CN218240716U - Control system and working machine - Google Patents

Abstract

The utility model provides a control system and an operating machine, which relate to the technical field of operating machines. The control system includes: a WebSocket server, a local control terminal, a mobile terminal and a main controller; wherein, the WebSocket server is connected to the local control terminal and the mobile terminal respectively. , used to receive control instructions generated by the local control terminal and/or mobile terminal; the main controller is connected to the WebSocket server, and used to control the action of the operating machine based on the control instructions obtained from the WebSocket server. The control system is used to solve the defect of inconsistency in the experience caused by the inconsistency of the various control interfaces of the operating machines in the prior art, and the user needs to be familiar with the operation separately. remote operation, debugging and monitoring.

Description

Control system and operating machinery

technical field

The utility model relates to the technical field of working machines, in particular to a control system and working machines.

Background technique

At present, the control logic of the operating machine control system is generally the control command generated by the controller through the operator's operating handle, remote control, control panel and other control components to control the action of the operating machine, and simultaneously display the actions performed by the operating machine on the display screen .

On the one hand, because the program development for the remote control, control panel, etc. belongs to different systems, the operation interface styles are different, so that operators need to be familiar with each to apply.

On the other hand, taking a crane as an example, currently, data uploads and software updates are all uploaded by T-Box through CAN, which will limit the amount of transmitted data.

Utility model content

The utility model provides a control system and an operating machine, which is used to solve the defect in the prior art that due to the inconsistency of various control interfaces of the operating machine, users need to perform familiar operations separately, resulting in inconsistent experience. The setting based on the WebSocket server , to realize remote operation, debugging and monitoring of operating machinery based on the same control interface.

The utility model provides a control system, including: a WebSocket server, a local control terminal, a mobile terminal and a main controller; wherein,

The WebSocket server is connected to the local control terminal and the mobile terminal respectively, and is used to receive control instructions generated by the local control terminal and/or the mobile terminal;

The main controller is connected to the WebSocket server, and is used to control the operation of the working machine based on the control command obtained from the WebSocket server.

According to the control system described in the present utility model, it also includes: a display terminal;

The display terminal is connected to the WebSocket server, and is used for displaying actions of the working machine corresponding to the control instructions.

According to the control system of the present utility model, the local control terminal, the mobile terminal and the display terminal all adopt human-machine interface applications developed based on HTML5 technology.

According to the control system described in the utility model, it also includes: an auxiliary controller;

The auxiliary controller is respectively connected to the WebSocket server and the main controller, and is used to send a fault alarm to the display terminal, the The local control terminal and/or the mobile terminal sends a fault handling instruction to the main controller.

According to the control system of the present utility model, the auxiliary controller is connected to the main controller through a CAN bus.

According to the control system described in the utility model, it also includes: a vehicle-mounted local area network;

The local control terminal and the display terminal are respectively connected to the WebSocket server through the vehicle local area network.

According to the control system described in the utility model, the mobile terminal is connected to the WebSocket server through a 5G network.

According to the control system of the present utility model, the main controller is connected to the WebSocket server through a CAN bus.

According to the control system of the present invention, both the WebSocket server and the auxiliary controller are set in the MCU of the working machine.

The utility model also provides a work machine comprising the control system described in any one of the above.

The utility model provides a control system and an operating machine, by setting up a WebSocket server respectively connected to the local control terminal, the mobile terminal and the main controller, so that the WebSocket server can perform data communication with the local control terminal and the mobile terminal based on the WebSocket protocol , and then realize the unification of the control interface for the local control and remote control of the operation machine. At the same time, when there is a function update in the control system of the operation machine, the update of the local control terminal can be realized remotely, which increases the amount of transmitted data and effectively reduces deployment. Difficulty, improve user experience.

Description of drawings

In order to more clearly illustrate the utility model or the technical solution in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the utility model, those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is one of the schematic structural diagrams of a control system provided by the embodiment of the present invention;

Fig. 2 is the second structural diagram of a control system provided by the embodiment of the utility model;

Fig. 3 is the structural representation of the boarding control system of existing crane;

Fig. 4 is a structural schematic diagram of the control system of the crane adopting the control system provided by the embodiment of the present invention;

Reference signs:

10: WebSocket server; 11: Local control terminal; 12: Mobile terminal; 13: Main controller; 14: Display terminal; 15: Auxiliary controller; 16: Vehicle LAN; 17: Receiver/transmitter; 18: Remote controller; 19: On-board owner controller; 20: On-board display screen; 21: WebSocket client; 22: 5G network.

detailed description

In order to make the purpose, technical solutions and advantages of the utility model clearer, the technical solutions in the utility model will be clearly and completely described below in conjunction with the accompanying drawings in the utility model. Obviously, the described embodiments are the embodiment of the utility model. Some of the embodiments are novel, but not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

A kind of control system of the present utility model is described below in conjunction with Fig. 1 to Fig. 4, as shown in Fig. 1, described control system comprises: WebSocket server 10, local control terminal 11, mobile terminal 12 and main controller 13; Wherein,

The WebSocket server 10 is connected to the local control terminal 11 and the mobile terminal 12 respectively, and is used to receive control instructions generated by the local control terminal 11 and/or the mobile terminal 12;

The main controller 13 is connected to the WebSocket server 10 for controlling the operation of the working machine based on the control command obtained from the WebSocket server 10 .

Specifically, the local control terminal is a component that can control the operating machine locally during operation, for example, it can be the operating handle of the excavator, the remote control of the crane, and the central control panel when getting off the car. The mobile terminal is a control component that can be remotely connected to the main controller through the WebSocket server, for example, it can be a mobile phone, a tablet computer, a notebook computer, a VR device, etc. The main controller is preferably the original controller on the working machine. After being connected to the WebSocket server, it receives control instructions from the local control terminal and/or the remote mobile terminal through the WebSocket server.

More specifically, a WebSocket server is a server that communicates based on the WebSocket protocol. The WebSocket protocol is a two-way communication protocol based on TCP. After the connection is established, the WebSocket server can actively send or receive data to the local control terminal and the remote mobile terminal through the WebSocket protocol.

In the control system provided by the embodiment of the present invention, by setting the WebSocket server respectively connected with the local control terminal, the mobile terminal and the main controller, the WebSocket server can realize the data communication with the local control terminal and the mobile terminal based on the WebSocket protocol, thereby It not only realizes the local control and remote control of the operation machine, but also makes the interface of the local control and remote control unified, thereby improving the user experience, and when there is a function update in the control system of the operation machine, the local control terminal can be realized remotely. It is updated, and compared with the existing method of uploading data through CAN based on T-Box, it effectively increases the amount of transmitted data, thereby reducing the difficulty of deployment and further improving user experience.

As an embodiment of the present utility model, as shown in FIG. 2 , the control system further includes: a display terminal 14;

The display terminal 14 is connected to the WebSocket server 10 for displaying actions of the working machine corresponding to the control instructions.

Specifically, through the connection between the display terminal and the WebSocket server, the display terminal can receive control instructions from the WebSocket server, thereby displaying the corresponding actions of the operating machine on the display terminal according to the control instructions, thereby improving user experience.

More specifically, the display terminal may be a central control screen of the working machine itself, or a display screen provided separately. For example: it can be the display screen of the crane when getting on the car, the central control screen when getting off the car, the central control display screen of the excavator, etc.

As an embodiment of the present invention, the local control terminal, the mobile terminal and the display terminal all adopt human-machine interface applications developed based on HTML5 technology.

It is understandable that WebSocket is a long link two-way communication protocol provided by HTML5, which makes the data exchange between the client and the server easier, allows the server to actively push data to the client, and the client and the server only need to connect Once, you can maintain a long-term connection and perform data communication.

Specifically, the local control terminal, mobile terminal and display terminal all adopt human-machine interface applications developed based on HTML5 technology, so that the program development of multiple terminals can adopt the same system, thereby realizing the one-time development of human-computer interaction applications and the deployment of multiple terminals. The invention solves the problem in the prior art that a large amount of repeated development work is required due to the need to adopt different systems for the development of control programs of the display terminal and the local control terminal.

More specifically, through the arrangement of the WebSocket server in the operating machine control system, when the functions of each terminal are updated, the newly added functions can be updated synchronously on the local control terminal, mobile terminal and display terminal based on the remote, thus ensuring user experience. consistency.

As an embodiment of the present utility model, as shown in FIG. 2 , the control system further includes: an auxiliary controller 15;

The auxiliary controller 15 is respectively connected to the WebSocket server 10 and the main controller 13, and is used to send a fault alarm to the display through the WebSocket server 10 when the working state of the working machine is abnormal. The terminal, the local control terminal 11 and/or the mobile terminal 12 send fault handling instructions to the main controller 13 .

Specifically, through the setting of the auxiliary controller, when an abnormality occurs in the working machine, a fault alarm can be sent to the display terminal, local control terminal and/or mobile terminal through the WebSocket server, and a fault handling instruction can be sent to the main controller, such as: shutdown command, deceleration command, etc. Not only can the user keep abreast of the abnormal situation of the operating machine, but also enable the operating machine to deal with the fault in time to avoid danger. More specifically, using the auxiliary controller to monitor the working status of the operating machinery in real time, and issuing fault alarms and fault handling instructions is a common configuration of the current operating machinery. For example, taking a crane as an example, the auxiliary controller can be the moment limit of the crane The torque limiter collects the working state of the crane through various sensors arranged on the crane, and then calculates the working condition parameters of the crane in real time. When it is determined that the crane is not in the safe working range based on the working condition parameters, a fault alarm and fault processing instructions are generated.

Furthermore, the control system provided by the utility model, through the setting of the WebSocket server, enables the auxiliary controller to send the monitoring results of the working machine not only to the display terminal and the local control terminal in a timely and stable manner, but also to the mobile terminal synchronously. As an embodiment of the present invention, as shown in FIG. 2 , the auxiliary controller 15 is connected to the main controller 13 through a CAN bus.

Specifically, the amount of data transmission between the auxiliary controller and the main controller is small, and the stable real-time transmission of data can be satisfied by connecting through the CAN bus. Therefore, the direct use of CAN to connect the auxiliary controller and the main controller can not only meet the data transmission requirements , also reduces the cost of the control system.

As an embodiment of the present utility model, as shown in Figure 2, the control system provided by the embodiment of the present utility model also includes: a vehicle-mounted local area network 16;

The local control terminal 11 and the display terminal 14 are respectively connected to the WebSocket server 10 through the vehicle local area network 16 .

Specifically, the in-vehicle local area network is constructed through the integration of wired and WiFi, which has a larger bandwidth than the CAN bus. By connecting the local control terminal and display terminal and the WebSocket server through the in-vehicle LAN, the traditional bus communication method is transformed into a network The service can effectively guarantee the speed of data transmission between the local control terminal and the display terminal and the WebSocket server, that is, improve the real-time performance of data transmission.

As an embodiment of the present invention, as shown in FIG. 2 , the mobile terminal 12 is connected to the WebSocket server 10 through a 5G network.

Specifically, 5th Generation Mobile Communication Technology (5G) can realize high-speed communication between mobile terminals and WebSocket servers, which not only enables remote monitoring, debugging, and control of operating machinery, but also ensures local There is no difference between control and remote control.

More specifically, connecting a mobile terminal to a WebSocket server through a 5G network is only a better choice based on the currently available Internet services, and it is not the only way to connect a mobile terminal to a WebSocket server. The connection mode of high-speed communication between servers is also within the scope of protection of the present utility model.

As an embodiment of the present invention, as shown in FIG. 2 , the main controller 13 is connected to the WebSocket server 10 through a CAN bus.

Specifically, the amount of data transmission between the main controller and the WebSocket server is small, and the stable real-time transmission of data can be satisfied by connecting through the CAN bus.

As an embodiment of the present invention, both the WebSocket server and the auxiliary controller are set in the MCU of the working machine.

Specifically, the WebSocket server is used to receive or send control instructions of each terminal, etc., and the auxiliary controller needs to monitor the working status of the operating machine in real time, so they are all arranged in the Microcontroller Unit (MCU) of the operating machine.

The embodiment of the utility model also provides a working machine including the control system provided by any one of the above embodiments.

It can be understood that the work machine including the control system provided by the embodiment of the present invention has all the advantages and technical effects of the control system, and will not be repeated here.

Specifically, the working machine may be an excavator, a crane, a loader, and the like.

More specifically, still taking a crane as an example, the boarding control system of a traditional crane is shown in Figure 3, that is, the receiver/transmitter 17 transmits the control commands generated by the operator operating the remote controller 18 to the boarding owner's control via the CAN bus. Then the onboard owner controller 19 controls the crane to perform corresponding actions based on the control instructions, and at the same time sends the control instructions to the onboard display screen 20 through the CAN bus, so that the onboard display screen 20 synchronously displays the corresponding actions performed by the crane. It can be seen that based on the traditional boarding control system, the remote control of the crane cannot be realized, and when big data applications are required, data can only be uploaded through the CAN bus based on the T-box, and the application and data volume are limited.

And the control system of the crane that adopts the control system provided by the embodiment of the present utility model is as shown in Figure 4: the main controller 19 on the vehicle is connected to the auxiliary controller 15 and the WebSocket server 10 respectively by the CAN bus, and the WebSocket server 10 is connected to the auxiliary controller respectively 15 and a variety of WebSocket clients 21 developed based on HTML5 technology, wherein the WebSocket clients specifically include local control terminals and display terminals such as the central control panel for getting off the car, the display screen for getting on the car, and the remote control, respectively connected through the vehicle-mounted local area network 16, and Mobile terminals such as mobile phones, tablets, laptop PCs, and VR devices connected through the 5G network22.

Among them, the on-board owner controller of the crane is used for the acquisition of various sensor signals arranged on the crane, logic operation and motion control of the crane. The auxiliary controller is the torque limiter, referred to as the force limiter, which is used to collect the status of the crane through various sensors, and calculate the working condition parameters of the crane in real time to determine whether the crane is within the safe working range. The WebSocket server is used to provide services such as control command execution and status query to multi-terminal equipment, and communicates with the vehicle owner controller through CAN, thus transforming the traditional bus communication method into network services, laying the foundation for the crane to build Internet applications and services foundation. The on-board display screen, the off-board central control panel and the remote control are used to access the on-board control system through the on-board LAN to realize the access of local multi-terminals to the on-board control system, which is convenient for monitoring and control of the crane on-board. Mobile phones, tablets, PCs, VR devices, etc. are used to remotely access the crane control system through 5G and other high-speed Internet services to realize remote monitoring, debugging, control and other operations, and realize local and remote indiscriminate experience.

At the same time, various WebSocket client applications are developed using Internet standard HTML5 technology, which realizes one-time development, multi-platform coverage, facilitates update and deployment, and maintains the consistency of user experience. Furthermore, based on the layout of the WebSocket server, the communication method adopts the WebSocket protocol, and a persistent, full-duplex, high-real-time two-way data exchange communication can be created between the server and each WebSocket client to realize remote operation, debugging and monitoring of the crane state, realize the same local and remote operating experience, and provide basic data and communication services for future VR and big data applications.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present utility model, and are not intended to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit of the technical solutions of the various embodiments of the present invention. and range.

Claims (10)

1. A control system, comprising: the system comprises a WebSocket server, a local control terminal, a mobile terminal and a main controller; wherein,

the WebSocket server is respectively connected with the local control terminal and the mobile terminal and is used for receiving a control instruction generated by the local control terminal and/or the mobile terminal;

the main controller is connected with the WebSocket server and used for controlling the action of the operation machine based on the control command acquired by the WebSocket server.

2. The control system of claim 1, further comprising: a display terminal;

and the display terminal is connected with the WebSocket server and is used for displaying the action of the operation machine corresponding to the control command.

3. The control system of claim 2, wherein the local manipulation terminal, the mobile terminal and the display terminal all employ human-machine interface applications developed based on HTML5 technology.

4. The control system of claim 2, further comprising: an auxiliary controller;

the auxiliary controller is connected with the WebSocket server and the main controller respectively and used for sending a fault alarm to the display terminal, the local control terminal and/or the mobile terminal through the WebSocket server and sending a fault processing instruction to the main controller when the working state of the working machine is abnormal.

5. The control system of claim 4, wherein the auxiliary controller is connected to the main controller via a CAN bus.

6. The control system of claim 2, further comprising: an onboard local area network;

the local control terminal, the display terminal and the WebSocket server are respectively connected through the vehicle-mounted local area network.

7. The control system according to claim 1, wherein the mobile terminal and the WebSocket server are connected via a 5G network.

8. The control system of claim 1, wherein the master controller is connected to the WebSocket server via a CAN bus.

9. The control system of claim 4, wherein the WebSocket server and the auxiliary controller are both disposed in an MCU of the work machine.

10. A work machine, characterized by comprising a control system according to any one of claims 1 to 9.

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