KR19980026976A - Heavy equipment control system - Google Patents

Abstract

It is to reduce the number of wiring lines used to transmit various control signals and signals of sensors in various heavy equipment such as excavators. The driving unit of the heavy equipment is divided into a plurality of modules according to functions and positions, and each module is an independent controller. Independently controlled by each module, each module is connected to the transmission line to transmit data to each other, the data transmission line is used by connecting the optical fiber in a bus structure, and the data is converted into packet data and transmitted. .

Description

Heavy equipment control system

The present invention relates to a heavy equipment control system used to control various heavy equipment such as excavators and the like.

Heavy equipment equipped with various driving means including a plurality of actuators and the like is provided with a control unit made of a microprocessor or the like in each driving means in order to control the operation of each driving means.

And a control signal according to the driver's operation performed in the driver's seat of the heavy equipment is transmitted to the control unit for controlling the operation of each driving means.

In addition, signals of various sensors for monitoring the driving state of each driving means and the like are transmitted to each control unit.

In order to transmit these various signals, a dedicated wiring line for each signal is conventionally connected, and each of these signals is individually transmitted through a dedicated wiring line.

This conventional technique is simple and effective to design and manufacture heavy equipment when the number of wiring lines is small.

However, various functions are required for heavy equipment, and the number of wiring lines increases as these required functions increase.

Therefore, when designing and manufacturing heavy equipment, there is a lot of difficulty in securing a space for locating the wiring line, which increases, and the weight is increased as well as the total volume, and the connected wiring line is very difficult to bend. there was.

Also, as the number of wiring lines increases, the number of connectors for connecting these wiring lines increases rapidly.

Therefore, it is difficult to determine which wiring line is connected to which part when a label describing a signal transmitted through each wiring line is not attached to the terminal block of the wiring line, and it is difficult to connect the wiring line incorrectly. Occurred frequently.

In addition, when contact failure or disconnection occurred in the wiring line, it was very difficult to recognize which contact fault or disconnection occurred at which part.

This difficulty in laying out and connecting the wiring lines has to be kept in mind for the treatment of the electric field when developing a new model of heavy equipment.

When considering the necessity to diversify the model of heavy equipment in consideration of consumers' preferences and conveniences, the control of the excavator should be able to perform independent control of parts, and the function should be easily added and expanded.

However, in the conventional heavy equipment, as described above, signals transmitted to each control unit are transmitted through respective dedicated wiring lines, so that it is not easy to add functions and change models, and to increase, maintain, and increase the production cost of the excavator as a whole. The maintenance is complicated and difficult, and the time required for after-sales service and consumer complaints increase.

In addition, heavy equipment has a problem in that the mechanical reliability is drastically degraded as the above-mentioned signals are transmitted through dedicated wiring lines and connectors as operating in a poor working environment.

Accordingly, an object of the present invention is to provide a heavy equipment control system capable of reducing the number of wiring lines used to transmit various control signals and detection signals of sensors required for the operation of heavy equipment.

Heavy equipment control system of the present invention for achieving this purpose, the overall control system of the heavy equipment is defined as a plurality of divided modules in consideration of the position and operation functions of the various actuators and sensors provided in the heavy equipment. Each module performs the control and self-diagnostic functions assigned to the module, and makes use of a field bus between each module to share necessary information. The data is then transmitted over the bus so that the divided modules can share the data.

Therefore, according to the present invention, when a predetermined function is added to heavy equipment, problems such as rearrangement of the entire wiring line and increase of the wiring line can be solved, and only a module to add the function when adding a predetermined function is examined. The design is good.

In addition, since the signal transmission between modules is performed using a digital bus, stable and reliable communication can be secured, and the information transmitted not only promotes organic coupling of each module but also checks for abnormality of the module itself from other modules. It provides the ability to analyze, providing convenience for the maintenance and maintenance of the entire system.

In addition, heavy equipment can be easily manufactured and controlled, and the maintenance and repair can be simplified, and the model can be easily changed and added.

1 is a block diagram showing the configuration of a heavy equipment control system of the present invention.

Figure 2 is a detailed block diagram showing the operating module and the engine / hydraulic control module of Figure 1;

Figure 3a is a diagram showing a signal input to the operation module.

3b is a diagram showing an output signal of a driving module;

Figure 3c is a diagram showing the input signal of the engine / hydraulic control module.

Figure 3d is a diagram showing the output signal of the engine / hydraulic control module.

Figure 4a is a diagram showing the structure of the packet data output from the engine module to the engine / hydraulic control module.

Figure 4b is a diagram showing the structure of the packet data output from the engine / hydraulic control module to the engine module.

5 is a signal flow diagram illustrating an operation in which the operation module and the engine / hydraulic control module transmit packet data.

6 is a signal flow diagram illustrating an operation in which a driving module and an engine / hydraulic control module receive packet data.

Explanation of symbols on the main parts of the drawings

10: driving module

11, 21: Main controller

12, 22: communication controller

13, 23: input / output port

14 wiper controller

15: switch unit

16: alarm unit

17 instrument display

18: indicator light

20: engine / hydraulic control module

24: engine control unit

25: hydraulic / engine signal input

26: relay / solenoid drive unit

31: memory and input / output devices

32: Digital to Analog Converter

121, 122: first communication controller

122, 222: second communication controller

Hereinafter, with reference to the accompanying drawings will be described in detail the heavy equipment control system of the present invention.

1 is a block diagram showing the configuration of a heavy equipment control system of the present invention taking an excavator from among heavy equipment as an example. As shown here, the driving module 10 and the engine / hydraulic control module 20 are divided according to the function and the installation position of the entire system of the excavator.

The driving module 10 is located in the driver's seat as a part including a display device for indicating the status of various switches related to the operation of heavy equipment, control of devices related to the wiper, safety solenoids, and driver's convenience facilities.

The engine / hydraulic control module 20 is connected to various sensors, valves and motors related to the engine system, and various solenoids and sensors related to driving and work in the hydraulic system, and is located in an adjacent position of the engine compartment.

The driving module 10 and the engine / hydraulic control module 20 are main controllers 11 and 21 for processing predetermined data, communication controllers 12 and 22 for performing data communication with each other, and data. The input / output ports 13 and 23 for inputting and outputting the control unit are provided, and the driving module 10 and the engine / hydraulic control module 20 perform data communication with each other through the communication controller 12 and 22. Is connected.

The driving module 10 includes a wiper controller 14 for operating devices related to the wiper, a switch unit 15 for inputting a signal according to a driver's operation, an alarm unit 16 for generating an alarm sound, and an operation. An instrument display 17 and indicator light 18 indicating status are connected via an input / output port 13.

In addition, the engine / hydraulic control module 20 includes an engine control unit 24 for driving an engine, a hydraulic / engine signal input unit 25 for inputting signals according to hydraulic pressure and engine driving, a relay for driving a relay and a solenoid The solenoid driver 26 is connected via the input / output port 23.

In the heavy equipment control system of the present invention having such a configuration, the operation module 10 inputs signals of various switches output from the switch unit 15 according to the driver's operation through the input / output port 13, and the related data is The main controller 21 of the engine / hydraulic control module 20 is transmitted through the communication controller 12 and 22, and the engine / hydraulic control module 20 is input through the hydraulic / engine signal input unit 25. The relevant signal data of the hydraulic pressure and engine control are transmitted to the operation module 1 through the communication controllers 22 and 12.

The operation module 10 operates the alarm unit 16, the instrument display unit 17, and the indicator light 18 through the input / output port 13 according to a predefined address so that the driver can know the operation state of the heavy equipment. .

To this end, the engine / hydraulic control module 20 transmits a signal of the hydraulic / engine signal input unit 25 to the main controller 21 through the input / output port 25 according to a command transmitted from the operation module 10. Outputs the engine control signal and various relay and solenoid control signals, the engine control unit 24 controls the driving of the engine according to the output engine control signal and the various relay and solenoid control signals, and the relay / solenoid drive unit 26 relays And various solenoids to operate various actuators.

Various sensors detect the signals according to the driving of the engine and the actuator, and the data detected by the sensors are input by the engine / hydraulic control module 20 through the hydraulic / engine signal input unit 25 and shared with the operation module 10. Data to be transmitted is transmitted to the operation module 10 through the communication controller 22.

The control system exemplified in the present invention is dedicated to the operation module 10 for displaying a general command on the control or a status indication of the system.

Since the driving module 10 and the engine / hydraulic control module 20 are divided into two, the connection structure of these modules 10 and 20 is connected in a point-to-point view as a whole. In order to share information between 10 and 20, we used a CAN (Controlier Area Network) controller, which is an example of a mixed-wire system, which overcomes the limitations of conventional data transmission and Since the data rate and error are handled by hardware, there are few data transmission errors, and the system efficiently supports distributed real time control based on stability.

As the number of modules increases in accordance with the current trend of the addition of various functions of heavy equipment, the bandwidth of information exchange increases, thus using star or bus topology using coaxial or optical cables. Is appropriate.

The CAN controller uses a predetermined identification signal to check whether it is its own message when there are several modules, and gives priority to messages with higher priority identification signals in case of conflict. All modules used have the principle of multimaster with equal control.

The main controllers 11 and 21 of each module 10 and 20 interpret the received packet data and perform a control algorithm for operating various actuators connected to the modules 10 and 20 according to the analysis result. .

The operation of these actuators and the signal processing from various sensors are input and output through the input / output ports 13 and 23, and the data of the various sensors obtained is one according to the output format for transmission to another module. It consists of a data frame.

In order to reduce the load for communication to the main controller (11) (21), a CAN controller was added to the communication controller (13) (23) dedicated to communication only with other modules, where the packet data was transmitted and received. .

FIG. 2 is a block diagram illustrating the configuration of the operation module 10 and the engine / hydraulic control module 20 in FIG. 1.

Here, the main controller (11) (21) uses a 6-bit microprocessor to process many different types of signals than other modules, and 16MHz crystal oscillator to be suitable for use in heavy equipment in terms of speed.

The processor uses external RAM contained in main memory / input and output elements 31.

In the present invention, the chip number 'PSD302' used as the memory / input and output element 31 has 2 kilobytes of RAM so that the signal processing algorithm can sufficiently accommodate the amount of data or flags to be processed internally.

Each module must communicate with the other module and continuously monitor the on / off signals input from the switch unit 15 of FIG. 1, and monitor the alarm unit 16, the instrument display unit 17 and the indicator light 18. All should work.

Therefore, in each module, communication controllers 12 and 22 are used to reduce the communication load of main controllers 11 and 21 and to improve efficiency.

When the first communication controller 121, 221 and the second communication controller 122, 222 receive the transmitted data, the first communication controller 121, 221 and the second communication controller 122, 222 output an interrupt to the main controller 11, 21, and the main controller 11 ( 21 inputs an interrupt signal of the first communication controller 121 (221) and the second communication controller 122 (222), and according to the input interrupt signal, the first communication controller 121 (221) and The stored data in the receive buffer of the second communication controller 122 (222) is stored in the memory / input and output element 31.

In the present invention, as shown in FIG. 2, the use of two communication controllers 12 and 22 as the first communication controller 121 and 221 and the second communication controller 122 and 222 is a system of the present invention. For the sake of stability, when one communication controller malfunctions, data communication is performed to another communication controller which was waiting.

Each module 10, 20 uses a large number of input and output signals, among which analog signals and signals that need to be processed quickly are the respective ports provided in the main controller 10, 20, i.e. It is used in connection with the analog-to-digital converter 32 and the HSI and HSO terminals that do not undergo processing by the central processing unit.

The other signals were extended to the memory / input and output element 31 using the memory mapped input / output method.

In the memory / input and output element 31, the addresses of the main controllers 11 and 21 are decoded by the 'PSD302', which is the memory / input and output element 31, to be used for the first communication controller 121,221 and the second. Along with the communication controllers 122 and 222, a control signal for selecting the digital-to-analog converter 32 to be used for outputting the output signal to each analog output is also generated.

In addition, each module 10, 20 is stored in the memory / input and output elements 31 to perform its own function, so that the module's basic functions are stored regardless of the state of the power supply.

The present invention is a 16-bit microprocessor Intel's' in consideration of the fact that the present invention is in the configuration of the whole system, and can perform faithfully the functions of the individual module components and expand and change the heavy equipment functions sufficiently. The engine / hydraulic control module 20 was designed using 80C196KC '.

3 is a diagram showing a signal to be transmitted between the operation module 10 and the engine / hydraulic control module 20. The ON / OFF signal, which is a digital signal, is recognized as 1 bit each, and in the case of an analog signal, 256 resolutions are obtained by using an 8-bit analog / digital converter currently provided in the main controllers 11 and 21. Transmit after converting to digital signal with.

3A is a diagram showing a signal transmitted from the driving module 10 to the engine / hydraulic control module 20, which is mainly directly connected to various convenience devices for the driver and an electric system for driving.

First, when the start switch for driving the engine to start the predetermined operation by operating the heavy equipment, the battery relay is driven to apply a voltage to the fuel cut-off solenoid, giving a preheat start signal to the controller of the preheater.

The breaker switch activates the breaker solenoid to break the rock. The power-up switch is used when the power needs to be increased for a while. The fuel preheat switch is used to preheat the fuel and the engine speed control is used to generate an analog signal to control the engine speed. The boom speed controller generates an analog signal and is used to adjust the speed when the boom moves up and down while moving left and right.

It receives the signals from the wiper motor switch, washer pump switch, independent driving switch, breaker switch and engine start switch, and directly drives the wiper and washer pump, and converts + 24V power to + 12V and outputs them. Signals such as boom / swing rotation speed, switch board signal, fuel heating switch and breaker and power up related to the engine are transmitted to the engine / hydraulic module 20.

3B is a diagram showing signals transmitted from the engine / hydraulic control module 20 to the operation module 10. The engine / hydraulic control module 20 receives sensor signals related to the engine and the pump, drives a voice alarm device to recognize the state of the engine and the pump to the driver, and displays them on the cluster of the operation module 10. The water level temperature meter inputs coolant temperature information (analog signal) from the engine's coolant temperature sensor to drive the gauge and informs the engine that the engine has overheated with a voice alarm. The time indicator shows the equipment uptime using an analog signal with a frequency / voltage converter.

The charger receives a signal from the output terminal of the converter and turns on the lamp when there is no power generation.

The preheater receives the on / off signal from the temperature sensor, receives the on / off signal of the start switch and the time indicator, and notifies the voice alarm that the preheat has been completed. The air purifier is turned on when the pressure of the air purifier sensor becomes high and transmits it to the voice alarm device.

3C is a diagram illustrating a signal transmitted from the engine / hydraulic control module 20 to the operation module 10.

Engine oil from the engine, in engines and pumps as key components of heavy equipment

The engine detects the pressure, the level engine coolant temperature and level, the engine related signals such as the engine preheating operation state, and the hydraulic pressure related signals such as the state of charge of the rechargeable battery related to the hydraulic pressure and the amount of fuel remaining. The engine oil pressure switch is turned off when the pressure of the engine oil decreases to turn off the lamp of the indicator, and outputs the horn melody to the voice alarm device.

3D is a diagram illustrating signals that the engine / hydraulic control module 20 receives from the operation module 10. The engine control amount and pump discharge related to the operation of the equipment are detected by detecting the switch board, the engine, the boom speed control signal, the pump discharge pressure signal, the engine speed, the normal pressure and the working pressure and the trolley position sensors in the operation module 10. Control the flow rate, etc.

Each of the signals described in FIG. 3 is configured and transmitted as packet data as shown in FIG. 4 by the communication controller 12 and 22 provided in the operation module 10 and the engine / hydraulic control module 20.

FIG. 4 illustrates a data block formed by dividing data into a number of allocated sizes for multiplexed transmission of the signals defined in FIG. Figure 4a shows the configuration of the packet data transmitted from the operation module 10 to the engine / hydraulic control module 20.

Here, the engine speed control signal, the boom speed control signal, and the pedal pressure sensor signal are defined as analog signals to undergo 8-bit analog / digital conversion with 256 resolutions for converting up to 0 5V, respectively. It has a resolution of about 20mV and can be used sufficiently.

In addition, the start switch allocates 3 bits according to the signal type, and the remaining signals are allocated by 1 bit because they can be operated by on / off. For the convenience of the program, packet data was configured by reading 8 bits inputted to the input port at one time. Currently, it is not used, but a necessary function has to be added and transmitted from the operation module 10 to the engine / hydraulic control module 20. Allocated spare bits for the signals to do.

The packet data defined in this manner is composed of 5 bits as 40 bits, and is composed of 11 digital signals and 3 analog signals.

4b shows a structure of packet data transmitted from the engine / hydraulic control module 20 to the operation module 10. Here, the visual wave coming out of R output through the water level temperature sensor and the frequency / voltage converter is allocated 8 bits to have sufficient resolution.

The engine oil pressure switch was assigned one bit to perform two-state logic operation of high potential and low potential, and other signals were also assigned one bit.

In this case, the signals input from the engine / hydraulic control module 20 are arbitrarily arranged. According to the definition, the packet data has a length of 24 bits, 3 bytes, consisting of two analog signals of seven digital signals, and extended functions in the future. 1 bit is reserved for

In order to transmit data between the operation module 10 and the engine / hydraulic control module 20, packet data defined as shown in FIG. 4 must be transmitted and received according to an appropriate procedure.

5 and 6 are signal flow diagrams illustrating a process in which the operation module 10 and the engine / hydraulic control module 20 perform data communication with each other, and perform a process of transmitting and receiving the operation module 10 and the engine. The communication controller 12 (22) itself performs a function of detecting a failure or abnormality of each module (10, 20) in the data communication between the / hydraulic control module (20). By using this, the present invention can reduce the errors in transmitting data and improve the reliability of the system.

In the operation of transmitting the packet data, as shown in FIG. 5, the operation module 10 and the engine / hydraulic control module 20 perform an initialization operation in step S10, and when there is a signal to be transmitted in step S11. In Fig. 4, packet data is constructed.

When the packet data to be transmitted is configured, the packet data is stored in some areas of the RAM of the memory and the input / output element 31 in step S12, and in step S13, whether the transmission buffer is used or not is used. 12) It is checked whether or not packet data to be transmitted can be stored in the transmission buffer of (22).

At this time, all the packet data stored in the transmission buffer is not transmitted first, and if it is waiting, the process is repeated from the process of constructing the packet data from the input signal again in step S11. If possible, the packet data to be transmitted is stored in the transmission buffer in step S14.

When the storage of the packet data to be transmitted to the transmission buffer is completed, the transmission register is set in step S15 to inform the communication controller 12 and 22 that there is packet data to be transmitted, and the communication controller 12 and 22 recognizes this. To transmit the packet data to another module.

The communication controller 12 (22) continues to transmit data, and when the transmission of the packet data is completed in step S16, the process returns to step S11 again to prepare for transmission of the next data.

The operation module 10 and the engine / hydraulic control module 20 perform data transfer between the modules 10 and 20 by performing the same process as shown in FIG. 5, so that an error occurs during data transmission. If the communication controller 12 (22) recognizes an error by itself, the error counter included in the communication controller 12 (22) is increased and the error packet included in the communication controller is transmitted again to the module that has transmitted the packet data. To ask. In the communication controller 12 (22) of the module 10 (20) for transmitting the packet data, when a request for retransmission of an errored packet data is input, the packet data is transmitted to the receiving side module (10) 20 again. In addition, the communication controller 12 (22) on the receiving side prevents transmission errors by performing a function of decreasing the value of the error counter when the retransmitted packet data is received without causing an error.

As shown in FIG. 6, the operation of receiving the packet data is performed by the main controller 11 and 21 of the operation module 10 and the engine / hydraulic control module 20. 22) monitors whether or not a receive interrupt is generated to check whether there is received packet data. When packet data is input to the reception buffer of the communication controller 12 (22), the communication controller 12 (22) outputs a reception interrupt to the master controller (11) 21 to inform that the packet data has been received, and the master controller. In the case of the interrupt signal (11) and (21), the packet data received in step S21 is read from the receiving buffer of the communication controller 12 and 22 to the RAM of the memory and the input / output element 31 when the interrupt signal is generated. Save, set the receiving registers of the communication controller 12, 22 in step S22, and in step S23 the main controller 11, 21 interprets the received packet data and performs the necessary functions accordingly. Done.

When the processing of the received packet data is completed, the receiving registers of the communication controller 12 and 22 are reset so that the next packet data can be received.

In the present invention, since the control system of heavy equipment is divided into two modules 10 and 20, the structure of the network is viewed by the modules 10 and 20, and is composed of point-to-point, communication controllers 12 and 22. It plays a big role in improving the performance and reliability of the system by directly handling the errors generated during data communication using CAN controller.

In addition, since the 'PSD302' is used as the memory and the input / output element 31, the configuration of the modules 10 and 20 becomes very simple, and provides convenience in troubleshooting and repairing the fault.

In addition, if the number of modules is increased to improve system performance and add functions, the network structure can be used as bus type or star type, and if the module design is changed, it is not affected by different modules. Only changes can be made to reconfigure the system.

As described above, the present invention transmits data in a packet transmission method so that the wiring line can be efficiently used, the function can be expanded very easily, and the assembly is convenient and additional functions are not added when adding and expanding the function. Only the relevant module needs to be modified.

In addition, since each module performs the functions independent of each other and shares the necessary information among the modules, it is simple to control each driving means, and it is possible to construct a more efficient system in an integrated environment, and to maintain the system with a modular structure. In this case, each module's own function diagnosis and cause analysis can be performed, and even a fault can be suggested.

In addition, each module operates normally regardless of the location where the heavy equipment is located, so it can be attached to the proper location according to the working environment or function to operate the system normally.

Claims (9)

According to the installed location and function of the heavy equipment, each module is divided into independent modules, and each independent module performs data communication with each other to share information, and each independent module performs data communication with the input signal for sharing. Control system for heavy equipment, characterized in that for controlling the electric field independently according to the information. The controller of claim 1, wherein the independent module includes a main controller for controlling signal input, data communication, and operation of an electric component, a communication controller performing data communication with another independent module according to the control of the main controller, and inputting data. And an input / output port for outputting, a memory / input and output element 31 for storing and outputting data to be processed under the control of the main controller, and converting data to be output under the control of the main controller into an analog signal. Control system for heavy equipment, characterized in that consisting of a digital to analog converter (32). The communication controller according to claim 2, wherein the communication controller comprises two, performs communication with one communication controller, and performs communication with another communication controller when an error occurs in the communication controller performing communication. Heavy machinery control system. The control system for heavy equipment according to claim 1 or 2, wherein the data communication forms and transmits transmission data as packet data. The control system for heavy equipment according to claim 1 or 2, wherein the data communication is performed in a bus type using an optical fiber. The control system for heavy equipment according to claim 1 or 2, wherein the data communication is performed in a star form using an optical fiber. The control of heavy equipment according to claim 1 or 2, wherein the data communication forms and stores the data to be transmitted as packet data, and stores the packet data in the transmission buffer and transmits the data when the transmission buffer is available. system. The data communication method according to claim 1 or 2, wherein the data communication inputs received packet data when a reception interrupt occurs, sets a receiving register, and then processes the data, and resets the receiving register when the processing of the packet data is completed. Heavy machinery control systems. The control system for heavy equipment according to claim 8, wherein when an error occurs in the received data, a request for retransmission of packet data is received and retransmitted.