the ultrasonic sensor;
the pressure of the hydraulic system refers to the alarm value of a pressure sensor;
the error range refers to a certain range near the target point;
the neutral position refers to a neutral mark when the vibration roller body returns.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111013961.2A CN113741391A (en) | 2021-08-31 | 2021-08-31 | Vibration rolls remote monitering system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111013961.2A CN113741391A (en) | 2021-08-31 | 2021-08-31 | Vibration rolls remote monitering system |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10212705A (en) * | 1997-01-29 | 1998-08-11 | Fujita Corp | Vibrational roller automatic operating system |
| CN101962928A (en) * | 2010-08-12 | 2011-02-02 | 中铁二十二局集团第一工程有限公司 | Construction method for processing aeolian sand roadbed base through impacting and grinding |
| CN105887627A (en) * | 2016-01-28 | 2016-08-24 | 中国水利水电第五工程局有限公司 | Automatic operation system of vibrating roller and using method of automatic operation system |
| CN110646813A (en) * | 2019-09-30 | 2020-01-03 | 长安大学 | Method and device for monitoring rolling pass of road roller and judging whether rolling is qualified |
| CN110865639A (en) * | 2019-08-01 | 2020-03-06 | 天津大学 | Remote monitoring management system and method for intelligent operation of unmanned rolling machine cluster |
| US20200103894A1 (en) * | 2018-05-07 | 2020-04-02 | Strong Force Iot Portfolio 2016, Llc | Methods and systems for data collection, learning, and streaming of machine signals for computerized maintenance management system using the industrial internet of things |
| CN111459163A (en) * | 2020-04-07 | 2020-07-28 | 三一汽车制造有限公司 | Control method and control system for cooperative work of unmanned road roller group |
| CN113123379A (en) * | 2021-05-26 | 2021-07-16 | 索特传动设备有限公司 | Chassis monitoring system and engineering machinery |
-
2021
- 2021-08-31 CN CN202111013961.2A patent/CN113741391A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10212705A (en) * | 1997-01-29 | 1998-08-11 | Fujita Corp | Vibrational roller automatic operating system |
| CN101962928A (en) * | 2010-08-12 | 2011-02-02 | 中铁二十二局集团第一工程有限公司 | Construction method for processing aeolian sand roadbed base through impacting and grinding |
| CN105887627A (en) * | 2016-01-28 | 2016-08-24 | 中国水利水电第五工程局有限公司 | Automatic operation system of vibrating roller and using method of automatic operation system |
| US20200103894A1 (en) * | 2018-05-07 | 2020-04-02 | Strong Force Iot Portfolio 2016, Llc | Methods and systems for data collection, learning, and streaming of machine signals for computerized maintenance management system using the industrial internet of things |
| CN110865639A (en) * | 2019-08-01 | 2020-03-06 | 天津大学 | Remote monitoring management system and method for intelligent operation of unmanned rolling machine cluster |
| CN110646813A (en) * | 2019-09-30 | 2020-01-03 | 长安大学 | Method and device for monitoring rolling pass of road roller and judging whether rolling is qualified |
| CN111459163A (en) * | 2020-04-07 | 2020-07-28 | 三一汽车制造有限公司 | Control method and control system for cooperative work of unmanned road roller group |
| CN113123379A (en) * | 2021-05-26 | 2021-07-16 | 索特传动设备有限公司 | Chassis monitoring system and engineering machinery |
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Application publication date: 20211203 |
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