EP1313664A1 - Systeme de securite redondant d'un vehicule - Google Patents

Systeme de securite redondant d'un vehicule

Info

Publication number
EP1313664A1
EP1313664A1 EP01978301A EP01978301A EP1313664A1 EP 1313664 A1 EP1313664 A1 EP 1313664A1 EP 01978301 A EP01978301 A EP 01978301A EP 01978301 A EP01978301 A EP 01978301A EP 1313664 A1 EP1313664 A1 EP 1313664A1
Authority
EP
European Patent Office
Prior art keywords
sensors
signals
control unit
vehicle
redundant
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.)
Granted
Application number
EP01978301A
Other languages
German (de)
English (en)
Other versions
EP1313664B1 (fr
Inventor
Volker Sigmund
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
PAT GmbH
Original Assignee
PAT GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from DE10138898A external-priority patent/DE10138898A1/de
Application filed by PAT GmbH filed Critical PAT GmbH
Publication of EP1313664A1 publication Critical patent/EP1313664A1/fr
Application granted granted Critical
Publication of EP1313664B1 publication Critical patent/EP1313664B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B66F11/046—Working platforms suspended from booms of the telescoping type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms

Definitions

  • the invention relates to a redundant safety system of a vehicle, in particular a mobile work platform, according to the features of the preamble of patent claim 1.
  • Safety systems are known in vehicles, particularly in work vehicles such as mobile work platforms or the like. In these safety systems, when an operating parameter leaves a predetermined range or reaches a certain target value, a warning or countermeasure is carried out in order to avoid safety-critical conditions.
  • the angle of the main arm or the load on the work cage can be detected, z. B. the angle or the
  • Basket load must be reduced by taking appropriate countermeasures.
  • the sensors that record the operating parameters are usually double, i. H. redundant, so that in the event that a sensor is defective or fails, the signal from the still available sensor can be used.
  • the invention is therefore based on the object of providing a redundant safety system for a vehicle which does not have the disadvantages described at the outset and can therefore effectively prevent safety-critical conditions and provide protection against manipulation.
  • At least two sensors are designed to detect different parameters and the signals of the at least two sensors can be processed and evaluated separately in the at least one control unit.
  • this has the advantage that only a single sensor is required to detect an operating parameter, while — as explained below — the use of two sensors ensures that safety-critical conditions are avoided.
  • a first output signal is thus calculated from the signal detected by the first sensor, which represents a first operating parameter. The same applies to the second
  • the at least two sensors can be of the same type, but are particularly advantageous because of the security against manipulation of different types. From the two output signals of the two sensors, with more than two sensors and
  • the presence of at least one sensor or a group of sensors on each control unit in the respective control unit calculates the comparable actual value and supplies it to the other control unit, so that an error can be determined if the comparable actual values deviate.
  • a comparison between the actual values of the two control units need not necessarily be carried out; It is also conceivable that the comparable actual values are compared with stored target values, that is to say that if the calculated actual value falls below or exceeds a predetermined target value or leaves a specific target value range or reaches a predefinable target value range, at least one error message is generated. It is therefore provided that the two control units (computers) with different physical values recorded in different ways come to different computing paths and compare them with one another.
  • control unit in the mobile working platform a control unit is installed in the driver's cab of the vehicle of the working platform, while the second control unit in the
  • Basket of the working platform is located.
  • the error message can be displayed both in the driver's cabin of the vehicle and in the basket.
  • actuators (drive elements) of the vehicle can also be controlled in such a way that a non-safety-critical state is assumed. This can mean, for example in the mobile working platform, that the angle of inclination of the main arm is changed in the direction that the vehicle is prevented from tipping over.
  • a redundant safety system is described below for the purpose of explaining the invention using the example of a mobile work platform and explained with reference to the figures.
  • the invention is not limited to use in a mobile work platform, but can generally be used in vehicles or work vehicles.
  • FIG. 1 shows a first embodiment of a redundant security system
  • Figure 2 shows a second embodiment of a redundant security system
  • FIG. 1 shows a first embodiment of a redundant safety system of a vehicle, in particular a work vehicle, which has a control unit 1.
  • This control unit 1 comprises an input unit 2, via which outside influence on the control unit 1 (for example for carrying out an update) can be exerted.
  • the control unit 1 comprises a display unit 3, via which operating parameters, calculated values or the state of the control unit 1 can be provided. Via the display unit 3, the delivery of the
  • control unit 1 comprises a computing unit 4 and a storage unit 5, the computing unit 4 processing the signals fed to it and evaluating them in cooperation with the storage unit 5 and being able to generate the comparable actual value or several comparable actual values.
  • At least two sensors are connected to the control unit 1, which can be of the same type or different from one another, but record different operating parameters of the vehicle.
  • FIG. 1 shows that a first group of sensors 6 to 9 and a second group of sensors 10 to 13 are connected to the control unit 1.
  • the number of groups or the number of sensors themselves depends on the operating parameters that are to be recorded when the vehicle is in operation.
  • actuators of the same type or different from one another are also required, which are shown by way of example in FIG. 1 as a first group of actuators 14 to 16 and as a second group of actuators 17, 18.
  • the number of the respective actuators or groups depends on the components of the vehicle to be controlled.
  • the control unit 1 is designed, for. B. from the signals of the sensors 6 to 9 of the first group in a first calculation way to generate a first actual value.
  • the sensors 10 to 13 of the second group are designed to detect further operating parameters and to calculate a further actual value using a different calculation method than for the sensors 6 to 9 of the first group, although both calculated actual values are comparable with one another, ie one Represent operating parameters or a fictitious parameter.
  • comparable target parameters or actual values are calculated which are directly comparable with one another.
  • an error message can be issued to the operator of the vehicle via the display unit 3 or at least one of the actuators 14 are controlled in such a way that the current state is maintained (switch-off function) or a safety-uncritical state is achieved again.
  • the manner in which the at least one actuator is activated when a safety-critical state has been reached can also be stored in the storage unit 5.
  • FIG. 2 shows a further embodiment of a redundant security system, with two control units, each control unit each having a display and
  • Operating console 100, 200 (which includes the display unit 3 and the input unit 2) and each comprises a mobile controller 101, 201.
  • the display and control console 100, 200 is connected to the mobile controller 101, 201 via a data transmission link 19, 20.
  • the two control units, in particular the mobile controls 101 and 201 are connected to one another via a data transmission link 21 for the purpose of data exchange.
  • At least one sensor, in particular a group of sensors 22, 23 (at least two), and at least one actuator, in particular a group of actuators 24, 25, are again connected to the mobile controls 101, 201.
  • the security system shown in FIG. 2 works on the same principle as has already been described for the security system according to FIG. 1.
  • the design of the security system according to Figure 2 has the advantage that, for. B.
  • the display and control consoles 100 and 200 can be installed once in the driver's cab and once in the basket of the work platform in order to be able to give the operators the appropriate information, in particular the error messages, at these points.
  • the presence of the mobile controls 101 and 201 has the advantage that, for. B. the
  • Actuation of the basket (raising and lowering and deflecting the arm the work platform) can be remotely controlled by a person next to the vehicle or in the basket.
  • the control process can intervene if necessary from the further mobile control.
  • the controls 100/101 can also each be designed as a control unit (analogous to the control unit 1 from FIG. 1).
  • FIG. 3 shows a preferred application of the invention to a mobile work platform 26.
  • a rotating platform 28 is installed on a mobile vehicle chassis 27 with driver's cab, via which a telescopic
  • FIG. 3 also shows those operating parameters (such as, for example, the main angle of the arm, the angle of inclination of the basket arm, the force sensor of the basket load, etc.) that are detected by the sensors shown and described in FIGS. 1 and 2.
  • the length or the pressure of the support of hydraulic support pillars 33 can be recorded and evaluated as operating parameters, which are required for the stability of the working platform 26 during operation.
  • control unit (s) can be designed in such a way that they can monitor and control processes (for example the operation of the
  • Vehicle or only monitor the process and then intervene (for example, by actuating an actuator) if a safety-critical state has been reached or is about to be reached in order to prevent this.
  • the extension of the basket 31 could be stopped (switch-off function) if there is a risk of tipping over.
  • both control units can both compare the utilization calculation leading to the shutdown and also compare the directly measured values (geometry) or the back-calculated values (basket load from geometry and pressure).
  • this basic concept can also be extended to the undercarriage. From the recorded values for moment and radius or load and position (radius) and idle moment, it is possible to calculate the center of gravity of the complete body above the swivel table. From this information and the position detected by the angle of rotation, the supporting forces that occur can be calculated back. The length of the sliding beams measured by switches or analogue encoders is also included (horizontal support position).
  • the actual support force can be directly recorded by pressure measurement on all four supports and compared directly with the calculated value. It is therefore possible to check a rotary encoder that is only of simple design. Single errors in support pressure, support length or incorrect position in the turning range are recognized. This provides additional protection against tipping over by measuring the supporting force.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

L'invention concerne un système de sécurité redondant d'un véhicule (26). Deux valeurs réelles comparables sont générées selon deux méthodes de calcul différentes à partir des signaux d'au moins deux capteurs (6-13, 22, 23). Un message d'erreur est généré si ces valeurs réelles diffèrent l'une de l'autre ou diffèrent d'un résultat de comparaison prédéterminé.
EP01978301A 2000-08-30 2001-08-24 Systeme de securite redondant d'un vehicule Expired - Lifetime EP1313664B1 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE10042816 2000-08-30
DE10042816 2000-08-30
DE10138898A DE10138898A1 (de) 2000-08-30 2001-08-08 Redundantes Sicherheitssystem eines Fahrzeuges
DE10138898 2001-08-08
PCT/EP2001/009779 WO2002018264A1 (fr) 2000-08-30 2001-08-24 Systeme de securite redondant d'un vehicule

Publications (2)

Publication Number Publication Date
EP1313664A1 true EP1313664A1 (fr) 2003-05-28
EP1313664B1 EP1313664B1 (fr) 2008-10-08

Family

ID=26006869

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01978301A Expired - Lifetime EP1313664B1 (fr) 2000-08-30 2001-08-24 Systeme de securite redondant d'un vehicule

Country Status (3)

Country Link
US (1) US20040085184A1 (fr)
EP (1) EP1313664B1 (fr)
WO (1) WO2002018264A1 (fr)

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EP1378482A1 (fr) * 2002-07-04 2004-01-07 Bison stematec, Maschinenbau- und Hubarbeitsbühnen Produktionsgesellschaft mbH Plateforme de travail élévatrice
DE20210958U1 (de) 2002-07-19 2003-01-09 MOBA-Mobile Automation GmbH, 65604 Elz Lasterfassungseinrichtung
EP1422190A1 (fr) * 2002-11-25 2004-05-26 Jennissen-Gruppe GmbH Platforme de travail élévatrive mobile
DE50302492D1 (de) * 2003-04-08 2006-04-27 Palfinger Europ Gmbh Bergheim Nivelliervorrichtung und Verfahren zur Nivellierung eines Arbeitskorbs einer Hubarbeitsbühne
ITMO20030296A1 (it) * 2003-10-31 2005-05-01 Aron S P A Apparato e metodo per controllare il livellamento di un piano di supporto.
EP1902998A1 (fr) * 2006-09-22 2008-03-26 ISB S.r.l. Système de sécurité
FR2908119B1 (fr) * 2006-11-07 2009-02-06 Haulotte Group Sa Nacelle elevatrice et procede de commande d'une telle nacelle
MX2013010104A (es) * 2011-03-03 2013-10-01 Eaton Corp Sistemas de deteccion, aislamiento y reconfiguracion de fallas y metodos para controlar sistemas electro-hidraulicos usados en quipo de construccion.
US9658626B2 (en) 2012-12-26 2017-05-23 Eaton Corporation Fault isolation and decontamination procedures for electrohydraulic valves
EP2789786B1 (fr) * 2013-04-10 2016-02-10 Iveco Magirus Ag Dispositif élévateur aérien, en particulier un système d'échelle de plateau tournant
JP6594559B2 (ja) * 2015-10-16 2019-10-23 パルフィンガー アクチエンゲゼルシャフト 制御部およびモバイル制御モジュールから成る装置
CN106829812B (zh) * 2017-01-10 2022-11-15 徐工消防安全装备有限公司 高空作业平台电控系统、电控方法及高空作业平台
CN106829754B (zh) * 2017-03-24 2018-05-22 徐州海伦哲专用车辆股份有限公司 一种绝缘高空作业车及其绝缘工作平台自动限幅方法
US11653623B2 (en) 2017-06-07 2023-05-23 Delaval Holding Ab Control system for a rotary milking parlor and method of controlling a rotary milking parlor
IT201800010234A1 (it) * 2018-11-12 2020-05-12 Manitou Italia Srl Telehandler con sistema di controllo.
US11919756B2 (en) * 2020-02-04 2024-03-05 Xtreme Manufacturing, Llc Aerial work vehicle boom auxiliary control panel
US20210238021A1 (en) * 2020-02-04 2021-08-05 Xtreme Manufacturing, Llc Aerial work vehicle auxiliary wireless control device
GB2618581A (en) * 2022-05-11 2023-11-15 Caterpillar Inc Safety control unit for a lifting arm machine

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Also Published As

Publication number Publication date
EP1313664B1 (fr) 2008-10-08
US20040085184A1 (en) 2004-05-06
WO2002018264A1 (fr) 2002-03-07

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