A redundant signal-based crane multi-way valve control method and control system

Abstract

This invention discloses a crane multi-way valve control method and control system based on redundant signals. The method includes: a control handle sending a first message to a multi-way valve integrated control unit via at least one CAN bus to control the multi-way valve integrated control unit to perform a lifting action, and simultaneously sending an analog signal to a controller; the controller converting the analog signal into a second message according to a preset rule and sending it to the multi-way valve integrated control unit via at least one CAN bus as a first redundant signal for controlling the multi-way valve integrated control unit to perform the lifting action; and the controller sending the analog signal to the multi-way valve integrated control unit via an analog port as a second redundant signal for controlling the multi-way valve integrated control unit to perform the lifting action. This invention, by setting multiple redundancy measures, greatly improves the safety and reliability of the system control.

Description

Technical Field

[0001] This invention relates to the field of crane technology, and specifically to a crane multi-way valve control method and control system based on redundant signals. Background Technology

[0002] Currently, CAN bus technology has been widely used in various detection and control systems across industries. It is a serial communication network that effectively supports distributed control systems. In the crane industry, CAN bus has become the main data transmission channel, effectively connecting electronic devices and control units on cranes. Typically, CAN bus connects more than one control center, including controllers for various parts of the vehicle and torque limiters that are crucial for vehicle operating safety.

[0003] As cranes gradually move towards digitalization, the CAN bus is no longer just used for transmitting sensor signals and controller information; it also plays a role in transmitting overall machine motion control signals. As a critical component, the control signal of the multi-way valve affects the safety of the entire machine's operation. When a branch of the CAN path or a control device malfunctions, communication between system components will be disrupted. Especially during crane operation, if the boom is extended and communication signals fail, the entire machine will stop moving, leaving the load suspended in mid-air, posing a safety hazard and hindering construction progress. In existing technology, patent CN104503350B proposes a method for implementing a dual-redundant CAN bus. The controller encodes a first message according to a preset encoding rule and sends the encoded first message to a first CAN bus and a second CAN bus. The controller receives a second message from both the first and second CAN buses, determines the correctness of the second message according to preset judgment rules, and selects the appropriate second message based on preset selection rules. This achieves the application of a dual-redundant CAN bus, with the first and second CAN buses mutually redundant, improving resilience against failures. The shortcoming of the above technical solution is that it can only configure redundancy of the system at the bus level. However, when the CAN signal loses frames or the master node that sends the signal has a problem, the controller will issue an alarm and restrict the action, which will directly affect the working efficiency and safety of the crane. Summary of the Invention

[0004] The purpose of this invention is to provide a crane multi-way valve control method and control system based on redundant signals. By redundant design of control signals and CAN bus, the safety of crane operation is ensured.

[0005] To achieve the above objectives, in one aspect, this invention discloses a crane multi-way valve control method based on redundant signals, comprising:

[0006] The human-machine interface device sends a first message to the multi-way valve integrated control unit through at least one CAN bus, controls the multi-way valve integrated control unit to perform lifting actions, and sends analog signals to the controller at the same time;

[0007] The controller converts the analog signal into a second message according to a preset rule and sends it to the multi-way valve integrated control unit through at least one CAN bus as the first redundant signal for controlling the multi-way valve integrated control unit to perform lifting actions.

[0008] The controller sends the analog signal to the multi-way valve integrated control unit through the analog port as a second redundant signal to control the multi-way valve integrated control unit to perform lifting actions.

[0009] Furthermore, the multi-way valve integrated control unit determines the correctness of the first message and the second message information, and decides on the preset selection rules for triggering the first redundant signal and the second redundant signal.

[0010] Furthermore, the multi-way valve integrated control unit determines the correctness of the control signals contained in the first and second messages through a preset control curve.

[0011] Furthermore, the preset selection rule for triggering the first redundant signal and the second redundant signal is:

[0012] If the first message information is determined to be correct, then the first message information data shall be used;

[0013] If the first message is incorrect, the second message will be used.

[0014] If both the first and second message messages are incorrect, the execution of bus signals will stop, and the action will be performed according to the analog signals sent by the controller.

[0015] Furthermore, after the human-computer interaction device returns to normal, network control is returned to the human-computer interaction device.

[0016] Furthermore, the CAN bus has two lines. The human-machine interface device sends a first message to the multi-way valve integrated control unit via the CANI and CANII buses, and simultaneously sends an analog signal to the controller. The controller converts the analog signal into a second message according to a preset rule and sends it to the multi-way valve integrated control unit via the CANI and CANII buses as a first redundant signal to control the operation of the multi-way valve integrated control unit. The controller also sends the analog signal to the multi-way valve integrated control unit via an analog port as a second redundant signal to control the operation of the multi-way valve integrated control unit. The CANII bus is a backup bus.

[0017] On the other hand, the present invention also discloses a crane multi-way valve control system based on redundant signals, including a human-machine interface device, a controller, a multi-way valve integrated control unit, and a force limiter. The human-machine interface device is connected to at least one CAN bus, the controller is connected to at least one CAN bus, the multi-way valve integrated control unit is connected to at least one CAN bus, and the force limiter is connected to at least one CAN bus. The human-machine interface device is connected to the controller through an analog port, and the controller is connected to the multi-way valve integrated control unit through an analog port.

[0018] Furthermore, when the vehicle reaches the limit position, the force limiter sends an alarm signal to the controller. The controller then sends a signal to the integrated control unit, instructing it to stop receiving control handle signals. Simultaneously, the controller reads the control signals and transmits the safety direction control signals to the integrated control unit via the CAN bus.

[0019] Furthermore, the human-computer interaction device is a control handle, a display and control all-in-one machine, or a remote controller.

[0020] The beneficial effects of this invention are as follows: Compared with the prior art, this invention adopts multi-level safety measures for the crane's lifting action control. First, to prevent the controller and the human-machine interface device from losing contact during operation, or in the event of a serious error in the information of one node, the analog signal sent by the human-machine interface device to the controller is converted into a second message as backup control information to control the multi-way valve integrated control unit. Second, when both the first and second messages have problems, the analog signal sent by the human-machine interface device to the controller directly controls the multi-way valve integrated control unit. Third, after the lifting action reaches the limit point, the force limiter sends an alarm to the controller and the multi-way valve integrated control unit, controls the signal sent by the controller, and simultaneously ensures that the integrated control unit only executes actions according to the control signal. Fourth, by setting up two CAN buses, one as the working bus and the other as a backup bus, the overall operation of the crane is not affected. These various safety measures greatly improve the safety and reliability of crane control. Attached Figure Description

[0021] Figure 1 This is a control flowchart of the crane multi-way valve control method based on redundant signals according to the present invention;

[0022] Figure 2 This is a schematic diagram of the crane multi-way valve control system based on redundant signals according to the present invention;

[0023] Figure 3 This is a schematic diagram of a crane multi-way valve control system based on redundant signals using two CAN buses; Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Example 1

[0026] like Figure 1 As shown, a crane multi-way valve control method based on redundant signals uses a human-machine interface device as the master node. In this embodiment, the human-machine interface device is a control handle. It sends a first message information to each integrated control unit of the multi-way valve through a CAN bus according to a preset encoding rule. At the same time, it sends an analog signal to the controller. The controller acts as a backup node, receives the analog signal sent by the human-machine interface device, parses the signal, and sends a second message to the integrated control unit of the multi-way valve according to the encoding rule.

[0027] The multi-way valve integrated control unit determines the correctness of the control signals contained in the first and second messages. If the first message information is correct, the message data in the first message information received from the CAN bus is applied. If the first message information is incorrect, the message data in the second message information is used to control the actuator of the multi-way valve. If both the first and second messages are determined to be incorrect or cannot be received, the execution of bus signals is stopped, and the action is instead performed according to the analog signals of the controller.

[0028] The main control chip in the multi-way valve integrated control unit judges the correctness of the first message and the second message according to the CAN message transmission and verification rules. The judgment rule is: if the message information of the first message received from the CAN bus is incorrect, and the number of times the message information received from the CAN bus is correct has not reached the preset number, then the message data in the second message information is switched to be used.

[0029] This embodiment employs multi-level redundancy. First, the second message sent by the controller to the multi-way valve integrated control unit serves as primary redundancy. Second, the analog control signal sent by the controller to the multi-way valve integrated control unit serves as secondary redundancy. Third, the human-machine interface device is used as the primary node, and the controller is used as the backup node, thus forming node redundancy. This effectively ensures the reliability of crane control.

[0030] Example 2

[0031] like Figure 2As shown, this invention also discloses a crane multi-way valve control system based on redundant signals. The control system includes a human-machine interface device, a controller, a multi-way valve integrated control unit, and a force limiter. A control handle is connected to a CAN bus, the controller is connected to a CAN bus, the multi-way valve integrated control unit is connected to a CAN bus, and the force limiter is connected to a CAN bus. The control handle is connected to the controller via an analog port, and the controller is connected to the multi-way valve integrated control unit via an analog port. The human-machine interface device can be a control handle, a display and control all-in-one machine, or a remote controller; this embodiment uses a control handle. In this control system, the control handle is the master node in the system. It sends a first message ① to each integrated control unit of the multi-way valve via a CAN line. Simultaneously, the controller reads the analog signal from the handle as a backup node in the system and transmits a second message ② to the integrated control unit via the CAN bus. When the master node in the system malfunctions, the backup node is activated to control the bus, achieving redundant control. The force limiter is used to detect whether the crane's boom extension action is reasonable and the lifting weight under the current boom length and angle, preventing dangerous accidents such as crane overturning or boom breakage. When the vehicle reaches the limit position, the force limiter sends an alarm signal to the controller. The controller then sends a signal to the integrated control unit, instructing it to stop receiving control handle signals. Simultaneously, the controller reads the control signals and transmits the safety direction control signals to the integrated control unit via the CAN line. The multi-way valve integrated control unit can simultaneously receive bus signals and analog signals. When the CAN network fails or both the control handle node and the controller node malfunction, the signal is transmitted to the integrated control unit via the analog port. When the controller detects a CAN line fault, it can acquire the analog signal from the handle, convert it into an analog signal of valve core displacement, and transmit it to the analog input port of the integrated control unit. This directly controls the drive device within the integrated control unit, driving the valve core displacement. Once the bus returns to normal, the bus signal will be reused.

[0032] In addition, when the vehicle reaches the limit position, the force limiter sends an alarm signal to the controller. The controller sends a signal to the integrated control unit to stop receiving control handle signals (i.e., the first message). At the same time, the controller reads and processes the control handle signals, blocks the dangerous direction signals, and transmits the safe direction control signals to the multi-way valve integrated control unit via the CAN line (i.e., the second message).

[0033] Example 3

[0034] like Figure 3The diagram shows a schematic of a crane multi-way valve control system based on redundant signals. In this embodiment, the CAN bus network is redundantly designed with two CAN buses, CANI and CANII, and node redundancy is implemented on the CAN network. If the default master node fails, the system can detect the failure in a very short time and automatically activate the backup node. The backup node controller collects the analog signal from the control handle, converts it into a CAN signal, and sends it to the control unit of the corresponding control link. When the default master node resumes normal operation, the network master control is returned to the default master node. This embodiment, based on network bus redundancy, implements redundancy design for the multi-way valve control, which plays a crucial role in the CAN network, greatly enhancing the reliability of the crane control system.

[0035] This invention provides multi-level protection for the safety of crane lifting operations, thereby greatly enhancing the safety and reliability of the entire control system.

[0036] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes that can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention are all within the protection scope of the claims of the present invention.

Claims

1. A crane multi-way valve control method based on redundant signals, characterized in that, include: The human-machine interface device sends a first message to the multi-way valve integrated control unit via at least one CAN bus to control the multi-way valve integrated control unit to perform lifting actions. At the same time, the human-machine interface device sends an analog signal to the controller. The controller converts the received analog signal into a second message according to a preset rule and sends it to the multi-way valve integrated control unit through at least one CAN bus as a first redundant signal to control the multi-way valve integrated control unit to perform lifting actions. The controller sends the received analog signal directly to the multi-way valve integrated control unit through the analog port as a second redundant signal to control the multi-way valve integrated control unit to perform lifting actions; The multi-way valve integrated control unit judges and selects the received first message, second message, and analog signal according to a preset hierarchical selection rule, wherein the rule includes: If the information in the first message is determined to be correct, then the lifting action is performed using the first message. If the first message is determined to be incorrect, the lifting action will be switched to the second message. If both the first and second message messages are determined to be incorrect, the execution of bus signals is stopped, and the lifting action is switched to using analog signals sent by the controller through the analog port.

2. The crane multi-way valve control method based on redundant signals according to claim 1, characterized in that, The multi-way valve integrated control unit determines the correctness of the control signals contained in the first and second messages by using a preset control curve.

3. The crane multi-way valve control method based on redundant signals according to claim 1, characterized in that, After the human-computer interaction device returns to normal, network control is returned to the human-computer interaction device.

4. The crane multi-way valve control method based on redundant signals according to claim 1, characterized in that, The CAN bus has two lines. The human-machine interface device sends the first message to the multi-way valve integrated control unit through the CANI bus and the CANII bus. The controller converts the analog signal into a second message according to a preset rule and sends it to the multi-way valve integrated control unit through the CANI bus and the CANII bus. The CANII bus is a backup bus.

5. A crane multi-way valve control system based on redundant signals, characterized in that, This includes human-computer interaction devices, controllers, multi-way valve integrated control units, and force limiters; The human-machine interface device, controller, multi-way valve integrated control unit and force limiter are all connected to at least one CAN bus; The human-computer interaction device is connected to the controller via an analog port, and the controller is connected to the multi-way valve integrated control unit via an analog port. The system is configured to perform the method as described in claim 1, specifically: The human-computer interaction device is used to send a first message and an analog signal; The controller is used to receive the analog signal, convert it into a second message and send it, and at the same time, directly send the analog signal through the analog port. The multi-way valve integrated control unit is used to receive the first message, the second message, and the analog signal, and to switch between the first message, the second message, and the analog signal according to a preset hierarchical selection rule.

6. A crane multi-way valve control system based on redundant signals according to claim 5, characterized in that, When the vehicle reaches the limit position, the force limiter sends an alarm signal to the controller. The controller then sends a signal to the multi-way valve integrated control unit, instructing it to stop receiving control handle signals. At the same time, the controller reads the control signals and transmits the safety direction control signals to the multi-way valve integrated control unit via the CAN line.

7. A crane multi-way valve control system based on redundant signals according to claim 5, characterized in that, The human-computer interaction device is a control handle, a display and control all-in-one machine, or a remote controller.

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