RU189103U1 - Safety and control system of a lifting machine - Google Patents

Abstract

The invention relates to lifting equipment and can be used in the safety and control systems of lifting machines. The safety and control system of the load-lifting machine contains sensors of measured or monitored parameters of the load-lifting machine, a control and display unit to the controller of which the graphic display module is connected, and a control unit of the load-lifting machine connected to a common in-system interface channel. The graphic display module is equipped with its own controller for displaying information on a graphic display, connected to the controller of the control and display unit via a low-speed serial interface and a high-speed parallel interface, and also has its own non-volatile RAM for storing information about graphic objects connected to the graphic display controller. The technical result is an increase in overall system performance, an increase in the level of security provided and an increase in functionality. 3 hp f-ly, 3 ill.

Description

Technical field

The invention relates to lifting equipment and can be used in the safety and control systems of lifting machines.

The level of technology

A device for protecting a crane with a graphic display is known, which contains load sensors and the spatial position of the crane boom equipment, an output device, a graphic display with a graphic information memory unit and a processor associated with said sensors, a graphic display and an output device connected to the actuators of the crane. In this device, a dynamic display of the working zone of the crane and the conventional image of the crane are formed on the screen of the graphic display. The processor of the device periodically generates graphic information and writes it into a memory block of graphic information of a graphic display (RU 2326806 C1, BC66C 23/90, BC66C 13 / 18.20.06.2008).

A disadvantage of this device is the need to use the resources of the main processor to control the graphic display when displaying dynamic images, which places very high demands on the speed and amount of RAM in the processor, which greatly complicates and increases the cost of the device.

The closest to the proposed utility model for the combination of essential features is the safety and control system of a lifting machine, which contains sensors of measured or monitored parameters of a lifting machine, a control and display unit (computing device), and a load-lifting control unit the machine (I / O expansion unit) connected to a common in-system interface channel (RU 98409 U1, B66C 23/00, 10/20/2010).

The disadvantage of this system is the use of a single computing-control device, which receives information from a significant number of peripheral devices on various types of interfaces, which requires additional transformations of the transmitted information and additional cables and harnesses. This reduces the speed of information exchange between the graphic display and the computing-control device and leads to additional sources of failure.

Disclosure of utility model

The task, which the proposed utility model is aimed at, is

reducing the time for performing labor-intensive computing tasks by applying a parallel computing system to expand the functionality and speed of the security system and control of the load-lifting machine, and as a result - increase the level of security provided.

The technical tasks are solved by the fact that in the security and control system of a lifting machine, which contains sensors of measured or monitored parameters of a lifting machine, a control and display unit, to the controller of which a graphic display module is connected, and a control unit for a lifting machine, connected to a common intrasystem interface channel, according to the utility model, the graphic display module is equipped with its own controller for displaying information on a graphic display connected to MODULES control and display unit via the low-speed serial interface and high-speed parallel interface, and also has its own non-volatile memory for storing information about graphic objects connected to the controller of the graphic display.

The achievement of the technical result also contribute to the private significant features of the utility model.

The control and indication unit is configured to connect external devices to it using a standard serial interface.

As a standard serial interface RS-232 interface is used.

The control and display unit is configured to connect an engine control device to it.

The essence of the proposed technical solution lies in the fact that the use of a security system and control of a lifting machine, including several computing units, as well as the use of several computing devices in one unit, performing in parallel the solution of separate subtasks to ensure the safety and control of a lifting machine, lifting machines with a complex configuration of the working equipment and a significant number of sensors in the primary information, in this case, due to the high speed, this system not only provides the necessary level of security, but also improves the accuracy of the calculation of operating parameters by distributing the processing of parameters from the primary information sensors among several computing devices, which allows parallel processing of data coming from these sensors and, as a result, increases the number of measurements per unit of time.

The structure of this system includes two main units: the control and display unit and the crane control unit.

The control and display unit provides a general calculation of the operating parameters of the lifting machine based on data from sensors and units of this system. Based on the calculation, control commands are generated, information on the current operating parameters is displayed on a graphic display and written to the parameter recorder. The structure of this unit includes two computing devices (hereinafter referred to as the controller): the controller of the control and display unit and the display controller.

The controller of the control and display unit calculates the operating parameters, produces control commands for the crane control unit, commands for controlling the engine and writing data to the parameter recorder. The main criterion for solving these problems is speed. The more times per unit of time, the working parameters of the lifting machine are calculated, the earlier the command to stop the crane mechanisms in an emergency will be issued and, as a result, the higher the level of safety provided by the system, especially at high speeds of movement of the working bodies of the lifting machine.

The display controller provides a display of information about the parameters of the crane on the display in a graphical form. The main criterion is the quality of the image and, as a consequence, significant amounts of memory. Based on the characteristics of human perception and the speed of decision-making, the optimal frequency of updating the image once per second. This allows a person to read information comfortably and does not cause overwork, which is very important for the operator of a lifting machine, since he controls the object of increased danger.

The control unit of the cranes consists of one controller that performs the tasks of preprocessing data from the analog sensors connected to it, the crane control devices, the generation of control signals for electrical equipment and hydraulic equipment of the crane.

A common in-system interface channel is used to connect sensors, units and control devices. Thus, information processing from digital sensors can be performed both by the controller of the control unit and by the controller of the crane control, depending on the functional purpose of the sensor. This makes it possible to increase the functionality of the system by introducing additional digital sensors. In this case, using only software tools, it is possible to achieve a proportional distribution of the computational load between the above controllers and, as a result, with the introduction of additional sensors, the overall computational capabilities of the system will not change significantly.

In addition, the control and display unit has a standard serial interface, for example, RS-232. This interface allows you to connect additional information processing devices or information transfer to remote computing devices. It also allows you to expand the computing power of the unit, or the functionality in the case of the use of modems or trackers.

The achieved technical result is expressed in increasing the overall performance of the safety system and control of the load-lifting machine, in increasing the provided level of safety, in expanding the functionality of this system.

Brief Description of the Drawings

FIG. 1 shows a functional diagram of one of the examples of the proposed security system and control of a lifting machine; in fig. 2 - functional block diagram of the control and display unit; in fig. 3 is a functional block diagram of a crane control unit. In the drawings, the same elements are denoted by the same positions.

Implementation of the utility model

The safety and control system of a load-lifting machine, for example, a jib crane type, contains a control and display unit 1 and a crane control unit 2 connected to a common wired serial intra-system interface channel 3. Taking into account the scope of this system, it is most appropriate to use the CAN 2.0 b of standard SAE J1939.

The system also contains sensors for measured or monitored parameters of a crane with analog, digital and discrete output signals. The specific set of sensors used in the system depends on the type of lifting machine. Sensors can be divided into groups according to their location on the crane construction elements. In particular, for boom cranes, the sensors are divided into four groups:

the first group includes sensors 4, located on the tip of the telescopic boom and connected to the inputs of the controller 5 of the tip of the boom. These are sensors with analog output signals (wind speed sensor, proximity sensor to a power line (MZON hazardous voltage protection module), sensors with digital output signals (force sensor, angle sensor), and sensors with discrete output signals (load-lifting limit sensors) main and auxiliary);

the second group includes sensors 6 with digital output signals located on the root section of the boom (boom length sensor and tilt angle sensor of the length boom) connected to a common wired serial intra-system interface channel providing the main structure of the system components connection;

the third group includes sensors located on a turntable. These are sensors 7 with digital output signals (roll sensor, pressure sensors in pressure lines, pressure sensors in the piston and rod cavities of the boom lift hydraulic cylinder, counterweight mass sensor), and crane control devices 8 (control handles) located in the cab and connected to the interface channel 3, and sensors 9 with analog output signals (pressure sensor, temperature sensor, etc.);

The fourth group includes sensors on the fixed part of the crane (position sensors of the extendable supports, force sensors in the supports, not shown in the drawing).

To the controller 5 of the head of the crane are also connected to the device 10 control electrical equipment, located on the tip of the boom (including headlights and side lights).

External devices 11 and the engine control device 12 are connected to the control and display unit 1,

GSM / 3G / 4G modems, or TELEOFIS terminals of the RX-10X series or WRX-7XX with RS-232 interface, or AvtoGRAF-GSM or AUTOGRAPH-SL trackers are used as external devices 11. Analog sensors 9 (pressure sensors, azimuth sensors) are connected to the crane control unit 2.

As the engine control device 12, an electronic pedal module (MEP) with CAN interface specification 2.0 can be used. In particular, the MEP can be made in the form of the product "Pedal Module" KDBA.453621.006 of the firm "Rikor Electronics" (Arzamas, Nizhny Novgorod Region). The output signal of the MEP can be both digital and analog, like that of Ricor: there is a transformation of the angular movement of the pedal lever to a proportional change in electrical voltage and providing feedback to the driver to change the pedal effort.

The control and display unit 1 includes a controller 13 made on the basis of a 32-bit processor with an ARM Cortex-M0 / M3 / M4 core. The most common on the market are the STMicroelectronics company STM32F4xx or STM32F1xx series processors.

To the controller 13 are connected:

- the keyboard 14 to control the unit 1, made in the form of a film keyboard;

- tuning memory 15 for storing the current settings of the security system and crane control, connected to the controller 13 of the control and display unit via the SPI or I2C interface and made on the basis of a non-volatile memory chip;

- real time clock 16, which can be used as, for example, a DS1338 chip with a lithium battery connected to it;

- the recorder 17 parameters for storing data about the parameters of the lifting machine for a certain period of time, connected to the controller 13 via the SPI interface and made on the basis of a non-volatile memory chip;

- port 18 of CAN 2.0 interface (interface 1). Through port 18, the controller 13 is connected to the common interface channel 3;

- port 19 of CAN 2.0 interface (interface 2). Through port 19, the controller 13 is connected to the engine control device 12;

- port 20 of the USB interface, which is a connector connected to the controller 13 of the control and display unit 1;

- port 21 of the RS-232 interface connected to the controller 13 of the control and display unit 1 via the UART interface and made in the form of a MAX232X interface conversion chip;

CAN 2.0 interface transceivers are made in the form of a TJA1050 or ISO 1050 type interface conversion chip.

The control and display unit 1 also comprises a graphic display module 22, made in the form of a separate board and including: a graphic display 23; non-volatile memory device 24, made in the form of a chip of non-volatile memory; RAM 25; graphic display controller 26; port 27 UART interface and port 28 SPI interface. The controller 26 of the graphic display 23 is connected to the controller 13 of the control unit 1 via the UART and SPI interfaces. These interfaces are hardware implemented in the controller 26 of the graphic display 23. The UART interface is used to download files with graphic elements (image, fonts) into the storage device 24. The high-speed SPI interface is used to communicate the controller 13 and the controller 26 during operation. RAM 25 is made in the form of a SRAM-memory chip connected via the FSMC interface to the controller 26 of the graphic display 23. A wide selection of controllers working with graphics is represented by NXP. As the module 22 of the graphic display 23, ready-made TFT LCD displays of the WinStar M-series can also be used. For example, WF43MTIBEDRND or similar.

The USB interface port 20 is designed to connect a computer to the controller 13 to read data from the recorder 17 parameters, update the firmware of the controller 13, perform diagnostics of the components of blocks 17, 15, 16, download files with graphic information to the storage device 25, update the firmware of the controller 26 of the graphic display 23.

The control and indication unit 1 is designed as a single structural unit. On the front panel of this unit there is a membrane keyboard with a transparency window, behind which there is a graphic display 23. There is a hole on the front panel, under which a USB connector is installed. On the side of the unit there are connectors for connecting to the interface channel 3, the engine control device 12 and external devices 11 with an RS-232 interface. Circuit boards are installed inside block 1.

The crane control unit 2 includes a controller 29 made on the basis of a 32-bit processor with an ARM Cortex-M0 / M3 / M4 core. The most common on the market are the STMicroelectronics company STM32F4xx or STM32F1xx series processors.

To the controller 29 are connected:

- sensor 30 roll;

- the former 31 PWM signal with current feedback to control proportional hydraulics. The shaper 31 of the PWM signal is controlled by the controller 29 of the crane control unit 2 and is connected to the hydraulic equipment of the crane;

- port 32 of CAN 2.0 interface (interface 1). Through port 32, the controller 29 is connected to a common in-system standard interface channel 3;

- unidirectional communication line 33;

- port 34 of the USB interface;

- port 35 analog interface;

- discrete inputs 36.

The interface of the single-wire communication line 33 is made in the form of transistor switches and provides the connection of the controller 29 through the cable on the rejection sensor drum to the controller 5 of the boom tip.

The CAN 2.0 interface is designed as a TJA1050 or ISO 1050 type interface conversion chip.

The USB interface is a connector connected to the controller 29 of the crane control unit 2, and is designed to connect a computer to the controller 29 to update the firmware of this controller, diagnose the components of the block: the roll sensor 30 and the analog sensors 9 connected via interface 35 to the controller 29.

Discrete inputs 36 are made in the form of circuits with galvanic isolation for connecting signals from the electrical equipment of the lifting machine to the digital inputs of the controller 29.

The sensor 30 of the roll is made on the basis of a biaxial accelerometer to determine the longitudinal and transverse roll of the rotary part of the lifting crane.

Unit 2 controls the crane structurally made in the form of a unit with holes for cables. Inside the unit there is a board with connectors to which the common intrasystem interface channel 3, analog sensors and cable connecting the unit to electrical equipment and hydraulic equipment of a lifting machine are connected.

The device 8 controls the crane are joysticks connected to the interface channel 3 and providing the operator of the lifting machine control of the working bodies of the crane through the unit 2 controls the crane.

Sensor 6 departure structurally made in the form of a cable drum. Through the cable of the drum, the crane control unit 2 is connected to the boom tip controller 5 via a single-wire communication line 37. The boom tip controller 5 serves to protect the crane from approaching the power line, monitors the condition of the hook lifting limiter and controls the electrical equipment 10 on the boom tip (turning on the headlight and side marker light).

Digital sensors 7 are connected to the interface channel 3. The processing of information from sensors 7 is performed by the control and display unit 1, or by the crane control unit 2, depending on the functional purpose of the sensors.

The safety and control system of the crane operates as follows.

The algorithm of the safety system and control of a crane is determined by the work programs for units 1 and 2, prepared on a computer. The development environment is selected taking into account the architecture of the controllers used in the system. The resulting program code is downloaded from the computer to the controllers 13 and 29 via the USB ports 20 and 34. After programming, installing and connecting the system components on the tap, it is ready for operation.

Downloading the graphic files necessary for the operation of the module 22 of the graphic display 23 to the storage device 24 is also performed from the computer via the USB port 20.

When the power is turned on, after the loading process is completed, the self-diagnostics of the safety system and crane control units are started. In the process of loading and self-diagnostics, the controller 29 does not generate commands to allow movements of the crane.

After completion of the system self-diagnostics, a working program is started, which determines the algorithm for the functioning of the safety system and crane control.

During the execution of the work program, the controller 13 of the control and display unit 1 through the common interface channel 3 receives the values of the crane operating parameters measured by digital sensors connected to the common interface channel 3 directly, or the readings of the analog sensors after their initial processing by the crane control unit 2, as well as the state of the discrete inputs 36. On the basis of the received indications of the sensors by the controller 13, the working parameters of the crane are calculated and the analysis of its condition is determined e and dangerous movements. Depending on the results of this analysis, the controller 13 generates commands to allow, prohibit and limit labor movements and transmits them via the interface channel 3 to the controller 29 of the crane control unit 2. Only those movements that are safe at the moment are permitted. The controller 29 in accordance with the direction of the amount of deviation of the bodies 8 of the control of the crane (joysticks) and taking into account the commands received from the controller 13 generates signals of permission, prohibition and restriction of workers' movements. At the same time, the controller 13, based on data from the engine control device 12, via the interface channel 3 issues engine control commands.

At the same time, the controller 13 performs the formation of commands to the controller 26 of the module 22 of the graphic display 23 to display information about the current state of the crane on the graphic display 23. The controller 13 also records the operating parameters of the crane in the recorder 17 parameters. Subsequently, data can be read into a computer for decryption and subsequent processing via port 20 of the USB interface.

If external devices 11 are connected to the control and display unit 1 via the RS-232 interface, the controller 13 transmits to the device 11 information from the current operating parameters of the crane for subsequent sending to the remote storage or to the remote user for real-time monitoring.

Industrial applicability The claimed system can be manufactured industrially at an instrument-making enterprise using modern electronic components and technologies.

Claims (4)

1. Security and control system of a lifting machine, containing sensors of measured or monitored parameters of a lifting machine, a control and display unit to the controller of which a graphic display module is connected, and a lifting machine control unit connected to a common in-system interface channel, characterized in that the graphic module the display is equipped with its own controller for displaying information on a graphic display connected to the controller of the control and display unit through a low-speed Oral serial interface and high-speed parallel interface, and also has its own non-volatile random access memory for storing information about graphic objects connected to a graphic display controller. 2. The system under item 1, characterized in that the control and display unit is configured to connect external devices to it using a standard serial interface. 3. The system under item 2, characterized in that the RS-232 interface is used as a standard serial interface. 4. The system of claim. 1, characterized in that the control and display unit is configured to connect an engine control device thereto.

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