A fog cannon automatic rotation safety protection redundant control system and method

Abstract

The present invention discloses a redundant control system and method for automatic rotation safety protection of a fog cannon. The control system includes a hydraulic control module, a limit sensing module, and a controller. The control method includes: 1) dynamic rotation safety startup control. When the automatic rotation mode is started, the system first determines whether the four limit travel switches are normal, then determines the current position of the fog cannon, and finally controls the fog cannon to rotate left or right; 2) delayed reversing control of the fog cannon. When the limit position is reached, the fog cannon stops rotating, delays for a few seconds, and then reverses; 3) safety detection and control of the operation process. The system determines whether a fault occurs based on the time interval between reversals. The redundant control system and method for automatic rotation safety protection of the fog cannon not only has a startup fault detection program, but also introduces time control to determine system faults. The system is redundantly protected from three aspects: control logic, limit sensing, and hydraulic system. This improves the safety of the automatic rotation of the fog cannon and greatly reduces the probability of accidents.

Description

Technical Field

[0001] The present invention relates to the technical field of dust suppression vehicles, and in particular to a fog cannon automatic rotation safety protection redundant control system and method. Background Art

[0002] Dust suppression vehicles are specialized vehicles that suppress dust pollution by spraying dust suppressants through a rear-mounted fog cannon. They primarily serve railways, roads, and other dust-prone areas. To maximize their operating range, they typically utilize an automatic rotation mode, allowing the fog cannon to swing 90° left and right. Exceeding the safe rotation angle is strictly prohibited, as this can cause accidents and damage the fog cannon and its chassis.

[0003] Existing automatic safety control technology for fog cannons relies solely on a single limit travel switch on each side. If a limit travel switch fails, the fog cannon will lose control. Therefore, the operator must constantly monitor the fog cannon's status during operation. If a malfunction occurs, the cannon must be manually shut down immediately to avoid an accident. Especially during driving operations, the driver must operate from the cab, resulting in a certain visual blind spot. The rear fog cannon's operating status cannot be seen and can only be observed through a camera. If the operator is focused on driving and fails to detect a malfunction in time, a fog cannon accident can easily occur. Excessive time spent monitoring the fog cannon's operating status can easily distract the driver, potentially causing a driving safety accident.

[0004] In summary, it is necessary to propose a redundant control system and method for automatic rotation safety protection of the fog cannon of a dust suppression vehicle to solve the above problems. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the existing automatic safety control technology for fog cannons has a great risk of potential safety hazards, and the driver needs to pay attention to the automatic rotation status of the fog cannon at all times. In view of the problem that the existing automatic safety control technology for fog cannons cannot liberate the driver, a redundant control system for automatic rotation safety protection of fog cannons is proposed.

[0006] In order to solve the above technical problems, an embodiment of the present invention provides a fog cannon automatic rotation safety protection redundant control system, which includes: a hydraulic control module, a limit sensing module and a controller;

[0007] _ ... The P port of the limit release valve is connected to the P port of the limit oil circuit cut-off valve through an oil pipe, and the T port is connected to the A port of the one-way valve through an oil pipe. When the limit oil circuit cut-off valve cuts off the oil circuit, the oil circuit restriction can be released by operating the oil circuit limit release valve to make the fog cannon rotate; the one-way valve is a hydraulic one-way valve, which is installed on the turntable stator of the rotary mechanism, and the B port of the one-way valve is connected to the P port of the rotary hydraulic reversing valve through an oil pipe; the hydraulically controlled one-way valve is installed on the turntable stator of the rotary mechanism, and the oil outlet B port of the hydraulically controlled one-way valve is connected to the T port of the limit oil circuit cut-off valve through an oil pipe, the oil inlet A port is connected to the oil tank through an oil pipe, and the control oil port K port is connected to the A port of the one-way valve through an oil pipe.

[0008] The limit sensing module includes: left limit travel switch 1, left limit travel switch 2, right limit travel switch 1 and right limit travel switch 2, all of which are installed on the turntable stator of the rotary mechanism and are used to sense the angle limit signal of the fog cannon. The normally closed incoming contact of the left limit travel switch 1 is connected in parallel with the normally closed incoming contact of the right limit travel switch 1, and are connected to the vehicle battery through wires. The normally closed outgoing contact of the left limit travel switch 1 is connected to the normally closed incoming contact of the left limit travel switch 2 through wires, and the normally closed outgoing contact of the left limit travel switch 2 is connected to the input terminal I1 of the controller through wires. The normally closed outgoing contact of the right limit travel switch 1 is connected to the normally closed incoming contact of the right limit travel switch 2 through wires, and the normally closed outgoing contact of the right limit travel switch 2 is connected to the input terminal I2 of the controller through wires.

[0009] The controller is installed on the dust suppression vehicle, and its two output ports are respectively connected to the two coils of the rotary hydraulic reversing valve to collect limit signals. By embedding the fog cannon safety control algorithm, it controls the on and off of the rotary hydraulic reversing valve of the rotary motor.

[0010] Among them, a manual pull rod and a motorized push rod are respectively provided at both ends of the limit oil circuit cut-off valve. One end of the valve core of the limit oil circuit cut-off valve is connected to the manual pull rod, and the other end is connected to the motorized push rod. The turntable rotor of the rotary mechanism is provided with roller type limit piles and columnar type limit piles. When the roller type limit pile collides with the manual pull rod, it drives the valve core to move and cuts off the oil circuit. When the columnar limit pile on the other side hits the motorized push rod, it drives the valve core to move and cuts off the oil circuit.

[0011] The left limit switch 1 and the left limit switch 2 are adjacently arranged on the turntable stator of the slewing mechanism. When the fog cannon rotates to the left to the extreme position, it first contacts the left limit switch 1. If the left limit switch 1 is damaged, it contacts the left limit switch 2. The right limit switch 1 and the right limit switch 2 are adjacently arranged on the turntable stator of the slewing mechanism. When the fog cannon rotates to the right to the extreme position, it first contacts the right limit switch 1. If the right limit switch 1 is damaged, it contacts the right limit switch 2. The positions of the left limit switch 2 and the right limit switch 2 must ensure the safety of the fog cannon.

[0012] In order to solve the above problems, the present invention also provides a control method for a fog cannon automatic rotation safety protection redundant control system:

[0013] Step 1: Automatic rotation safety start control. When the automatic rotation mode is started, the current position of the fog cannon and the four limit travel switches are judged to be normal, and then the fog cannon is controlled to turn left or right according to the judgment results;

[0014] Step 2: Delayed reversing control of the fog cannon. When switching from left turn to right turn, or from right turn to left turn, a delay is added between the two actions to reduce hydraulic shock.

[0015] Step 3: Operation process detection and safety control. After reversing, if the direction is reversed again within the preset time range, it means that the limit travel switch is normal and can be automatically rotated. If the direction is not reversed within the preset time range after reversing, it means that the limit travel switch is abnormal and cannot be automatically rotated.

[0016] The judgment method in step one is: automatic rotation command rising edge detection, if the automatic rotation command is detected to change from false to true, the automatic rotation mode flag AutoRotation_Flage is not operated; start and stop control judgment, if the automatic rotation mode flag AutoRotation_Flage is true, enter the automatic rotation mode, if the automatic rotation mode flag AutoRotation_Flage is false, exit the automatic rotation mode; judge whether to perform startup safety detection and control, if it is detected that AutoRotation_Flage changes from false to true, further startup safety detection is performed, otherwise startup safety detection is not performed; start safety detection and control, if the left limit and right limit are detected to be TRUE at the same time or the left limit is false and the right limit is TRUE, the fog cannon is controlled to turn left; if the left limit is true and the right limit is false, the fog cannon is controlled to turn right; if the left limit and right limit are false at the same time, it means that the limit travel switch is faulty and automatic rotation control is prohibited.

[0017] In step 2, when the left limit signal is detected to change from true to false, the fog cannon is stopped from turning left, and the right turn delay start timing is started. When the time reaches the preset time, the fog cannon is controlled to turn right; when the right limit signal is detected to change from true to false, the fog cannon is stopped from turning right, and the left turn delay start timing is started. When the time reaches the preset time, the fog cannon is controlled to turn left.

[0018] The specific method in step three is: when the left turn control signal changes from false to true, start timing, and when the left turn control signal changes from true to false, reset the timer. If the timer exceeds the preset time, it means that the two left limit travel switches are faulty, stop left rotation, automatically exit the automatic rotation mode, and alarm to remind that the two left limit travel switches are faulty; when the right turn control signal changes from false to true, start timing, and when the right turn control signal changes from true to false, reset the timer. If the timer exceeds the preset time, it means that the two right limit travel switches are faulty, stop right rotation, automatically exit the automatic rotation mode, and alarm to remind that the two right limit travel switches are faulty.

[0019] The implementation of the embodiments of the present invention has the following beneficial effects:

[0020] The present redundant control system and method for automatic rotation safety protection of the fog cannon not only has a startup fault detection program, but also introduces a time control to judge system faults; the system is redundantly protected from three aspects: control logic, limit sensing, and hydraulic system, thereby improving the operational safety of the automatic rotation of the fog cannon and greatly reducing the probability of accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of the structure of the automatic rotation safety protection redundant control system for the fog cannon provided by the present invention;

[0023] Figure 2 A schematic diagram of the installation structure of the limit oil circuit cut-off valve provided by the present invention;

[0024] Figure 3 for Figure 2 Schematic diagram of the front view structure of the middle roller type limit pile;

[0025] Figure 4This is a control flow chart of the fog cannon automatic rotation safety protection redundant control system provided by the present invention.

[0026] In the figure: fog cannon rotary motor 1, rotary hydraulic reversing valve 2, limit oil circuit cut-off valve 3, oil circuit limit release valve 4, one-way valve 5, hydraulically controlled one-way valve 6, turntable stator 7, hydraulic pump 8, left limit stroke switch 1 9, left limit stroke switch 2 10, right limit stroke switch 1 11, right limit stroke switch 2 12, on-board battery 13, controller 14, manual pull rod 15, motorized jack 16, turntable rotor 17, roller limit pile 18 and columnar limit pile 19. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] The present invention provides a fog cannon automatic rotation safety protection redundant control system, see Figure 1-2 , Figure 1 A schematic diagram of the structure of the automatic rotation safety protection redundant control system for the fog cannon provided by the present invention; Figure 2 This is a schematic diagram of the installation structure of the limit oil circuit cut-off valve provided by the present invention.

[0029] The fog cannon automatic rotation safety protection redundant control system mainly includes: hydraulic control module, limit sensing module and controller.

[0030] The hydraulic control module includes: a rotary hydraulic reversing valve 2 of the fog cannon rotary motor 1, a limit oil circuit cut-off valve 3, an oil circuit limit release valve 4, a one-way valve 5, and a hydraulically controlled one-way valve 6.

[0031] The oil circuit limiting shut-off valve 3 is a two-position, four-way hydraulic reversing valve installed on the turntable stator 7 of the dust suppression vehicle's slewing mechanism. The P port of the oil circuit limiting shut-off valve 3 is connected to the oil outlet of the hydraulic pump 8 through an oil pipe, the T port is connected to the oil tank through an oil pipe, the A port is connected to the P port of the slewing hydraulic reversing valve 2 through an oil pipe, and the B port is connected to the T port of the slewing hydraulic reversing valve 2 through an oil pipe, which is used to cut off the oil circuit of the slewing motor 1 and stop the slewing mechanism from rotating. Specifically, a manual pull rod 15 and a motorized push rod 16 are provided at both ends of the oil circuit limiting shut-off valve 3. One end of the valve core of the oil circuit limiting shut-off valve 3 is connected to the manual pull rod 15, and the other end is connected to the motorized push rod 16. The turntable rotor 17 of the slewing mechanism is provided with a roller-type limit pile 18 and a columnar limit pile 19. The roller-type limit pile 18 includes a roller frame 181 and a roller 182 provided on the roller frame 181. Please refer to Figure 3 , Figure 3 for Figure 2 When the roller limit stake 18 collides with the manual pull rod 15, it drives the valve core to move, cutting off the oil circuit. When the columnar limit stake 19 on the other side hits the motorized push rod 16, it drives the valve core to move, cutting off the oil circuit.

[0032] The oil circuit limit release valve 4 is a two-position, two-way valve, installed on the turntable stator 7 of the rotary mechanism. The P port of the oil circuit limit release valve 4 is connected to the P port of the limit oil circuit cut-off valve 3 through an oil pipe, and the T port is connected to the A port of the one-way valve 5 through an oil pipe. When the limit oil circuit cut-off valve 3 cuts off the oil circuit, the oil circuit restriction can be released by operating the oil circuit limit release valve 4 to make the fog cannon rotate.

[0033] The one-way valve 5 is a hydraulic one-way valve installed on the turntable stator 7 of the rotary mechanism. The B port of the one-way valve 5 is connected to the P port of the rotary hydraulic reversing valve 2 through an oil pipe.

[0034] The hydraulically controlled one-way valve 6 is installed on the turntable stator 7 of the rotary mechanism. The oil outlet B of the hydraulically controlled one-way valve 6 is connected to the T port of the limit oil circuit cut-off valve 3 through an oil pipe, the oil inlet A is connected to the oil tank through an oil pipe, and the control oil port K is connected to the A port of the one-way valve 5 through an oil pipe.

[0035] The limit sensing module includes: left limit travel switch 1 9, left limit travel switch 2 10, right limit travel switch 1 11 and right limit travel switch 2 12, all of which are installed on the turntable stator 7 of the rotary mechanism and are used to sense the fog cannon angle limit signal. The left limit travel switch 1 9, left limit travel switch 2 10, right limit travel switch 1 11 and right limit travel switch 2 12 are all the same limit sensors. The normally closed incoming contact of the left limit travel switch 19 is connected in parallel with the normally closed incoming contact of the right limit travel switch 11, and is connected to the vehicle battery 13 through an electric wire. The normally closed outgoing contact of the left limit travel switch 19 is connected to the normally closed incoming contact of the left limit travel switch 2 10 through an electric wire. The normally closed outgoing contact of the left limit travel switch 2 10 is connected to the input terminal I1 of the controller through an electric wire. The normally closed outgoing contact of the right limit travel switch 11 is connected to the normally closed incoming contact of the right limit travel switch 2 12 through an electric wire. The normally closed outgoing contact of the right limit travel switch 2 12 is connected to the input terminal I2 of the controller 14 through an electric wire. Specifically, left limit switch 1 (9) and left limit switch 2 (10) are adjacently positioned on the turntable stator 7 of the slewing mechanism. When the fog cannon rotates to the left, it first contacts left limit switch 1 (9). If left limit switch 1 (9) is damaged, it contacts left limit switch 2 (10). Right limit switch 1 (11) and right limit switch 2 (12) are adjacently positioned on the turntable stator 7 of the slewing mechanism. When the fog cannon rotates to the right, it first contacts right limit switch 1 (11). If right limit switch 1 (11) is damaged, it contacts right limit switch 2 (12). The positions of left limit switch 2 (10) and right limit switch 2 (12) must ensure the safety of the fog cannon. In this solution, the wiring method of the four limit travel switches is normally closed (most uses are normally open). If the normally closed method is selected, it needs to be connected in parallel, which is complicated. When the controller signal acquisition terminal is damaged and the limit signal cannot be collected, a safety accident will occur. In the solution of this patent, if the terminal is damaged, it is considered that the sensor circuit is faulty and rotation will be prohibited. The wiring method of this solution is such that when the right turn limit travel switch fails, that is, the right limit travel switches 1 and 2 fail at the same time, and if one of them fails, it will not be judged as a fault; when the left turn limit travel switch fails, that is, the left limit travel switches 1 and 2 fail at the same time, and if one of them fails, it will not be judged as a fault.

[0036] The controller 14 is installed on the dust suppression vehicle, and its two output ports are respectively connected to the two coils of the rotary hydraulic reversing valve 2 for collecting limit signals. By embedding the fog cannon safety control algorithm, it controls the on and off of the rotary hydraulic reversing valve 2 coil of the rotary motor.

[0037] In addition, the present invention also provides a control method for a fog cannon automatic rotation safety protection redundant control system, see Figure 4 , Figure 4This is a control flow chart of the fog cannon automatic rotation safety protection redundant control system provided by the present invention.

[0038] Step 1: Automatic rotation safety start control. When the automatic rotation mode is started, the current position of the fog cannon and the four limit travel switches are judged to be normal, and then the fog cannon is controlled to turn left or right according to the judgment results. The judgment method is: automatic rotation command rising edge detection, if the automatic rotation command is detected to change from false to true, the automatic rotation mode flag AutoRotation_Flage is not operated; start and stop control judgment, if the automatic rotation mode flag AutoRotation_Flage is true, enter the automatic rotation mode, if the automatic rotation mode flag AutoRotation_Flage is false, exit the automatic rotation mode; judge whether to perform startup safety detection and control, if it is detected that AutoRotation_Flage changes from false to true, further startup safety detection is performed, otherwise startup safety detection is not performed; start safety detection and control, if the left limit and right limit are detected to be TRUE at the same time or the left limit is false and the right limit is TRUE, the fog cannon is controlled to turn left; if the left limit is true and the right limit is false, the fog cannon is controlled to turn right; if the left limit and right limit are false at the same time, it means that the limit travel switch is faulty and automatic rotation control is prohibited.

[0039] Step 2: Delayed reversing control of the fog cannon. When switching from left to right, or vice versa, a delay is added between the two actions to reduce hydraulic shock. When the left limit signal changes from true to false, the fog cannon stops turning left and starts the right turn delay start timer. When the time reaches the preset time, the fog cannon starts turning right. When the right limit signal changes from true to false, the fog cannon stops turning right and starts the left turn delay start timer. When the time reaches the preset time, the fog cannon starts turning left.

[0040] Step 3: Operation process detection and safety control: After reversing, if the direction is reversed again within the preset time range, it means that the limit travel switch is normal and can be automatically rotated. If the direction is reversed and the direction is not reversed again within the preset time range, it means that the limit travel switch is abnormal and cannot be automatically rotated. The specific method is: when the left turn control signal changes from false to true, the timing starts, and when the left turn control signal changes from true to false, the timer is reset. If the timer exceeds the preset time, it means that the two left limit travel switches are faulty, the left rotation is stopped, the automatic rotation mode is automatically exited, and an alarm is issued to remind that the two left limit travel switches are faulty; when the right turn control signal changes from false to true, the timing starts, and when the right turn control signal changes from true to false, the timer is reset. If the timer exceeds the preset time, it means that the two right limit travel switches are faulty, the right rotation is stopped, the automatic rotation mode is automatically exited, and an alarm is issued to remind that the two right limit travel switches are faulty.

[0041] The present invention relates to a redundant control system and method for the automatic rotation safety protection of a fog cannon, which protects the system from three aspects: control logic, limit sensing, and hydraulic system, thereby improving the safety of the automatic rotation of the fog cannon and greatly reducing the probability of accidents.

[0042] The automatic rotation safety protection redundant control system and method of the fog cannon is not only applicable to the rotation control of the fog cannon, but also applicable to the control of any automatic rotation occasion with a certain angle limit.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A fog cannon automatic rotation safety protection redundant control system, comprising: Hydraulic control module, limit sensing module and controller; After derrick hoists and puts in place, stamp fixedly derrick of derrick pin, make hydraulic oil circuit breaker hydraulic oil circuit, make hydraulic oil circuit breaker have respectively the oil circuit breaker and the oil circuit breaker of derrick pin, the oil circuit breaker of derrick pin and the oil circuit breaker of derrick pin. The P port of the release valve is connected to the P port of the limit oil circuit cut-off valve through an oil pipe, and the T port is connected to the A port of the one-way valve through an oil pipe. When the limit oil circuit cut-off valve cuts off the oil circuit, the oil circuit restriction can be released by operating the oil circuit limit release valve to make the fog cannon rotate; the one-way valve is a hydraulic one-way valve, which is installed on the turntable stator of the rotary mechanism, and the B port of the one-way valve is connected to the P port of the rotary hydraulic reversing valve through an oil pipe; the hydraulically controlled one-way valve is installed on the turntable stator of the rotary mechanism, and the oil outlet B port of the hydraulically controlled one-way valve is connected to the T port of the limit oil circuit cut-off valve through an oil pipe, the oil inlet A port is connected to the oil tank through an oil pipe, and the control oil port K port is connected to the A port of the one-way valve through an oil pipe; The limit sensing module includes: a left limit travel switch 1, a left limit travel switch 2, a right limit travel switch 1 and a right limit travel switch 2, all of which are installed on the turntable stator of the rotary mechanism and are used to sense the angle limit signal of the fog cannon. The normally closed incoming contact of the left limit travel switch 1 is connected in parallel with the normally closed incoming contact of the right limit travel switch 1, and are connected to the vehicle battery through a wire. The normally closed outgoing contact of the left limit travel switch 1 is connected to the normally closed incoming contact of the left limit travel switch 2 through a wire. The normally closed outgoing contact of the left limit travel switch 2 is connected to the input terminal I1 of the controller through a wire. The normally closed outgoing contact of the right limit travel switch 1 is connected to the normally closed incoming contact of the right limit travel switch 2 through a wire. The normally closed outgoing contact of the right limit travel switch 2 is connected to the input terminal I2 of the controller through a wire. The controller is installed on the dust suppression vehicle, and its two output ports are respectively connected to the two coils of the rotary hydraulic reversing valve, which are used to collect limit signals and control the on and off of the rotary hydraulic reversing valve of the rotary motor by embedding the fog cannon safety control algorithm.

2. The fog cannon automatic rotation safety protection redundant control system according to claim 1 is characterized in that: A manual pull rod and a motorized push rod are respectively provided at both ends of the limit oil circuit cut-off valve. One end of the valve core of the limit oil circuit cut-off valve is connected to the manual pull rod, and the other end is connected to the motorized push rod. The turntable rotor of the rotary mechanism is provided with roller type limit piles and columnar type limit piles. When the roller type limit pile collides with the manual pull rod, it drives the valve core to move and cuts off the oil circuit. When the columnar limit pile on the other side hits the motorized push rod, it drives the valve core to move and cuts off the oil circuit.

3. The automatic rotation safety protection redundant control system of the fog cannon according to claim 2 is characterized in that: The left limit travel switch 1 and the left limit travel switch 2 are adjacently arranged on the turntable stator of the rotary mechanism. When the fog cannon rotates to the left to the extreme position, it first contacts the left limit travel switch 1. If the left limit travel switch 1 is damaged, it contacts the left limit travel switch 2. The right limit travel switch 1 and the right limit travel switch 2 are adjacently arranged on the turntable stator of the rotary mechanism. When the fog cannon rotates to the right to the extreme position, it first contacts the right limit travel switch 1. If the right limit travel switch 1 is damaged, it contacts the right limit travel switch 2.

4. The fog cannon automatic rotation safety protection redundant control system according to claim 1 is characterized in that: The control method of the fog cannon automatic rotation safety protection redundant control system is: Step 1: Automatic rotation safety start control. When the automatic rotation mode is started, the current position of the fog cannon and the four limit travel switches are judged to be normal, and then the fog cannon is controlled to turn left or right according to the judgment results; Step 2: Delayed reversing control of the fog cannon. When switching from left turn to right turn, or from right turn to left turn, a delay is added between the two actions to reduce hydraulic shock. Step 3: Operation process detection and safety control. After the reversal is completed, if the direction is reversed again within the preset time range, it means that the limit travel switch is normal and automatic rotation can be performed. If the direction is not reversed within the preset time range, it means that the limit travel switch is abnormal and automatic rotation is stopped.

5. The fog cannon automatic rotation safety protection redundant control system according to claim 4 is characterized in that: The judgment method in the step 1 is as follows: automatic rotation instruction rising edge detection, if the automatic rotation instruction is detected to change from false to true, the automatic rotation mode flag AutoRotation_Flage is not operated; start and stop control judgment, if the automatic rotation mode flag AutoRotation_Flage is true, then enter the automatic rotation mode, if the automatic rotation mode flag AutoRotation_Flage is false, exit the automatic rotation mode; judge whether to perform startup safety detection and control, if it is detected that AutoRotation_Flage changes from false to true, then further startup safety detection is performed, otherwise startup safety detection is not performed; start safety detection and control, if the left limit and right limit are detected to be TRUE at the same time or the left limit is false and the right limit is TRUE, then the fog cannon is controlled to turn left; if the left limit is true and the right limit is false, then the fog cannon is controlled to turn right; if the left limit and the right limit are false at the same time, it means that the limit travel switch is faulty and automatic rotation control is prohibited.

6. The fog cannon automatic rotation safety protection redundant control system according to claim 5 is characterized in that: In the step 2, when the left limit signal is detected to change from true to false, the fog cannon is stopped from turning left, and the right turn delay start timing is started. When the time reaches the preset time, the fog cannon is controlled to turn right; when the right limit signal is detected to change from true to false, the fog cannon is stopped from turning right, and the left turn delay start timing is started. When the time reaches the preset time, the fog cannon is controlled to turn left.

7. The fog cannon automatic rotation safety protection redundant control system according to claim 6 is characterized in that: The specific method in step three is: when the left turn control signal changes from false to true, the timing is started, and when the left turn control signal changes from true to false, the timer is reset. When the timer exceeds the preset time, it means that the two left limit travel switches are faulty, the left rotation is stopped, the automatic rotation mode is automatically exited, and an alarm is issued to remind that the two left limit travel switches are faulty; when the right turn control signal changes from false to true, the timing is started, and when the right turn control signal changes from true to false, the timer is reset. When the timer exceeds the preset time, it means that the two right limit travel switches are faulty, the right rotation is stopped, the automatic rotation mode is automatically exited, and an alarm is issued to remind that the two right limit travel switches are faulty.

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