JP3038080B2 - Abnormality monitoring device in remote control device for aerial work vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an abnormality monitoring device in a remote control device for a work platform using a microcomputer.

[0002]

2. Description of the Related Art An aerial work vehicle of this type includes an upper controller provided in an upper bucket section and a lower controller provided on a vehicle, based on an operation of an upper operation section provided in the upper bucket section. The control valve device is controlled via a controller, thereby controlling the position of the upper bucket and the like, so that a predetermined working state can be obtained. That is, upper information such as control data relating to position control of the upper bucket such as expansion and contraction, undulation, and turning calculated based on the operation of the upper operation unit from the upper controller, and the control result from the lower controller. Are transmitted and received mutually, and various controls are appropriately performed based on the information. By the way, in this kind of high-altitude working vehicle, extremely high safety is required because a person rides on the upper bucket and works at high altitude. For this reason, in order to increase the reliability of information transmitted and received between the upper controller and the lower controller, a parity check, a duplication check, and the like are performed on various types of information.

[0003]

However, although the above-described conventional abnormality checking means for information can check the information itself as an object to be transmitted / received, it is difficult to determine a hardware abnormality as the controller itself. there were. In view of this point, the present invention provides, as described above, an abnormality monitoring device capable of constantly monitoring a hardware abnormality of a partner controller in an aerial work vehicle remote control device including an upper controller and a lower controller. ,
This is intended to contribute to the improvement of work safety.

[0004]

Means for Solving the Problems To solve the above problems,
Therefore, in the invention of claim 1, the upper controller or the lower controller constituting the remote control device for the aerial work vehicle is provided.
A recognition signal generating means for continuously generating a recognition signal of a predetermined waveform at an interval within a predetermined time in one of the controllers;
And a recognition signal generated by the recognition signal generating means.
And transmitting means for transmitting the other
A receiver for receiving the signal transmitted from the transmitting means.
Communication means, recognition signal recognizing means for recognizing the recognition signal from the signal received by the receiving means , time-measuring means for measuring an elapsed time since the recognition signal was recognized by the recognition signal recognizing means, when the elapsed time counted by the time counting means it exceeds the predetermined time, the one
Abnormality determination means for determining that one controller is abnormal
Technology to monitor the controller itself for abnormalities.
A step was adopted. In the invention of claim 2, the above abnormalities
Provide monitoring means on both sides, and
The controller and the controller mutually monitor the controller for an error.
Technical means that

[0005]

In the case where the state in which the next new recognition signal is not transmitted for some reason generated in one controller main body continues for more than the predetermined time, the other controller is used.
Exceed the time that is timed is the predetermined time by the timer means, the abnormality because the determining means abnormality in the controller itself is determined, the upper bucket hydraulic circuit for the actuator operation to unload on the basis of this Can contribute to the improvement of safety in aerial work vehicles, for example, by urgently stopping the operation of the vehicle.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a conceptual block diagram showing the configuration of the present invention. In the figure, reference numeral 1 denotes an upper operation unit disposed on an upper bucket portion of a well-known aerial work vehicle, which is constituted by operation means such as an operation lever, and which is constituted by a microcomputer via an A / D converter or the like. 2 is connected.
In the upper controller 2, the upper operation unit 1
Based on the command data from the controller, control data such as expansion / contraction, undulation, turning, etc. relating to the position control of the upper bucket is calculated, and a transmission unit constituting transmission means is transmitted from a transmission unit via a serial transmission circuit or the like. arranged reception of the lower controller 3
It is output to the receiving unit that constitutes the means . The lower controller 3 is composed of a microcomputer,
The control valve device 5 is controlled via the drive control circuit 4 based on the control data input to the receiving unit. As is well known, the control valve device 5 includes a solenoid valve that is controlled to open and close via the drive control circuit 4, a servo cylinder whose position is controlled by hydraulic control by the solenoid valve, and a control valve directly connected to the servo cylinder. And the like. When a predetermined operation command is output from the upper operation unit 1 by using an operation lever or the like, the upper operation unit 2 controls the upper bucket support mechanism via the upper controller 2, the lower controller 3, and the drive control circuit 4. The necessary control is performed on the spool corresponding to the corresponding actuator. By the control on the spool, hydraulic control on the hydraulic oil of the actuator is performed, and the upper bucket is controlled to a position corresponding to an operation command from the upper operation unit. In this case, a potentiometer or the like is installed on the spool or the like, and the displacement is fed back to perform feedback control. The lower information such as the control result is sent to the upper operation unit 1 via the lower controller 3 and the upper controller 2. In addition,
Transmission and reception between the controllers 2 and 3 may be wired or wireless.

Next, an abnormality monitoring device which is a feature of the present invention will be described. As shown in FIG. 2, a monitoring recognition signal B having an appropriate predetermined waveform is applied to one or both of the upper controller 2 and the lower controller 3 including a microcomputer for a predetermined time T as shown in FIG. Recognition signal generating means having a function of continuously generating at intervals is formed, and is configured to transmit the recognition signal B to the controllers 3 and 2 of the other party via the transmission unit. On the other hand, the other controller 3 or 2
Similarly, among the various types of information received by the receiving unit by a preset program, the information is distinguished from other normal information A such as control data and the monitoring recognition signal B is identified.
Recognition signal recognizing means having a function of recognizing, each time a new recognition signal B is recognized by the recognition signal recognizing means, a time measuring means for measuring an elapsed time t from that point in time, and the time counted by the time measuring means. When the elapsed time t exceeds the predetermined time T, the controllers 2 and 3 on the transmission side
Abnormality determining means for determining that an abnormality has occurred is formed, and these means always provide a monitoring posture.
That is, if the recognition signal B is not output due to some kind of hardware abnormality in the upper controller 2 or the lower controller 3, the recognition signal is sent to the lower controller 3 or the upper controller 2 which is the partner controller. Since B is no longer transmitted, the timing operation by the timing means continues beyond the predetermined time T, and the occurrence of an abnormality in the remote control device is determined by the abnormality determination means. It goes without saying that conventional error checking means such as adding a parity bit can be applied to the transmission data itself.

When an operator on the upper bucket outputs an operation command relating to position control and the like of the upper bucket via the upper operation section 1, the transmission section of the upper controller 2 and the reception of the lower controller 3 are received. The control data relating to the operation command is transmitted / received together with other upper information to / from the unit, and the transmitting unit of the lower controller 3 and the receiving unit of the upper controller 2 relate to lower information such as information relating to a control result. Transmission and reception are performed. The upper and lower controllers 2 and 3 respectively decode the received information and control the control valve device 5 via the drive control circuit 4 based on the received information as described above. The upper bucket is controlled to a target position and posture. At the same time, transmission and reception of the recognition signal B are performed between the transmission unit and the reception unit of the upper controller 2 and the lower controller 3 in parallel with the upper information or the lower information, respectively, as described above. When the elapsed time t measured by the means, that is, the state in which the recognition signal B is not transmitted exceeds the predetermined time T, it is estimated that some abnormality has occurred in the controller on the transmission side, and the abnormality determination is performed. The means outputs the determination of the occurrence of the abnormality related to the remote control device. In this way, when the determination of the occurrence of the abnormality is output from the abnormality determination unit,
Based on this, corresponding measures such as a display command for occurrence of abnormality and an unload command for the hydraulic circuit for operating the actuator are taken. As described above, whether to configure both the upper controller 2 and the lower controller 3 to be monitored for abnormality or to monitor only one of them for abnormality is selected as necessary. I'm getting it.

[0009]

According to the present invention, by adopting the above configuration, the hardware of the controller itself is provided separately from the error check such as the conventional parity check performed for transmission and reception of various information between the upper controller and the lower controller. Since the abnormalities can always be monitored, the reliability of the remote control system as a whole is further improved, and the safety as a high-place work vehicle that works at a high place can be greatly improved .

[Brief description of the drawings]

FIG. 1 is a conceptual block diagram showing a configuration of the present invention.

FIG. 2 is a signal waveform diagram showing signal waveforms transmitted and received between an upper controller and a lower controller.

[Explanation of symbols]

1 top operation unit 2 top controller 3 bottom controller 4 drive control circuit 5 control valve device

Claims (2)

(57) [Claims] 1. An upper controller for transmitting upper information such as control data relating to an operation command from an upper operation unit disposed in an upper bucket unit, and driving of a control valve device based on the control data from the upper controller. In a remote-control device for an aerial work vehicle using a microcomputer including a lower controller for controlling a control circuit, the upper controller or the lower controller is used.
A recognition signal generating means for continuously generating a recognition signal of a predetermined waveform at an interval within a predetermined time in one of the controllers;
And a recognition signal generated by the recognition signal generating means.
And transmitting means for transmitting the other
A receiver for receiving the signal transmitted from the transmitting means.
Communication means, recognition signal recognizing means for recognizing the recognition signal from the signal received by the receiving means , time-measuring means for measuring an elapsed time since the recognition signal was recognized by the recognition signal recognizing means, when the elapsed time counted by the time counting means it exceeds the predetermined time, the one
Abnormality determination means for determining that one controller is abnormal
Abnormality monitoring apparatus according Aerial remote control apparatus characterized by comprising. 2. The upper controller and the lower controller.
And each other are monitoring the other controller for abnormalities.
The remote control for an aerial work vehicle according to claim 1, wherein
An abnormality monitoring device in the device.