EP1313664B1 - Redundant safety system of a vehicle - Google Patents

Redundant safety system of a vehicle Download PDF

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Publication number
EP1313664B1
EP1313664B1 EP20010978301 EP01978301A EP1313664B1 EP 1313664 B1 EP1313664 B1 EP 1313664B1 EP 20010978301 EP20010978301 EP 20010978301 EP 01978301 A EP01978301 A EP 01978301A EP 1313664 B1 EP1313664 B1 EP 1313664B1
Authority
EP
European Patent Office
Prior art keywords
sensors
signals
control unit
redundant safety
safety
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.)
Expired - Fee Related
Application number
EP20010978301
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German (de)
French (fr)
Other versions
EP1313664A1 (en
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
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PAT GmbH
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Publication date
Priority to DE10042816 priority Critical
Priority to DE10042816 priority
Priority to DE2001138898 priority patent/DE10138898A1/en
Priority to DE10138898 priority
Application filed by PAT GmbH filed Critical PAT GmbH
Priority to PCT/EP2001/009779 priority patent/WO2002018264A1/en
Publication of EP1313664A1 publication Critical patent/EP1313664A1/en
Application granted granted Critical
Publication of EP1313664B1 publication Critical patent/EP1313664B1/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, 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
    • B66F11/00Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04Lifting 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
    • B66F11/044Working platforms suspended from booms
    • B66F11/046Working platforms suspended from booms of the telescoping type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, 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
    • B66F17/00Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006Safety devices, e.g. for limiting or indicating lifting force for working platforms

Description

  • 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 claim 1. Such a redundant safety system of a vehicle is known from EP-A-1 026 120 known.
  • Safety systems are known in vehicles, especially in work vehicles such as mobile work platforms or the like. In these safety systems, if an operating parameter leaves a predetermined range or reaches a certain setpoint, a warning or even a counter-control is performed in order to avoid safety-critical conditions. In the mobile work platforms z. B. the angle of the main arm or the load of the working basket are detected, wherein at an excess z. B. the angle or basket load must be reduced by appropriate counter-measures. For safety reasons, the sensors which detect the operating parameters are usually double, ie. H. designed redundant, so that in the event that a sensor is defective or fails, the signal of the still available sensor can be used.
  • However, this has several disadvantages:
  • First, it is necessary that at least two identical or different sensors are used for the detection of an operating parameter, so that increase the cost of such a redundant security system. On the other hand, it is not possible to conclude with a correct operating parameter on a faulty output signal of the sensor, as in known security systems, a comparison of the signals of the two sensors does not take place. For if the physical values detected by both sensors or the signals of the sensors are affected (if both times the same manipulation was carried out at the same time), a safety-critical one arises Status. Thus, such a system can be manipulated so that in the presence of a safety-critical operating parameter of the sensor in question emits a non-critical signal.
  • The invention is therefore based on the object to provide a redundant security system of a vehicle, which does not have the disadvantages described above and thus safety-critical conditions can be effectively prevented and a protection against manipulation is given.
  • This object is solved by the features of patent claim 1.
  • According to the invention, it is provided that 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 from one another 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 - it is ensured by the use of two sensors to avoid safety-critical conditions.
  • Thus, a first output signal is calculated from the signal detected by the first sensor, which represents a first operating parameter. The same applies to the second sensor, which detects a different operating parameter and generates an output signal representing this operating parameter or is calculated in the control unit. The at least two sensors may be the same design, but are in a particularly advantageous manner because of the manipulation security of different types. From the two output signals of the two sensors, which also more than two sensors and operating parameters can be present and detected, in each case an actual value to be compared for the respective operating parameter is calculated in the control unit. This means that a comparable actual value is formed on different calculation methods based on the output signals of similar or different sensors for different operating parameters. These comparable actual values are compared with one another, so that an error can be deduced from one another when deviating from one another. As a result, a defective sensor, a faulty signal or a manipulation is detected immediately because the two comparable actual values are formed on the basis of different operating parameters and different calculation method.
  • In a further development of the invention it is provided that two control units are present, which in each case the signals of a group of sensors can be supplied, wherein the control units process and evaluate the signals of their group independently of the other group. In this case, the comparable actual value is calculated by the presence of at least one sensor or a group of sensors on a respective control unit in the respective control unit and supplied to the other control unit, so that an error can be detected if the comparable actual values deviate. In this case, it is not necessary to perform a comparison between the actual values of the two control units; It is also conceivable that the comparable actual values are compared with stored nominal values, ie. h., That when the calculated actual value falls below a predetermined setpoint or exceeds or leaves a certain setpoint range or reaches a predetermined setpoint range, at least one error message is generated. It is therefore envisaged that both control units (computers) with partially differently detected physical values come to different calculation paths to comparable results and compare them with each other.
  • The presence of two or more control units has the additional advantage that z. B. in the mobile work platform, a control unit is installed in the cab of the vehicle of the work platform, while the second control unit is located in the basket of the work platform. Thus, in the event that a safety-critical state is about to be reached or already reached, both in the cab of the vehicle and in the basket, the error message will be displayed. In addition to the generation and display of an error message and actuators (drive elements) of the vehicle can be controlled such that a safety-critical state is taken. This may mean, for example, in the mobile work platform, that the inclination angle of the main arm is changed in the direction that tipping of the vehicle is avoided.
  • A redundant safety system is described below for the purpose of explaining the invention using the example of a mobile working platform and explained with reference to the figures. However, the invention is not limited to the application in a mobile work platform, but can generally be found in vehicles or work vehicles application.
  • Show it:
  • FIG. 1
    A first embodiment of a redundant security system
    FIG. 2
    a second embodiment of a redundant security system and
    FIG. 3
    Application of the redundant safety system for a mobile working platform.
  • 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 influence can be taken on the control unit 1 from outside (for example, to carry out an update). Furthermore, the control unit 1 comprises a display unit 3, via the operating parameters, calculated values or the state of the control unit 1 information can be given. About the display unit 3, for example, the delivery of the error message is possible. Furthermore, the control unit 1 comprises a computing unit 4 and a memory unit 5, wherein the arithmetic unit 4 process the signals supplied to it and evaluate them in cooperation with the memory unit 5 and can generate the comparable actual value or several comparable actual values.
  • At the control unit 1, at least two sensors are connected, which may be the same or different, but detect different operating parameters of the vehicle. So is in FIG. 1 For example, it is shown 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 detected during operation of the vehicle.
  • To control the vehicle similar or different actuators are still required in FIG. 1 as a first group of actuators 14-16 and as a second group of actuators 17, 18 are shown by way of example. Again, the number of the respective actuators or groups depends on the components to be controlled of the vehicle.
  • The control unit 1 is designed to z. B. from the signals of the sensors 6 to 9 of the first group to produce a first calculation method, a first actual value.
  • Likewise, the sensors 10 to 13 of the second group are designed to detect further operating parameters and to calculate a further actual value in a different calculation manner than in the sensors 6 to 9 of the first group, although both calculated actual values are comparable with each other, ie. h. represent an operating parameter or a fictitious parameter. Thus, by detecting different, actual operating parameters on at least two different calculation methods in the control unit 1, comparable target parameters or actual values are calculated which are directly comparable with one another. If it is determined in the comparison that there is a deviation from each other or that a deviation of a single actual value of a stored for example in the memory unit 5 setpoint is present, can be issued via the display unit 3 an error message to the operator of the vehicle or at least one of the actuators 14th to 18 are controlled so that the current state is maintained (shutdown) or again a safety-critical state is achieved. The manner in which the at least one actuator is actuated when a safety-critical state has been reached can likewise be stored in the memory unit 5.
  • FIG. 2 shows a further embodiment of a redundant security system, with two control units, wherein each control unit comprises a respective display and control panel 100, 200 (which includes the display unit 3 and the input unit 2) and each having a mobile control 101, 201. The display and control console 100, 200 is connected to the mobile control 101, 201 via a data transmission link 19, 20. Likewise, the two control units, in particular the mobile controllers 101 and 201, are connected to each other 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 connected to the mobile controllers 101, 201. This in FIG. 2 shown security system works on the same principle as it already in the security system according to FIG. 1 has been described. The embodiment of the security system according to FIG. 2 However, has the advantage that z. B. the display and control panels 100 and 200 can be installed once in the cab and once in the basket of the work platform to give the operators the appropriate information, in particular the error messages at these points. The presence of the mobile controllers 101 and 201 has the advantage that z. B. the operation of the basket (the up and down and the deflection of the arm the work platform) can be remotely controlled by a person located next to the vehicle or in the basket. In addition, if necessary, the further mobile control can intervene in the control process. The controllers 100/101 can also each as a control unit (analogous to the control unit 1 off FIG. 1 ) be formed.
  • While the invention relates to any vehicles, but in particular preferably to work vehicles, is in FIG. 3 a preferred application of the invention in a mobile work platform 26 is shown. On a mobile vehicle chassis 27 with the driver's cabin, a revolving platform 28 is installed, via which a basket 31 is arranged on a telescopic main arm 29 and via a movable basket 30. During operation of the work platform 26, the main arm 29 is adjustable by means of a hydraulic cylinder 32 in its inclination angle. Also, means are provided to enable the turntable 28 relative to the vehicle chassis 27 in a rotational movement. These means, as well as the hydraulic cylinder 32 and means for adjusting the position of the basket 31 are those in the FIGS. 1 and 2 shown actuators. Also, in FIG. 3 those operating parameters (such as angle main arm, angle of inclination Korbarm, force sensor basket load, etc.) shown by the sensors in the FIG. 1 and 2 are shown and described, are detected. Likewise, the length or the pressure of the support of hydraulic support pillars 33 can be detected and evaluated as operating parameters, which are required in the operation of the working platform 26 for stability.
  • It should be noted that the control unit (s) may be configured to monitor and control processes (for example, the operation of the vehicle) or to monitor the process only and then intervene (for example, by driving an actuator) when a safety-critical condition has been reached or is about to be reached in order to prevent it. For example, the extension of the basket 31 could be stopped (switch-off function) if there is a danger of tipping over.
  • Related to the FIG. 2 Thus, two safety systems are combined in such a way that a comparable result is achieved with different calculation methods with partially different sensors:
  • 1st way:
  • Main arm and Corbarm, length of the telescopic arm (s). From this, as is customary with a load torque limitation (LMB), the safety shutdown and the basket load are calculated.
  • 2nd way:
  • Detection of load and position of the working basket: From the o.g. Length (n) and angles as well as the directly measured basket load also the overturning moment is calculated.
  • The peculiarity lies precisely in the fact that the force sensors are not designed to be redundant, but are divided into pressure measurement and force measurement.
    Both control units can compare both the shutdown leading load calculation by data exchange as well as the directly measured (geometry) or the recalculated values (basket load of geometry and pressure) compare.
  • Alternatively, a system is conceivable in which all sizes are detected only simply and only calculated and measured (basket) load are compared. Nevertheless, in the demand for immediate detection of single errors, each individual sensor is monitored. An error in pressure detection or length measurement or angle measurement inevitably leads to a faulty calculation of the load and thus an error is detected by direct comparison with the measured value of the force measurement.
  • Special advantage of this system over the direct redundant acquisition and calculation of similar measurands:
    • different software processes, avoiding similar errors in the program,
    • different sensors in terms of force / pressure detection in position and design,
    • the system is practically not negatively influenced by manipulation on a sensor in terms of shutdown safety,
    • Previous systems are relatively easy to manipulate in order to "increase" range or load of the basket.
  • Further signals for the mode-dependent reduction of range / load must continue to be provided separately to both control units as required. This is in particular the range of rotation, recorded via rotary encoder or switch, as well as the support base.
  • Furthermore, this basic concept can also be extended to the sub-vehicle. From the recorded values for torque and radius or load and position (radius) and idle torque, it is possible to calculate the center of gravity of the complete superstructures above the tilting table. From this information and the position detected by the angle of rotation can be recalculated to the supporting forces occurring. In this case, the length of the sliding beams measured by switches or analogue encoders is included (horizontal support position).
  • By measuring the pressure on all four supports, the actual support force can be recorded directly and compared directly with the calculated value. Thus, a review of a simply executed rotary encoder is possible. Single errors in support pressure, support length or incorrect position in the turning area are detected. This provides additional protection against tipping by measuring the support force. At least when approaching the border area (the vehicle is nominally only on 3 supports) errors in this calculation can be controlled by "tension" in the chassis.

Claims (6)

  1. Redundant safety system of a drivable working platform (26), with sensors (6 to 13, 22, 23) for detecting operational parameters of the working platform (26), whose signals can be supplied to at least one control unit (1) for processing and evaluation purposes, characterized in that two control units (1; 100, 101; 200, 201) are provided, to which in each case the signals of at least one sensor, in particular a group of sensors (22, 23), can be supplied, the control units (1; 100, 101; 200, 201) processing and evaluating the signals of their sensor, in particular their group of sensors, independently of the other group of sensors, at least two sensors for detecting different operational parameters being formed, and the signals of the at least two sensors, in particular the groups of sensors, being capable of being processed and evaluated, for the purpose of generating comparable actual values, separately from one another in the control units (1; 100, 101; 200, 201).
  2. Redundant safety system according to Claim 1, characterized in that the at least one control unit (1; 100, 101; 200, 201) is designed to compare the evaluated signals with further detected signals and/or predeterminable signals or signal ranges.
  3. Redundant safety system according to Claim 1 or 2, characterized in that the evaluated signals of the one control unit can be supplied to the other control unit and/or vice versa.
  4. Redundant safety system according to Claim 2 or 3, characterized in that means for outputting a fault message in the sense of a warning are provided if there is a discrepancy in the comparison of the actual values or an actual value differs from a predeterminable comparison result.
  5. Redundant safety system according to Claim 2 or 3, characterized in that means for driving at least one actuator are provided if there is a discrepancy in the comparison of the actual values or if there is a discrepancy in the comparison of an actual value with a predeterminable comparison result.
  6. Redundant safety system according to one of the preceding claims, characterized in that the at least two sensors have different designs.
EP20010978301 2000-08-30 2001-08-24 Redundant safety system of a vehicle Expired - Fee Related EP1313664B1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE10042816 2000-08-30
DE10042816 2000-08-30
DE2001138898 DE10138898A1 (en) 2000-08-30 2001-08-08 Redundant safety system of a vehicle
DE10138898 2001-08-08
PCT/EP2001/009779 WO2002018264A1 (en) 2000-08-30 2001-08-24 Redundant safety system of a vehicle

Publications (2)

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

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP20010978301 Expired - Fee Related EP1313664B1 (en) 2000-08-30 2001-08-24 Redundant safety system of a vehicle

Country Status (3)

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US (1) US20040085184A1 (en)
EP (1) EP1313664B1 (en)
WO (1) WO2002018264A1 (en)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2017063015A1 (en) * 2015-10-16 2017-04-20 Palfinger Ag Assembly of a controller and of a mobile control module

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EP1466862B1 (en) * 2003-04-08 2006-03-01 Palfinger Europe GmbH Levelling device and levelling method for a workbasket of an elevating work platform
ITMO20030296A1 (en) * 2003-10-31 2005-05-01 Aron S P A Apparatus and method for controlling the leveling of a floor support.
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CA2828854A1 (en) * 2011-03-03 2012-09-07 Eaton Corporation Fault detection, isolation and reconfiguration systems and methods for controlling electrohydraulic systems used in construction equipment
CN104870836B (en) 2012-12-26 2017-08-04 伊顿公司 The Fault Isolation and recovery routine of electric hydaulic valve
EP2789786B1 (en) * 2013-04-10 2016-02-10 Iveco Magirus Ag Aerial system, in particular turntable ladder system
CN106829754B (en) * 2017-03-24 2018-05-22 徐州海伦哲专用车辆股份有限公司 A kind of insulating overhead operating vehicle and its automatic amplitude limit method of insulated working platform

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WO2017063015A1 (en) * 2015-10-16 2017-04-20 Palfinger Ag Assembly of a controller and of a mobile control module
CN108349714A (en) * 2015-10-16 2018-07-31 帕尔芬杰尔股份有限公司 Component including control device and mobile control module
CN108349714B (en) * 2015-10-16 2019-09-03 帕尔芬杰尔股份有限公司 Component including control device and mobile control module

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Publication number Publication date
US20040085184A1 (en) 2004-05-06
EP1313664A1 (en) 2003-05-28
WO2002018264A1 (en) 2002-03-07

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